{"file_name": "images/scenario_0_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -3.5) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 14.4 meters away at (4.2, 13.8). A unknown object with ID 14 is 20.4 meters away at (19.1, 7.2). A unknown object with ID 15 is 22.4 meters away at (20.5, 9.2). A unknown object with ID 17 is 24.0 meters away at (21.3, 10.9). A unknown object with ID 21 is 25.9 meters away at (22.9, 12.1). A unknown object with ID 26 is 37.7 meters away at (14.5, 34.8). A unknown object with ID 27 is 38.7 meters away at (15.2, 35.6). A vehicle with ID 23 is 42.7 meters away at (29.7, 30.6). A vehicle with ID 24 is 51.9 meters away at (20.3, -47.7). A vehicle with ID 25 is 54.2 meters away at (-54.2, -0.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [6.8099327 6.897379 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-3.560294  -4.1956472] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 8.312954  -6.8885775] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-8.492746   7.7707996] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-200.483642578125, 146.17221069335938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.195982 13.793078], 14.417186737060547 meters away.)"}
{"file_name": "images/scenario_0_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.4) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 26.1 meters away at (23.1, 12.2). A vehicle with ID 5 is 27.8 meters away at (-27.6, 3.3). A unknown object with ID 15 is 28.3 meters away at (24.5, 14.1). A unknown object with ID 17 is 30.0 meters away at (25.4, 15.9). A unknown object with ID 21 is 31.9 meters away at (26.9, 17.1). A vehicle with ID 23 is 37.9 meters away at (26.1, 27.5). A vehicle with ID 13 is 40.0 meters away at (21.5, 33.7). A unknown object with ID 26 is 43.8 meters away at (18.6, 39.7). A unknown object with ID 27 is 44.8 meters away at (19.3, 40.5). A unknown object with ID 1 is 51.6 meters away at (-43.6, 27.7).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 9.597085 -8.99143 ] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-3.899773  -3.6703258] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [6.468723  7.8327045] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.762854 -25.138481]\n [-21.930508 -25.323933]]", "nav_goal": "(-200.483642578125, 146.17221069335938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [23.127289 12.160152], 26.129308700561523 meters away.)"}
{"file_name": "images/scenario_0_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.1) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 15.3 meters away at (-7.4, -13.4). A unknown object with ID 14 is 27.3 meters away at (23.9, 13.2). A unknown object with ID 15 is 29.6 meters away at (25.3, 15.2). A vehicle with ID 23 is 30.2 meters away at (20.2, 22.5). A unknown object with ID 17 is 31.2 meters away at (26.2, 17.0). A unknown object with ID 21 is 33.1 meters away at (27.7, 18.1). A unknown object with ID 16 is 45.0 meters away at (-36.0, -27.0). A unknown object with ID 26 is 45.1 meters away at (19.5, 40.7). A unknown object with ID 18 is 45.4 meters away at (18.8, 41.3). A unknown object with ID 27 is 46.0 meters away at (20.0, 41.5).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ 9.826131 -8.90923 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-2.8496327 -2.6431699] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.762854 -25.138481]\n [-21.930508 -25.323933]]", "nav_goal": "(-200.483642578125, 146.17221069335938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -7.426923 -13.415376], 15.33399772644043 meters away.)"}
{"file_name": "images/scenario_0_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 23.4 meters away at (15.3, 17.7). A unknown object with ID 14 is 27.5 meters away at (24.1, 13.3). A unknown object with ID 15 is 29.7 meters away at (25.5, 15.3). A unknown object with ID 17 is 31.3 meters away at (26.3, 17.1). A unknown object with ID 21 is 33.3 meters away at (27.8, 18.2). A vehicle with ID 5 is 33.9 meters away at (12.4, -31.5). A unknown object with ID 16 is 44.9 meters away at (-36.0, -26.9). A unknown object with ID 26 is 45.3 meters away at (19.7, 40.8). A unknown object with ID 18 is 45.6 meters away at (19.0, 41.4). A unknown object with ID 27 is 46.2 meters away at (20.0, 41.7).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [-2.1476765 -2.2102044] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [10.195925 -9.37481 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.762854 -25.138481]\n [-21.930508 -25.323933]]", "nav_goal": "(-200.483642578125, 146.17221069335938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [15.293561 17.70566 ], 23.39622688293457 meters away.)"}
{"file_name": "images/scenario_1_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 1.4) m/s. Its current heading (yaw) is 0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 10.6 meters away at (-4.2, -9.7). A vehicle with ID 45 is 13.5 meters away at (-12.8, -4.3). A vehicle with ID 46 is 18.2 meters away at (-16.3, -8.3). A unknown object with ID 47 is 18.9 meters away at (-3.1, 18.7). A unknown object with ID 48 is 18.9 meters away at (-0.0, 18.9). A unknown object with ID 50 is 20.7 meters away at (1.5, 20.7). A unknown object with ID 42 is 22.9 meters away at (22.8, 1.8). A vehicle with ID 49 is 23.8 meters away at (-20.0, -13.0). A unknown object with ID 43 is 23.9 meters away at (23.7, 2.9). A unknown object with ID 53 is 24.4 meters away at (-8.6, 22.8).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.248987 -9.688218], 10.579010963439941 meters away.)"}
{"file_name": "images/scenario_1_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 0.3) m/s. Its current heading (yaw) is 0.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 16.1 meters away at (-10.2, -12.5). A unknown object with ID 42 is 16.8 meters away at (16.8, -0.9). A unknown object with ID 48 is 17.3 meters away at (-6.2, 16.1). A unknown object with ID 43 is 17.7 meters away at (17.7, 0.3). A unknown object with ID 47 is 18.3 meters away at (-9.2, 15.9). A unknown object with ID 50 is 18.5 meters away at (-4.6, 17.9). A vehicle with ID 45 is 20.1 meters away at (-18.8, -7.1). A unknown object with ID 53 is 24.8 meters away at (-14.6, 20.0). A vehicle with ID 55 is 24.9 meters away at (9.0, 23.2). A vehicle with ID 46 is 24.9 meters away at (-22.3, -11.1).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-10.225524 -12.451419], 16.11208152770996 meters away.)"}
{"file_name": "images/scenario_1_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -3.0) m/s. Its current heading (yaw) is -0.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 42 is 8.2 meters away at (8.0, 1.7). A unknown object with ID 43 is 9.4 meters away at (9.0, 2.9). A vehicle with ID 44 is 21.3 meters away at (-18.9, -9.7). A unknown object with ID 48 is 23.9 meters away at (-14.8, 18.8). A unknown object with ID 50 is 24.5 meters away at (-13.2, 20.6). A unknown object with ID 47 is 25.7 meters away at (-17.8, 18.6). A vehicle with ID 55 is 25.9 meters away at (0.1, 25.9). A vehicle with ID 45 is 27.9 meters away at (-27.6, -4.3). A vehicle with ID 46 is 32.1 meters away at (-31.0, -8.2). A unknown object with ID 53 is 32.6 meters away at (-23.3, 22.8).", "velocity_description": "The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [8.045625  1.7134758], 8.22606086730957 meters away.)"}
{"file_name": "images/scenario_1_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.8) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A unknown object with ID 42 is 9.9 meters away at (-2.1, 9.7). A unknown object with ID 43 is 10.9 meters away at (-1.2, 10.8). A unknown object with ID 30 is 15.3 meters away at (-2.9, -15.1). A vehicle with ID 40 is 25.6 meters away at (23.3, -10.7). A vehicle with ID 39 is 30.8 meters away at (27.3, -14.3). A vehicle with ID 38 is 36.5 meters away at (31.7, -18.0). A unknown object with ID 48 is 36.6 meters away at (-24.9, 26.8). A unknown object with ID 50 is 36.9 meters away at (-23.4, 28.6). A unknown object with ID 47 is 38.6 meters away at (-28.0, 26.6). A pedestrian with ID 60 is 43.9 meters away at (-25.8, 35.5).", "velocity_description": "The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.9352087 -0.8020372] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.1106186  9.683241 ], 9.91059398651123 meters away.)"}
{"file_name": "images/scenario_2_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.3) m/s. Its current heading (yaw) is 2.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 48 is 7.0 meters away at (-0.1, -7.0). A vehicle with ID 51 is 7.3 meters away at (5.0, -5.3). A unknown object with ID 49 is 7.3 meters away at (2.4, -6.9). A unknown object with ID 50 is 7.6 meters away at (-2.5, -7.2). A vehicle with ID 62 is 9.9 meters away at (-9.9, -0.3). A vehicle with ID 52 is 16.6 meters away at (-3.5, -16.2). A vehicle with ID 54 is 18.4 meters away at (13.9, -12.1). A vehicle with ID 55 is 19.4 meters away at (-1.1, 19.4). A vehicle with ID 56 is 21.9 meters away at (-5.6, -21.2). A unknown object with ID 57 is 22.5 meters away at (-8.9, 20.7).", "velocity_description": "The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 8.861542  -2.7806652] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.869656  -2.7319698] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(136.00828552246094, -156.16041564941406)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-0.11592656 -6.9569693 ], 6.957935333251953 meters away.)"}
{"file_name": "images/scenario_2_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -1.2) m/s. Its current heading (yaw) is -2.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 50 is 7.8 meters away at (2.7, -7.3). A unknown object with ID 48 is 8.8 meters away at (5.1, -7.1). A unknown object with ID 49 is 10.5 meters away at (7.7, -7.1). A vehicle with ID 62 is 14.5 meters away at (13.4, -5.6). A vehicle with ID 52 is 16.4 meters away at (1.6, -16.4). A pedestrian with ID 53 is 17.6 meters away at (-17.0, -4.6). A vehicle with ID 55 is 19.8 meters away at (4.3, 19.3). A unknown object with ID 57 is 20.8 meters away at (-3.3, 20.5). A vehicle with ID 56 is 21.3 meters away at (-0.4, -21.3). A vehicle with ID 54 is 22.7 meters away at (19.0, -12.3).", "velocity_description": "The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 9.329812  -2.2560492] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 1.1717389  -0.62872046] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(136.00828552246094, -156.16041564941406)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 2.7042263 -7.3003798], 7.7851386070251465 meters away.)"}
{"file_name": "images/scenario_2_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -6.1) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A pedestrian with ID 53 is 7.4 meters away at (-7.2, 2.0). A unknown object with ID 50 is 10.5 meters away at (10.5, 0.7). A vehicle with ID 52 is 12.6 meters away at (9.4, -8.5). A unknown object with ID 48 is 13.0 meters away at (13.0, 0.9). A vehicle with ID 56 is 15.3 meters away at (7.4, -13.4). A unknown object with ID 49 is 15.6 meters away at (15.5, 0.9). A vehicle with ID 15 is 17.3 meters away at (6.8, -15.9). A vehicle with ID 12 is 21.9 meters away at (-3.5, -21.7). A vehicle with ID 64 is 22.1 meters away at (-19.5, 10.5). A unknown object with ID 47 is 26.6 meters away at (-17.0, -20.5).", "velocity_description": "The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.7527384 -0.4721102] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(136.00828552246094, -156.16041564941406)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.1663094  1.9894457], 7.437330722808838 meters away.)"}
{"file_name": "images/scenario_2_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -7.6) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 7.9 meters away at (2.0, -7.6). A vehicle with ID 15 is 12.3 meters away at (12.2, -1.9). A vehicle with ID 56 is 12.9 meters away at (12.9, 0.7). A unknown object with ID 47 is 13.3 meters away at (-11.7, -6.3). A pedestrian with ID 53 is 14.9 meters away at (0.4, 14.9). A vehicle with ID 52 is 15.8 meters away at (14.8, 5.6). A unknown object with ID 45 is 16.2 meters away at (-12.9, -9.9). A unknown object with ID 50 is 21.7 meters away at (15.9, 14.8). A unknown object with ID 48 is 23.7 meters away at (18.3, 15.0). A unknown object with ID 49 is 25.7 meters away at (20.9, 15.0).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 1.0751631 -0.6060568] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(136.00828552246094, -156.16041564941406)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.9620895 -7.60886  ], 7.857769966125488 meters away.)"}
{"file_name": "images/scenario_3_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 1.1) m/s. Its current heading (yaw) is 1.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 33.9 meters away at (5.2, -33.5). A pedestrian with ID 20 is 38.1 meters away at (-29.8, 23.7). A vehicle with ID 26 is 40.0 meters away at (5.6, -39.6). A pedestrian with ID 24 is 43.0 meters away at (-21.5, 37.2). A pedestrian with ID 22 is 48.0 meters away at (-6.9, 47.5). A pedestrian with ID 23 is 48.6 meters away at (-7.8, 47.9). A pedestrian with ID 27 is 49.4 meters away at (-30.3, 38.9).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.1405611  -0.22081175] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.4250742   0.20437019] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.03168919 -1.2523551 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.06767457 -1.3294325 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.4026792   0.18894137] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  5.1990743 -33.46954  ], 33.87093734741211 meters away.)"}
{"file_name": "images/scenario_3_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 34.7 meters away at (5.2, -34.3). A pedestrian with ID 20 is 37.3 meters away at (-27.6, 25.0). A cyclist with ID 5 is 38.6 meters away at (-28.6, 26.0). A vehicle with ID 26 is 40.8 meters away at (5.5, -40.4). A pedestrian with ID 24 is 43.9 meters away at (-23.6, 37.0). A pedestrian with ID 22 is 45.1 meters away at (-6.9, 44.6). A pedestrian with ID 23 is 45.7 meters away at (-7.6, 45.0). A pedestrian with ID 27 is 50.8 meters away at (-32.7, 38.9).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.25173593 0.9480408 ] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [0.717002   0.27716908] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.1601875   0.27059758] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.14937408 -1.1443199 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.22292444 -1.1892773 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.3691151  0.1910753] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  5.187176 -34.276054], 34.66633224487305 meters away.)"}
{"file_name": "images/scenario_3_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.1) m/s. Its current heading (yaw) is 1.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 34.8 meters away at (5.2, -34.4). A pedestrian with ID 20 is 37.1 meters away at (-26.3, 26.2). A pedestrian with ID 13 is 38.6 meters away at (-26.7, 27.8). A vehicle with ID 26 is 40.9 meters away at (5.5, -40.5). A pedestrian with ID 22 is 42.6 meters away at (-7.4, 42.0). A pedestrian with ID 23 is 43.3 meters away at (-8.0, 42.5). A pedestrian with ID 24 is 45.3 meters away at (-25.7, 37.4). A pedestrian with ID 27 is 52.6 meters away at (-35.3, 39.0). A unknown object with ID 8 is 67.8 meters away at (65.6, 16.9). A unknown object with ID 7 is 69.9 meters away at (67.3, 18.7).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.40371493 0.73847836] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.83161414 0.5468344 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.42474243 -1.3043606 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.25420782 -1.3590131 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.394365   0.2987044] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.2271905   0.20025581] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  5.1645923 -34.439137 ], 34.8242301940918 meters away.)"}
{"file_name": "images/scenario_3_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.6) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 35.8 meters away at (5.2, -35.5). A pedestrian with ID 20 is 36.9 meters away at (-24.6, 27.5). A pedestrian with ID 13 is 37.8 meters away at (-24.5, 28.8). A pedestrian with ID 22 is 39.7 meters away at (-8.4, 38.8). A vehicle with ID 26 is 41.9 meters away at (5.5, -41.6). A pedestrian with ID 24 is 45.9 meters away at (-27.8, 36.5). A vehicle with ID 15 is 51.9 meters away at (1.2, 51.9). A pedestrian with ID 27 is 53.9 meters away at (-37.8, 38.4). A pedestrian with ID 1 is 59.2 meters away at (15.3, 57.2).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [1.0986425 1.0316585] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.95841515 0.9610433 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.34397325 -1.1394173 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0069203   0.22318965] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.38260892 -8.68897   ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1406367   0.34964928] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.70805895 -1.00836   ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  5.1747494 -35.467403 ], 35.842918395996094 meters away.)"}
{"file_name": "images/scenario_4_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -6.4) m/s. Its current heading (yaw) is -2.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 69 is 13.6 meters away at (2.5, 13.3). A vehicle with ID 79 is 16.8 meters away at (16.8, 0.1). A vehicle with ID 76 is 18.1 meters away at (17.9, 2.4). A vehicle with ID 75 is 19.8 meters away at (19.3, 4.5). A vehicle with ID 34 is 20.0 meters away at (-14.5, -13.8). A vehicle with ID 70 is 21.1 meters away at (7.4, 19.7). A vehicle with ID 77 is 22.2 meters away at (21.0, 7.1). A vehicle with ID 78 is 24.3 meters away at (22.4, 9.4). A pedestrian with ID 72 is 24.8 meters away at (9.2, 23.0). A pedestrian with ID 73 is 25.3 meters away at (8.8, 23.7).", "velocity_description": "The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.05372221 0.03381623] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.00844798 -0.00166568] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.34336853027344, -81.77824401855469)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.529832 13.33719 ], 13.575002670288086 meters away.)"}
{"file_name": "images/scenario_4_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -6.9) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 5.5 meters away at (-5.5, -0.4). A vehicle with ID 33 is 14.8 meters away at (-11.8, -9.0). A vehicle with ID 35 is 21.9 meters away at (-16.0, -14.9). A vehicle with ID 40 is 26.4 meters away at (24.0, 11.1). A vehicle with ID 36 is 27.9 meters away at (-19.3, -20.1). A vehicle with ID 79 is 29.0 meters away at (25.7, 13.5). A vehicle with ID 69 is 29.1 meters away at (11.5, 26.7). A vehicle with ID 65 is 30.2 meters away at (8.8, -28.9). A vehicle with ID 76 is 31.2 meters away at (26.9, 15.8). A vehicle with ID 75 is 33.5 meters away at (28.3, 17.8).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.34336853027344, -81.77824401855469)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.495434  -0.3875885], 5.509085178375244 meters away.)"}
{"file_name": "images/scenario_4_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -6.8) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 5.3 meters away at (-3.0, 4.4). A vehicle with ID 35 is 7.4 meters away at (-7.2, -1.5). A vehicle with ID 36 is 12.3 meters away at (-10.5, -6.5). A vehicle with ID 34 is 13.5 meters away at (3.3, 13.1). A vehicle with ID 67 is 19.6 meters away at (-14.8, -12.9). A vehicle with ID 65 is 23.5 meters away at (17.7, -15.5). A vehicle with ID 91 is 24.5 meters away at (8.5, -22.9). A vehicle with ID 29 is 26.5 meters away at (-18.6, -18.8). A vehicle with ID 61 is 30.9 meters away at (12.4, -28.3). A vehicle with ID 68 is 31.0 meters away at (-10.5, -29.2).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.34336853027344, -81.77824401855469)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.033184  4.367592], 5.317524433135986 meters away.)"}
{"file_name": "images/scenario_4_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -6.3) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 6.4 meters away at (-6.4, -0.2). A vehicle with ID 36 is 6.4 meters away at (-2.2, 6.0). A vehicle with ID 35 is 11.3 meters away at (1.1, 11.2). A vehicle with ID 29 is 11.9 meters away at (-10.3, -6.1). A pedestrian with ID 26 is 16.5 meters away at (-13.9, -9.0). A vehicle with ID 68 is 16.6 meters away at (-2.1, -16.5). A vehicle with ID 33 is 17.9 meters away at (5.4, 17.1). A vehicle with ID 91 is 19.7 meters away at (16.9, -10.1). A vehicle with ID 65 is 26.3 meters away at (26.1, -2.8). A vehicle with ID 13 is 26.9 meters away at (-7.9, -25.7).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.01691095 -0.01066038] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.34336853027344, -81.77824401855469)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.431801   -0.23088455], 6.435943603515625 meters away.)"}
{"file_name": "images/scenario_5_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -0.2) m/s. Its current heading (yaw) is -0.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 9.4 meters away at (0.9, -9.4). A vehicle with ID 37 is 10.2 meters away at (3.5, -9.5). A vehicle with ID 46 is 11.9 meters away at (5.9, 10.4). A vehicle with ID 51 is 22.6 meters away at (-1.1, -22.5). A vehicle with ID 49 is 22.7 meters away at (-3.8, -22.3). A vehicle with ID 39 is 23.0 meters away at (20.5, -10.4). A vehicle with ID 23 is 25.6 meters away at (8.7, -24.1). A vehicle with ID 45 is 26.6 meters away at (-14.6, -22.2). A vehicle with ID 41 is 27.6 meters away at (-25.4, 10.8). A vehicle with ID 42 is 30.8 meters away at (-28.4, -12.0).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-106.9643325805664, -83.3321304321289)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.9454346 -9.371775 ], 9.419342041015625 meters away.)"}
{"file_name": "images/scenario_5_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -0.6) m/s. Its current heading (yaw) is -0.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 10.9 meters away at (4.7, -9.9). A vehicle with ID 46 is 14.6 meters away at (-9.9, 10.7). A vehicle with ID 37 is 15.3 meters away at (-12.2, -9.2). A vehicle with ID 35 is 17.4 meters away at (-14.8, -9.0). A vehicle with ID 53 is 18.2 meters away at (14.6, 10.8). A vehicle with ID 40 is 19.1 meters away at (13.0, -14.0). A vehicle with ID 23 is 24.7 meters away at (-7.0, -23.7). A vehicle with ID 55 is 25.2 meters away at (22.6, 11.1). A unknown object with ID 33 is 26.1 meters away at (21.0, 15.6). A vehicle with ID 51 is 27.9 meters away at (-16.9, -22.2).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-106.9643325805664, -83.3321304321289)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.662071 -9.88958 ], 10.933375358581543 meters away.)"}
{"file_name": "images/scenario_5_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -3.3) m/s. Its current heading (yaw) is -0.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 10.9 meters away at (-1.2, -10.8). A vehicle with ID 39 is 11.7 meters away at (-9.5, -6.7). A vehicle with ID 53 is 14.1 meters away at (0.3, 14.1). A vehicle with ID 58 is 15.6 meters away at (15.5, -0.9). A vehicle with ID 55 is 16.5 meters away at (8.2, 14.3). A vehicle with ID 57 is 26.4 meters away at (22.1, 14.4). A vehicle with ID 37 is 27.2 meters away at (-26.5, -6.1). A vehicle with ID 46 is 28.0 meters away at (-24.3, 13.9). A vehicle with ID 23 is 29.6 meters away at (-21.2, -20.6). A unknown object with ID 14 is 29.7 meters away at (27.4, -11.4).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-4.4718657  4.984345 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-106.9643325805664, -83.3321304321289)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -1.2009201 -10.791213 ], 10.857831001281738 meters away.)"}
{"file_name": "images/scenario_5_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -6.2) m/s. Its current heading (yaw) is -0.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 12.2 meters away at (-12.1, -1.4). A unknown object with ID 14 is 16.5 meters away at (16.4, -2.0). A vehicle with ID 58 is 16.9 meters away at (-7.3, 15.2). A vehicle with ID 39 is 20.7 meters away at (-20.5, 2.7). A vehicle with ID 55 is 24.0 meters away at (-2.6, 23.9). A vehicle with ID 53 is 25.8 meters away at (-10.6, 23.6). A vehicle with ID 38 is 26.1 meters away at (-0.2, -26.1). A vehicle with ID 57 is 26.4 meters away at (11.1, 23.9). A vehicle with ID 12 is 27.4 meters away at (-14.1, -23.6). A vehicle with ID 36 is 28.8 meters away at (-0.2, -28.8).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-7.254717  1.573993] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-106.9643325805664, -83.3321304321289)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.134674   -1.3567982], 12.210291862487793 meters away.)"}
{"file_name": "images/scenario_6_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.6) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.4 meters away at (-3.2, 1.2). A vehicle with ID 27 is 6.7 meters away at (1.5, 6.5). A unknown object with ID 18 is 8.1 meters away at (5.5, -6.0). A vehicle with ID 26 is 10.1 meters away at (-6.4, -7.8). A vehicle with ID 31 is 12.5 meters away at (5.6, 11.2). A pedestrian with ID 34 is 16.7 meters away at (-8.8, -14.2). A vehicle with ID 48 is 19.9 meters away at (17.3, 9.8). A vehicle with ID 46 is 20.1 meters away at (10.5, 17.1). A vehicle with ID 58 is 26.2 meters away at (14.6, 21.8). A vehicle with ID 60 is 26.5 meters away at (21.7, 15.1).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.3494308  -0.67593473] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.73058  -19.003344]\n [-13.750438 -19.4836  ]\n [-22.792452 -30.24371 ]\n [-16.215881 -17.839178]\n [-15.078743 -18.838505]\n [-21.208979 -27.494461]]", "nav_goal": "(-144.90428161621094, -30.46458625793457)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.2366836  1.1834097], 3.4462413787841797 meters away.)"}
{"file_name": "images/scenario_6_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.3 meters away at (-2.9, 1.6). A vehicle with ID 27 is 7.1 meters away at (1.8, 6.9). A unknown object with ID 18 is 8.1 meters away at (6.0, -5.5). A vehicle with ID 26 is 9.6 meters away at (-6.0, -7.5). A vehicle with ID 31 is 12.9 meters away at (5.9, 11.5). A pedestrian with ID 34 is 16.2 meters away at (-5.7, -15.1). A vehicle with ID 48 is 20.3 meters away at (17.6, 10.2). A vehicle with ID 46 is 20.6 meters away at (10.9, 17.5). A vehicle with ID 58 is 26.8 meters away at (14.9, 22.2). A vehicle with ID 60 is 27.0 meters away at (22.1, 15.5).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.4192873 -0.6906719] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.73058  -19.003344]\n [-13.750438 -19.4836  ]\n [-22.792452 -30.24371 ]\n [-16.215881 -17.839178]\n [-15.078743 -18.838505]\n [-21.208979 -27.494461]]", "nav_goal": "(-144.90428161621094, -30.46458625793457)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.8990364  1.553763 ], 3.2891628742218018 meters away.)"}
{"file_name": "images/scenario_6_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.3 meters away at (-2.8, 1.6). A vehicle with ID 27 is 7.2 meters away at (1.8, 6.9). A unknown object with ID 18 is 8.1 meters away at (6.0, -5.5). A vehicle with ID 26 is 11.9 meters away at (-7.6, -9.1). A vehicle with ID 31 is 13.1 meters away at (6.0, 11.6). A pedestrian with ID 34 is 16.3 meters away at (-2.8, -16.0). A vehicle with ID 48 is 20.4 meters away at (17.7, 10.3). A vehicle with ID 46 is 20.8 meters away at (11.0, 17.6). A vehicle with ID 58 is 26.9 meters away at (15.0, 22.3). A vehicle with ID 60 is 27.1 meters away at (22.1, 15.6).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.5973525 -1.6218369] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.4113369  -0.36405993] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.73058  -19.003344]\n [-13.750438 -19.4836  ]\n [-22.792452 -30.24371 ]\n [-16.215881 -17.839178]\n [-15.078743 -18.838505]\n [-21.208979 -27.494461]]", "nav_goal": "(-144.90428161621094, -30.46458625793457)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.8339617  1.6217482], 3.265180826187134 meters away.)"}
{"file_name": "images/scenario_6_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -1.7) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.5 meters away at (-1.4, 3.2). A unknown object with ID 18 is 8.3 meters away at (7.4, -3.9). A vehicle with ID 27 is 9.2 meters away at (3.3, 8.6). A pedestrian with ID 34 is 15.0 meters away at (1.5, -14.9). A vehicle with ID 31 is 15.3 meters away at (7.5, 13.3). A vehicle with ID 26 is 15.6 meters away at (-10.7, -11.4). A pedestrian with ID 4 is 19.5 meters away at (7.4, -18.1). A vehicle with ID 48 is 22.5 meters away at (19.1, 11.9). A vehicle with ID 46 is 22.9 meters away at (12.4, 19.2). A pedestrian with ID 45 is 24.1 meters away at (-5.6, -23.4).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [1.3893977  0.06077665] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.7172868 -1.6921719] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.2167021   0.28721726] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [1.1355196 1.1475053] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.73058  -19.003344]\n [-13.750438 -19.4836  ]\n [-22.792452 -30.24371 ]\n [-15.078743 -18.838505]\n [-21.208979 -27.494461]]", "nav_goal": "(-144.90428161621094, -30.46458625793457)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.4375498  3.2386649], 3.5433740615844727 meters away.)"}
{"file_name": "images/scenario_7_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.8) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 105 is 8.9 meters away at (-8.3, -3.4). A pedestrian with ID 102 is 12.0 meters away at (12.0, 0.8). A pedestrian with ID 106 is 12.9 meters away at (-9.5, -8.8). A unknown object with ID 111 is 15.5 meters away at (-10.7, 11.2). A vehicle with ID 101 is 17.4 meters away at (6.7, -16.1). A vehicle with ID 32 is 18.5 meters away at (14.1, -12.0). A vehicle with ID 35 is 21.7 meters away at (-17.3, 13.1). A pedestrian with ID 108 is 24.1 meters away at (-6.2, -23.3). A vehicle with ID 103 is 24.2 meters away at (20.5, -12.8). A pedestrian with ID 109 is 24.2 meters away at (-8.0, -22.8).", "velocity_description": "The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.9186207  1.066495 ] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-0.00064671  0.01174574] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.5828094  4.0925465] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-7.6153398  4.82113  ] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [ 0.39299455 -0.51387453] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-0.04894611  0.03410892] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-223.70327758789062, 30.05432891845703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.262603  -3.4006453], 8.935043334960938 meters away.)"}
{"file_name": "images/scenario_7_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 5.0) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 111 is 2.7 meters away at (2.4, 1.3). A unknown object with ID 92 is 8.4 meters away at (-5.3, 6.5). A pedestrian with ID 117 is 8.8 meters away at (-1.8, 8.6). A pedestrian with ID 114 is 8.9 meters away at (-1.0, 8.9). A unknown object with ID 105 is 14.1 meters away at (4.7, -13.3). A unknown object with ID 69 is 17.1 meters away at (-13.0, 11.1). A pedestrian with ID 119 is 18.6 meters away at (-11.0, 14.9). A unknown object with ID 90 is 18.7 meters away at (17.5, -6.5). A pedestrian with ID 106 is 18.9 meters away at (3.5, -18.6). A vehicle with ID 32 is 21.1 meters away at (16.9, -12.7).", "velocity_description": "The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [ 0.6193603  -0.44276994] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [ 0.57919264 -0.3673611 ] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [-1.2623652   0.51956314] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-0.07928247 -0.00533399] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-6.007496   5.0574164] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-223.70327758789062, 30.05432891845703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [2.3705044 1.3025475], 2.7047958374023438 meters away.)"}
{"file_name": "images/scenario_7_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 4.8) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 69 is 2.7 meters away at (2.4, 1.2). A unknown object with ID 93 is 5.6 meters away at (-4.2, -3.6). A pedestrian with ID 119 is 6.7 meters away at (2.2, 6.3). A unknown object with ID 64 is 7.7 meters away at (-5.2, 5.7). A unknown object with ID 88 is 9.4 meters away at (3.9, -8.5). A unknown object with ID 92 is 10.7 meters away at (10.1, -3.3). A unknown object with ID 83 is 12.5 meters away at (-12.4, 1.3). A pedestrian with ID 117 is 15.4 meters away at (15.3, -2.3). A pedestrian with ID 114 is 16.0 meters away at (15.9, -1.6). A unknown object with ID 74 is 16.9 meters away at (-13.3, 10.5).", "velocity_description": "The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [-1.1572226  0.6639363] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [ 0.76280504 -0.43863013] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [ 0.74969256 -0.44754377] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.357399   4.873585]\n [-13.293896   4.079414]]", "nav_goal": "(-223.70327758789062, 30.05432891845703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [2.3508644 1.2433052], 2.659393072128296 meters away.)"}
{"file_name": "images/scenario_7_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 5.0) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 74 is 3.4 meters away at (3.3, 0.5). A vehicle with ID 59 is 3.7 meters away at (-3.2, -1.9). A unknown object with ID 54 is 5.4 meters away at (-3.5, -4.2). A unknown object with ID 94 is 6.8 meters away at (-4.5, 5.1). A unknown object with ID 83 is 9.6 meters away at (4.2, -8.7). A unknown object with ID 64 is 12.2 meters away at (11.5, -4.2). A unknown object with ID 99 is 15.8 meters away at (-12.4, 9.8). A pedestrian with ID 119 is 16.9 meters away at (16.7, -2.3). A unknown object with ID 97 is 20.1 meters away at (-19.4, 5.1). A unknown object with ID 69 is 21.0 meters away at (19.1, -8.6).", "velocity_description": "The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [12.126269  -7.2257657] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [-1.1171738   0.61094236] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-223.70327758789062, 30.05432891845703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [3.3245392 0.5439415], 3.368743658065796 meters away.)"}
{"file_name": "images/scenario_8_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -2.5) m/s. Its current heading (yaw) is -1.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 26.2 meters away at (23.4, -11.8). A unknown object with ID 5 is 33.7 meters away at (-29.8, 15.7). A pedestrian with ID 15 is 39.5 meters away at (-37.7, -11.6). A pedestrian with ID 11 is 48.4 meters away at (45.9, -15.4). A pedestrian with ID 12 is 48.9 meters away at (46.0, -16.8). A pedestrian with ID 13 is 51.6 meters away at (49.1, -15.9). A pedestrian with ID 14 is 51.9 meters away at (49.0, -17.0). A vehicle with ID 17 is 75.4 meters away at (-74.4, 12.6).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [5.0637164 0.9038125] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.1242377  0.4816848] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.3308185   0.04103203] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.2783457   0.08132093] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.4593357  -0.01055902] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.39302     0.02451373] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 23.447548 -11.757805], 26.230392456054688 meters away.)"}
{"file_name": "images/scenario_8_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -2.2) m/s. Its current heading (yaw) is -0.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 31.3 meters away at (31.3, -2.3). A pedestrian with ID 15 is 41.8 meters away at (-41.5, -5.1). A pedestrian with ID 11 is 43.3 meters away at (42.3, -9.4). A pedestrian with ID 12 is 43.7 meters away at (42.3, -10.8). A pedestrian with ID 14 is 46.3 meters away at (45.0, -11.1). A pedestrian with ID 13 is 46.4 meters away at (45.2, -10.3). A pedestrian with ID 2 is 60.4 meters away at (59.7, 9.0). A pedestrian with ID 3 is 60.8 meters away at (60.3, 8.1). A vehicle with ID 17 is 78.0 meters away at (-75.8, 18.2).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [4.016018  3.2563252] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.326992   0.4390714] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0142674  0.4898547] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.89080465  0.561389  ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0540574  0.565891 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.0418969   0.59537417] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.9643232  -0.49784005] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.90324754 -0.45986977] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [31.2574    -2.3251143], 31.343759536743164 meters away.)"}
{"file_name": "images/scenario_8_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.1) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 34.3 meters away at (33.4, 8.0). A pedestrian with ID 11 is 35.9 meters away at (35.5, -5.7). A pedestrian with ID 12 is 36.4 meters away at (35.7, -7.3). A pedestrian with ID 14 is 38.4 meters away at (37.7, -7.1). A pedestrian with ID 13 is 38.4 meters away at (37.9, -6.3). A pedestrian with ID 15 is 49.0 meters away at (-48.9, -2.4). A pedestrian with ID 2 is 54.0 meters away at (52.9, 10.9). A pedestrian with ID 3 is 54.2 meters away at (53.3, 10.1).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [3.2982793 3.539956 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.32936376  0.13066626] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.65232104  0.3440366 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.1174195   0.35797715] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.1285715  0.4133975] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.1255987  -0.08509515] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.868756   -0.68921256] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.97686446 -0.61195993] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [33.383575  8.041242], 34.33838653564453 meters away.)"}
{"file_name": "images/scenario_8_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -1.1) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 28.1 meters away at (28.0, -3.1). A pedestrian with ID 12 is 28.3 meters away at (27.9, -4.4). A pedestrian with ID 13 is 29.8 meters away at (29.5, -3.7). A pedestrian with ID 14 is 29.8 meters away at (29.4, -4.9). A vehicle with ID 10 is 37.5 meters away at (33.5, 16.8). A vehicle with ID 9 is 38.3 meters away at (34.1, 17.5). A pedestrian with ID 2 is 46.9 meters away at (45.2, 12.6). A pedestrian with ID 3 is 47.1 meters away at (45.7, 11.8). A vehicle with ID 1 is 47.5 meters away at (44.3, 17.1).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0042727   0.07387361] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.8990709   0.16940656] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.9865781   0.12184916] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9830218   0.12493555] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.6642208 2.7342114] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [2.96324   2.8926268] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.91285694 -0.5692814 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.86954874 -0.63586104] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.409651  -3.7902787] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [27.978062  -3.0602694], 28.14493179321289 meters away.)"}
{"file_name": "images/scenario_9_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.4) m/s. Its current heading (yaw) is -0.30 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 7.4 meters away at (-7.1, -2.3). A pedestrian with ID 1 is 7.9 meters away at (4.9, -6.3). A vehicle with ID 14 is 69.6 meters away at (-47.6, -50.8). A vehicle with ID 15 is 70.3 meters away at (-49.8, -49.6).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.225889   -0.46451268] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-28.61637306213379, -36.6634407043457)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-7.0746202 -2.261915 ], 7.4274163246154785 meters away.)"}
{"file_name": "images/scenario_9_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 0.4) m/s. Its current heading (yaw) is 0.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 7.4 meters away at (3.0, -6.8). A unknown object with ID 11 is 11.5 meters away at (-11.4, -1.8).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.0079691 -0.4439725] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-28.61637306213379, -36.6634407043457)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 3.005268 -6.815398], 7.4485764503479 meters away.)"}
{"file_name": "images/scenario_9_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.3) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 12.5 meters away at (-2.9, -12.1). A unknown object with ID 8 is 18.5 meters away at (-17.7, -5.5). A unknown object with ID 11 is 20.6 meters away at (-19.7, -6.0).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2310094  -0.47196594] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-28.61637306213379, -36.6634407043457)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ -2.9215307 -12.125079 ], 12.472084045410156 meters away.)"}
{"file_name": "images/scenario_9_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 4.7) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 21.5 meters away at (-10.1, 19.0). A pedestrian with ID 1 is 23.6 meters away at (-6.5, -22.7). A unknown object with ID 11 is 30.1 meters away at (-25.6, -15.8).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.1568251 -0.4712659] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-28.61637306213379, -36.6634407043457)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-10.09744   19.031391], 21.544189453125 meters away.)"}
{"file_name": "images/scenario_10_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -2.5) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 84 is 3.1 meters away at (-1.7, -2.5). A vehicle with ID 87 is 5.0 meters away at (3.0, -4.1). A vehicle with ID 85 is 6.1 meters away at (1.2, 6.0). A vehicle with ID 88 is 7.5 meters away at (6.0, 4.4). A unknown object with ID 86 is 7.5 meters away at (-0.8, -7.5). A unknown object with ID 83 is 9.5 meters away at (-3.0, 9.1). A vehicle with ID 100 is 11.5 meters away at (11.5, -0.6). A vehicle with ID 81 is 12.3 meters away at (-12.3, 1.0). A vehicle with ID 104 is 32.1 meters away at (29.5, -12.6). A vehicle with ID 31 is 34.2 meters away at (-32.6, 10.3).", "velocity_description": "The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [-8.433354   2.7241685] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 4.1236525 -1.4602461] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(238.2536163330078, -36.7137451171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.7257671 -2.5487905], 3.0780844688415527 meters away.)"}
{"file_name": "images/scenario_10_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -2.7) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 87 is 11.7 meters away at (-11.7, 0.8). A vehicle with ID 88 is 12.7 meters away at (-8.7, 9.3). A unknown object with ID 86 is 15.8 meters away at (-15.6, -2.6). A vehicle with ID 104 is 16.5 meters away at (14.7, -7.6). A vehicle with ID 84 is 16.9 meters away at (-16.7, 2.4). A vehicle with ID 85 is 17.5 meters away at (-13.7, 10.8). A vehicle with ID 100 is 20.4 meters away at (-18.2, 9.2). A vehicle with ID 73 is 25.2 meters away at (19.1, 16.4). A vehicle with ID 81 is 27.7 meters away at (-27.1, 6.0). A vehicle with ID 80 is 28.0 meters away at (25.6, -11.3).", "velocity_description": "The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [-6.0570717  1.9704998] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(238.2536163330078, -36.7137451171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-11.717918    0.7957783], 11.744909286499023 meters away.)"}
{"file_name": "images/scenario_10_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -2.6) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 104 is 2.8 meters away at (-1.1, -2.6). A vehicle with ID 80 is 11.6 meters away at (9.7, -6.3). A vehicle with ID 32 is 19.5 meters away at (19.5, -0.0). A unknown object with ID 53 is 21.1 meters away at (17.4, 11.9). A unknown object with ID 45 is 21.7 meters away at (17.6, 12.8). A vehicle with ID 73 is 21.7 meters away at (3.3, 21.5). A pedestrian with ID 50 is 23.1 meters away at (18.0, 14.5). A pedestrian with ID 38 is 23.4 meters away at (19.4, -13.2). A vehicle with ID 30 is 24.3 meters away at (24.3, -1.7). A unknown object with ID 69 is 26.5 meters away at (18.2, 19.2).", "velocity_description": "The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.00903929 0.00301131] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.4126309   0.38836598] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(238.2536163330078, -36.7137451171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.1293411 -2.6026287], 2.8370914459228516 meters away.)"}
{"file_name": "images/scenario_10_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -2.3) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 5.1 meters away at (-4.8, -1.7). A vehicle with ID 32 is 6.7 meters away at (4.8, 4.6). A pedestrian with ID 38 is 7.5 meters away at (1.3, -7.4). A vehicle with ID 30 is 10.0 meters away at (9.6, 3.0). A vehicle with ID 43 is 14.0 meters away at (12.1, -7.0). A vehicle with ID 104 is 16.0 meters away at (-15.8, 2.1). A vehicle with ID 70 is 17.8 meters away at (-4.0, -17.4). A vehicle with ID 20 is 19.1 meters away at (17.0, -8.7). A vehicle with ID 15 is 24.2 meters away at (21.9, -10.3). A vehicle with ID 17 is 24.9 meters away at (24.8, -1.9).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.7161205  0.4664504] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(238.2536163330078, -36.7137451171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.8417015 -1.6934834], 5.129323482513428 meters away.)"}
{"file_name": "images/scenario_11_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 5.6) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 62 is 6.7 meters away at (-6.2, -2.5). A unknown object with ID 63 is 6.9 meters away at (-6.8, -1.2). A unknown object with ID 60 is 7.5 meters away at (-6.0, -4.5). A unknown object with ID 61 is 9.7 meters away at (-8.4, -4.7). A pedestrian with ID 71 is 13.5 meters away at (10.8, -8.1). A pedestrian with ID 58 is 14.2 meters away at (11.5, -8.3). A pedestrian with ID 83 is 14.4 meters away at (-0.4, 14.4). A unknown object with ID 64 is 21.4 meters away at (-11.1, -18.3). A unknown object with ID 65 is 21.5 meters away at (-12.4, -17.5). A unknown object with ID 85 is 22.0 meters away at (3.8, 21.6).", "velocity_description": "The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.4059108 1.0085301] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.41013682 1.0198823 ] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.46802253 -1.1997948 ] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[33.717426 50.208584]\n [37.208725 45.00345 ]\n [36.80984  43.365055]\n [37.421158 44.863026]]", "nav_goal": "(-236.082275390625, 161.77696228027344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-6.2292156 -2.5493317], 6.730692386627197 meters away.)"}
{"file_name": "images/scenario_11_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.5) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 83 is 5.3 meters away at (-5.3, 0.8). A unknown object with ID 85 is 10.5 meters away at (0.1, 10.5). A unknown object with ID 87 is 10.8 meters away at (-0.6, 10.8). A unknown object with ID 63 is 16.1 meters away at (-10.4, -12.3). A unknown object with ID 62 is 16.9 meters away at (-10.0, -13.6). A unknown object with ID 60 is 18.4 meters away at (-9.8, -15.6). A pedestrian with ID 27 is 18.8 meters away at (8.0, -17.0). A pedestrian with ID 71 is 18.8 meters away at (8.0, -17.0). A pedestrian with ID 58 is 19.4 meters away at (8.8, -17.3). A pedestrian with ID 81 is 19.7 meters away at (18.8, 5.9).", "velocity_description": "The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.52261984 -1.2520214 ] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.5605031 0.9864677] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.5078878 1.0310591] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.51264405 1.0611432 ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.67505735 0.80149096] m/s.", "light_description": "There are active red lights at the following coordinates: [[33.717426 50.208584]\n [37.208725 45.00345 ]\n [36.80984  43.365055]\n [37.421158 44.863026]]", "nav_goal": "(-236.082275390625, 161.77696228027344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.259326   0.7836571], 5.317389011383057 meters away.)"}
{"file_name": "images/scenario_11_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 4.4) m/s. Its current heading (yaw) is 1.34 ", "actor_description": " The most relevant actors are: A unknown object with ID 85 is 2.9 meters away at (-2.9, 0.5). A unknown object with ID 31 is 3.3 meters away at (-3.3, 0.7). A unknown object with ID 87 is 3.7 meters away at (-3.6, 0.8). A pedestrian with ID 83 is 15.1 meters away at (-9.4, -11.8). A pedestrian with ID 81 is 17.5 meters away at (17.3, -3.0). A pedestrian with ID 27 is 25.7 meters away at (5.9, -25.1). A unknown object with ID 4 is 25.8 meters away at (-9.1, 24.2). A unknown object with ID 3 is 25.9 meters away at (-8.8, 24.4). A unknown object with ID 63 is 26.1 meters away at (-13.5, -22.3). A pedestrian with ID 58 is 26.2 meters away at (6.7, -25.3).", "velocity_description": "The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.41513315 -1.1428032 ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.8416411 0.5956075] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.44534713 1.0731372 ] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.4623271 1.0835472] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-236.082275390625, 161.77696228027344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.8870993  0.5032387], 2.9306299686431885 meters away.)"}
{"file_name": "images/scenario_11_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 2.8) m/s. Its current heading (yaw) is 1.57 ", "actor_description": " The most relevant actors are: A unknown object with ID 31 is 7.5 meters away at (-3.9, -6.4). A unknown object with ID 85 is 7.5 meters away at (-4.1, -6.3). A unknown object with ID 87 is 7.6 meters away at (-4.6, -6.1). A vehicle with ID 14 is 13.6 meters away at (-11.3, 7.6). A unknown object with ID 6 is 19.4 meters away at (-11.7, 15.5). A unknown object with ID 5 is 19.5 meters away at (-10.6, 16.4). A unknown object with ID 3 is 20.0 meters away at (-9.8, 17.4). A unknown object with ID 4 is 20.0 meters away at (-10.2, 17.2). A pedestrian with ID 81 is 20.4 meters away at (18.2, -9.1). A unknown object with ID 7 is 20.6 meters away at (-13.6, 15.4).", "velocity_description": "The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.9647441 0.3484848] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-236.082275390625, 161.77696228027344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.911941 -6.398041], 7.499213695526123 meters away.)"}
{"file_name": "images/scenario_12_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 103 is 9.0 meters away at (-7.6, 4.8). A unknown object with ID 104 is 9.2 meters away at (-7.3, 5.5). A unknown object with ID 105 is 9.7 meters away at (-9.1, 3.2). A unknown object with ID 108 is 10.1 meters away at (-8.1, 6.1). A unknown object with ID 109 is 10.9 meters away at (-9.2, 5.7). A vehicle with ID 115 is 11.0 meters away at (-4.8, -9.9). A vehicle with ID 12 is 11.1 meters away at (-8.3, -7.4). A unknown object with ID 111 is 11.3 meters away at (-11.3, 0.4). A unknown object with ID 112 is 11.8 meters away at (-9.5, 7.0). A unknown object with ID 113 is 13.6 meters away at (-11.0, 7.9).", "velocity_description": "The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0.58233285 0.64006895] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-226.55184936523438, -3.9534950256347656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.5927706  4.8096423], 8.987926483154297 meters away.)"}
{"file_name": "images/scenario_12_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.2) m/s. Its current heading (yaw) is -2.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 103 is 8.8 meters away at (-7.1, 5.2). A vehicle with ID 115 is 8.9 meters away at (-3.2, -8.4). A unknown object with ID 104 is 9.0 meters away at (-6.7, 5.9). A unknown object with ID 105 is 9.3 meters away at (-8.6, 3.7). A unknown object with ID 108 is 10.0 meters away at (-7.6, 6.5). A unknown object with ID 109 is 10.6 meters away at (-8.7, 6.1). A unknown object with ID 111 is 10.9 meters away at (-10.8, 0.8). A vehicle with ID 12 is 11.6 meters away at (-8.2, -8.2). A unknown object with ID 112 is 11.6 meters away at (-8.9, 7.4). A unknown object with ID 114 is 13.4 meters away at (-1.7, -13.2).", "velocity_description": "The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0.9513536 1.0026512] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.46245483 -1.2671183 ] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-226.55184936523438, -3.9534950256347656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.1341124  5.228416 ], 8.844879150390625 meters away.)"}
{"file_name": "images/scenario_12_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -1.5) m/s. Its current heading (yaw) is -2.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 115 is 4.6 meters away at (0.6, -4.5). A unknown object with ID 103 is 8.7 meters away at (-5.6, 6.6). A unknown object with ID 105 is 8.7 meters away at (-7.1, 5.1). A unknown object with ID 104 is 9.0 meters away at (-5.2, 7.4). A unknown object with ID 111 is 9.6 meters away at (-9.3, 2.2). A unknown object with ID 108 is 9.9 meters away at (-6.0, 7.9). A unknown object with ID 109 is 10.5 meters away at (-7.2, 7.6). A unknown object with ID 112 is 11.6 meters away at (-7.4, 8.9). A unknown object with ID 117 is 11.7 meters away at (-11.7, -1.1). A vehicle with ID 96 is 12.1 meters away at (-2.3, -11.9).", "velocity_description": "The vehicle with ID 115 is traveling at a (x, y) velocity of [1.1292123 1.2673696] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-226.55184936523438, -3.9534950256347656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.6269969 -4.5498743], 4.5928730964660645 meters away.)"}
{"file_name": "images/scenario_12_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -3.1) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 115 is 7.2 meters away at (6.5, 3.0). A vehicle with ID 96 is 7.4 meters away at (1.8, -7.2). A vehicle with ID 93 is 7.5 meters away at (-6.6, -3.4). A unknown object with ID 117 is 8.4 meters away at (-7.5, 3.6). A unknown object with ID 111 is 8.6 meters away at (-5.2, 6.9). A unknown object with ID 121 is 10.1 meters away at (-10.0, 1.0). A unknown object with ID 105 is 10.3 meters away at (-3.0, 9.9). A unknown object with ID 103 is 11.5 meters away at (-1.5, 11.4). A unknown object with ID 104 is 12.2 meters away at (-1.1, 12.2). A unknown object with ID 109 is 12.9 meters away at (-3.1, 12.5).", "velocity_description": "The vehicle with ID 115 is traveling at a (x, y) velocity of [0.7039286 1.7134402] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-226.55184936523438, -3.9534950256347656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.50436   3.0132089], 7.168412208557129 meters away.)"}
{"file_name": "images/scenario_13_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 1.6) m/s. Its current heading (yaw) is 2.68 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 6.8 meters away at (1.4, 6.6). A pedestrian with ID 29 is 8.3 meters away at (7.5, 3.6). A pedestrian with ID 31 is 9.9 meters away at (5.0, 8.5). A vehicle with ID 32 is 19.9 meters away at (12.3, -15.7). A vehicle with ID 41 is 21.4 meters away at (-16.0, -14.2). A vehicle with ID 34 is 25.7 meters away at (18.9, -17.4). A vehicle with ID 35 is 27.1 meters away at (26.8, -4.2). A pedestrian with ID 36 is 27.6 meters away at (27.4, -3.3). A vehicle with ID 28 is 28.0 meters away at (-27.6, 4.8). A vehicle with ID 39 is 29.6 meters away at (-29.5, 1.5).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.00098754 0.0066162 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.008567    0.15386105] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.00423458 0.00558044] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.06244424  0.03706744] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 0.9668008 -0.3160837] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.326649  -4.332373]\n [-19.767265   5.904143]\n [-16.28569   -2.177916]\n [-17.67021   -1.933705]]", "nav_goal": "(116.2219009399414, 203.90028381347656)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [1.3599722 6.6117063], 6.750124931335449 meters away.)"}
{"file_name": "images/scenario_13_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 3.7) m/s. Its current heading (yaw) is 2.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 7.0 meters away at (6.8, 1.7). A pedestrian with ID 31 is 11.1 meters away at (10.5, 3.6). A pedestrian with ID 29 is 13.0 meters away at (13.0, -1.3). A vehicle with ID 39 is 19.1 meters away at (-18.3, -5.4). A vehicle with ID 28 is 19.3 meters away at (-19.2, -1.1). A vehicle with ID 41 is 21.9 meters away at (-10.4, -19.3). A vehicle with ID 32 is 27.2 meters away at (17.9, -20.6). A vehicle with ID 34 is 33.1 meters away at (24.5, -22.3). A pedestrian with ID 36 is 33.6 meters away at (32.6, -8.2). A vehicle with ID 35 is 33.7 meters away at (32.5, -9.1).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.00619444 0.02202707] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.00424234 0.01796871] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.05056269 0.0077448 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 4.54276   -1.3970622] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 2.9969857 -0.6115384] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.01024926  0.00851683] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.326649  -4.332373]\n [-16.28569   -2.177916]\n [-17.67021   -1.933705]]", "nav_goal": "(116.2219009399414, 203.90028381347656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [6.839816  1.6869726], 7.044782638549805 meters away.)"}
{"file_name": "images/scenario_13_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 4.8) m/s. Its current heading (yaw) is 1.31 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 10.3 meters away at (7.5, -7.1). A pedestrian with ID 31 is 12.5 meters away at (11.3, -5.3). A vehicle with ID 28 is 14.7 meters away at (-10.8, -10.0). A pedestrian with ID 29 is 17.1 meters away at (13.8, -10.1). A vehicle with ID 39 is 18.9 meters away at (-6.1, -17.9). A vehicle with ID 41 is 29.7 meters away at (-9.7, -28.1). A vehicle with ID 32 is 34.9 meters away at (18.5, -29.5). A vehicle with ID 35 is 37.7 meters away at (33.2, -18.0). A vehicle with ID 34 is 40.1 meters away at (25.1, -31.3). A vehicle with ID 49 is 49.7 meters away at (-49.1, -7.7).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.0070533  -0.01148459] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.01132911 -0.04331951] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [4.304077  1.1935767] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.03819646 -0.01676975] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 6.7019396 -2.0768504] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.326649  -4.332373]\n [-16.28569   -2.177916]\n [-17.67021   -1.933705]]", "nav_goal": "(116.2219009399414, 203.90028381347656)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 7.5365148 -7.082179 ], 10.341968536376953 meters away.)"}
{"file_name": "images/scenario_13_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 4.1) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 15.9 meters away at (-7.2, -14.2). A pedestrian with ID 30 is 16.2 meters away at (3.5, -15.8). A vehicle with ID 39 is 31.5 meters away at (4.4, -31.2). A vehicle with ID 41 is 39.4 meters away at (-13.8, -36.9). A vehicle with ID 2 is 44.2 meters away at (5.4, 43.9). A vehicle with ID 3 is 49.8 meters away at (7.1, 49.3). A pedestrian with ID 20 is 51.7 meters away at (-12.2, -50.2). A vehicle with ID 4 is 52.7 meters away at (24.4, 46.7). A vehicle with ID 26 is 55.2 meters away at (9.2, 54.5). A vehicle with ID 49 is 55.8 meters away at (-53.4, -16.4).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [3.2142339 3.1681936] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.02732959 0.01785192] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 7.4942937 -2.203872 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-2.9413935e-04  8.1402351e-05] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.326649  -4.332373]\n [-16.28569   -2.177916]\n [-17.67021   -1.933705]]", "nav_goal": "(116.2219009399414, 203.90028381347656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -7.2244353 -14.174546 ], 15.909438133239746 meters away.)"}
{"file_name": "images/scenario_14_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.2) m/s. Its current heading (yaw) is 1.46 ", "actor_description": " The most relevant actors are: A unknown object with ID 21 is 9.4 meters away at (4.1, -8.5). A vehicle with ID 25 is 18.5 meters away at (-10.0, -15.6). A cyclist with ID 33 is 22.6 meters away at (-17.3, 14.6). A unknown object with ID 41 is 25.7 meters away at (18.8, 17.5). A unknown object with ID 40 is 26.1 meters away at (17.7, 19.1). A vehicle with ID 48 is 26.2 meters away at (-22.4, 13.6). A unknown object with ID 24 is 27.1 meters away at (17.1, 21.0). A unknown object with ID 30 is 27.1 meters away at (17.1, 21.1). A unknown object with ID 28 is 28.0 meters away at (27.6, -4.9). A unknown object with ID 43 is 28.4 meters away at (16.4, 23.1).", "velocity_description": "The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-1.0972909   0.08452283] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-1.2080917  -0.33161443] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.652578  45.988266]\n [-13.284407  49.57901 ]]", "nav_goal": "(-129.65342712402344, -218.9523162841797)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 4.087391 -8.494127], 9.426397323608398 meters away.)"}
{"file_name": "images/scenario_14_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 3.5) m/s. Its current heading (yaw) is 1.91 ", "actor_description": " The most relevant actors are: A unknown object with ID 21 is 15.0 meters away at (4.4, -14.4). A cyclist with ID 33 is 22.0 meters away at (-20.3, 8.6). A unknown object with ID 40 is 22.4 meters away at (18.1, 13.2). A unknown object with ID 41 is 22.4 meters away at (19.2, 11.6). A unknown object with ID 24 is 23.1 meters away at (17.5, 15.1). A unknown object with ID 30 is 23.2 meters away at (17.4, 15.3). A vehicle with ID 25 is 23.6 meters away at (-9.8, -21.5). A unknown object with ID 43 is 24.0 meters away at (16.8, 17.1). A vehicle with ID 48 is 27.8 meters away at (-27.3, 5.6). A cyclist with ID 26 is 29.7 meters away at (-6.8, 28.9).", "velocity_description": "The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-2.5600004 -0.393361 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-4.0045233 -2.5686188] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [-1.1703277  1.8998994] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.125928  52.1373  ]\n [-14.819658  56.28731 ]\n [-14.652578  45.988266]\n [-16.464794  61.95903 ]\n [-13.284407  49.57901 ]]", "nav_goal": "(-129.65342712402344, -218.9523162841797)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [  4.40299  -14.360744], 15.020563125610352 meters away.)"}
{"file_name": "images/scenario_14_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 2.1) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A cyclist with ID 33 is 21.1 meters away at (-21.0, 1.8). A unknown object with ID 21 is 21.7 meters away at (8.3, -20.1). A unknown object with ID 40 is 23.1 meters away at (21.8, 7.6). A unknown object with ID 24 is 23.2 meters away at (21.2, 9.4). A unknown object with ID 30 is 23.3 meters away at (21.2, 9.6). A unknown object with ID 43 is 23.5 meters away at (20.6, 11.4). A unknown object with ID 41 is 23.7 meters away at (22.9, 6.0). A unknown object with ID 13 is 24.8 meters away at (24.4, 4.6). A cyclist with ID 26 is 24.8 meters away at (-3.7, 24.5). A unknown object with ID 17 is 25.5 meters away at (25.4, 2.3).", "velocity_description": "The cyclist with ID 33 is traveling at a (x, y) velocity of [-1.8642852 -0.4903247] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.01137748 -0.01092675] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.652578  45.988266]\n [-13.284407  49.57901 ]]", "nav_goal": "(-129.65342712402344, -218.9523162841797)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-21.02022     1.8237581], 21.09918785095215 meters away.)"}
{"file_name": "images/scenario_14_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 0.7) m/s. Its current heading (yaw) is 2.91 ", "actor_description": " The most relevant actors are: A cyclist with ID 33 is 17.4 meters away at (-17.3, -1.5). A vehicle with ID 4 is 19.3 meters away at (-14.9, 12.2). A cyclist with ID 26 is 21.7 meters away at (1.7, 21.6). A vehicle with ID 19 is 22.5 meters away at (-18.6, 12.6). A vehicle with ID 7 is 26.5 meters away at (-26.4, -1.8). A unknown object with ID 43 is 27.4 meters away at (26.0, 8.6). A unknown object with ID 30 is 27.5 meters away at (26.6, 6.8). A unknown object with ID 24 is 27.5 meters away at (26.7, 6.6). A unknown object with ID 40 is 27.7 meters away at (27.2, 4.9). A unknown object with ID 41 is 28.6 meters away at (28.4, 3.2).", "velocity_description": "The cyclist with ID 33 is traveling at a (x, y) velocity of [-0.39544216 -0.10975679] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ -6.428537 -11.343719] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.02567871 -0.01295856] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ -7.3918824 -14.001595 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -8.213955 -13.503115] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.652578  45.988266]\n [-13.284407  49.57901 ]]", "nav_goal": "(-129.65342712402344, -218.9523162841797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-17.296852   -1.4908772], 17.360984802246094 meters away.)"}
{"file_name": "images/scenario_15_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 2.9 meters away at (-2.7, -0.9). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.3). A vehicle with ID 15 is 4.1 meters away at (0.5, 4.1). A unknown object with ID 13 is 6.6 meters away at (-6.4, 1.6). A pedestrian with ID 24 is 7.0 meters away at (-6.0, -3.6). A pedestrian with ID 26 is 8.1 meters away at (-8.0, -1.4). A pedestrian with ID 16 is 8.8 meters away at (-0.1, -8.8). A vehicle with ID 17 is 10.0 meters away at (-8.6, 5.2). A vehicle with ID 22 is 13.0 meters away at (-8.7, 9.7). A pedestrian with ID 21 is 15.4 meters away at (-15.3, 2.3).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.1927202   0.84759605] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.9894585  1.0304266] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [1.097153  0.1017226] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 0.6189364  -0.45621574] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.0505832  -0.69477254] m/s.", "light_description": "There are active red lights at the following coordinates: [[  9.843732   -2.7889647]\n [ 31.884583   -9.901311 ]\n [  9.597685  -11.190477 ]\n [ 11.750486   -8.816886 ]\n [ 28.393702   -4.19668  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.7159688  -0.86922586], 2.851673126220703 meters away.)"}
{"file_name": "images/scenario_15_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 2.9 meters away at (-2.7, -0.9). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.3). A vehicle with ID 15 is 4.1 meters away at (0.5, 4.1). A unknown object with ID 13 is 6.6 meters away at (-6.4, 1.6). A pedestrian with ID 24 is 8.3 meters away at (-8.1, -1.7). A pedestrian with ID 16 is 8.5 meters away at (1.3, -8.4). A vehicle with ID 17 is 8.7 meters away at (-7.5, 4.5). A pedestrian with ID 26 is 10.3 meters away at (-10.3, 0.5). A vehicle with ID 22 is 13.0 meters away at (-8.7, 9.7). A pedestrian with ID 21 is 13.1 meters away at (-13.1, 1.0).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0957487  0.886936 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.4492408 0.3748428] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 0.6157691  -0.42902216] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.194689    0.87076956] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.0809866 -0.6937175] m/s.", "light_description": "There are active red lights at the following coordinates: [[  9.843732   -2.7889647]\n [ 31.884583   -9.901311 ]\n [  9.597685  -11.190477 ]\n [ 11.750486   -8.816886 ]\n [ 28.393702   -4.19668  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.7205799  -0.87341535], 2.8573429584503174 meters away.)"}
{"file_name": "images/scenario_15_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 2.9 meters away at (-2.7, -0.9). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.3). A vehicle with ID 15 is 4.1 meters away at (0.5, 4.1). A vehicle with ID 17 is 7.5 meters away at (-6.5, 3.8). A pedestrian with ID 16 is 8.2 meters away at (1.9, -8.0). A pedestrian with ID 24 is 10.1 meters away at (-10.1, 0.1). A pedestrian with ID 21 is 11.0 meters away at (-11.0, -0.5). A pedestrian with ID 23 is 11.6 meters away at (-11.5, -1.2). A pedestrian with ID 26 is 12.8 meters away at (-12.6, 2.1). A vehicle with ID 22 is 13.0 meters away at (-8.7, 9.6).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 0.27058238 -0.1935756 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.21572942 0.19618766] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0878005  0.879208 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.0659425  -0.69453704] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.0721451  -0.68762666] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.1792744  0.730724 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  9.843732   -2.7889647]\n [ 31.884583   -9.901311 ]\n [  9.597685  -11.190477 ]\n [ 11.750486   -8.816886 ]\n [ 28.393702   -4.19668  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.713501   -0.87144387], 2.8500003814697266 meters away.)"}
{"file_name": "images/scenario_15_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 2.9 meters away at (-2.7, -0.9). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.3). A vehicle with ID 15 is 4.1 meters away at (0.5, 4.1). A unknown object with ID 2 is 6.6 meters away at (-6.4, 1.6). A vehicle with ID 17 is 7.2 meters away at (-6.2, 3.6). A pedestrian with ID 16 is 8.0 meters away at (2.3, -7.7). A pedestrian with ID 21 is 9.0 meters away at (-8.8, -1.9). A pedestrian with ID 23 is 9.7 meters away at (-9.3, -2.7). A pedestrian with ID 24 is 12.4 meters away at (-12.3, 1.4). A vehicle with ID 22 is 13.0 meters away at (-8.7, 9.6).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00710501 0.2367582 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.0827907  -0.77130187] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.0718238  -0.73545694] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.1602191   0.67040694] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  9.843732   -2.7889647]\n [ 31.884583   -9.901311 ]\n [  9.597685  -11.190477 ]\n [ 11.750486   -8.816886 ]\n [ 28.393702   -4.19668  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.716018   -0.86874497], 2.8515734672546387 meters away.)"}
{"file_name": "images/scenario_16_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.5) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 13.5 meters away at (5.4, 12.4). A unknown object with ID 36 is 13.7 meters away at (8.3, 10.9). A unknown object with ID 35 is 14.7 meters away at (2.8, 14.4). A unknown object with ID 7 is 15.9 meters away at (11.3, 11.2). A vehicle with ID 39 is 18.2 meters away at (17.7, 4.3). A vehicle with ID 44 is 24.2 meters away at (21.5, -11.1). A vehicle with ID 33 is 25.5 meters away at (2.9, -25.3). A unknown object with ID 27 is 26.9 meters away at (15.0, -22.3). A vehicle with ID 43 is 28.7 meters away at (-5.1, -28.2). A vehicle with ID 42 is 29.1 meters away at (21.5, -19.6).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.4616141 -1.4071585] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-2.0568748  1.0214989] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [1.356909  1.4256406] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 3.8125155 -0.5427221] m/s.", "light_description": "There are active red lights at the following coordinates: [[  4.3509064   -7.399652  ]\n [ 11.196782   -16.779104  ]\n [  7.1358957   -4.703531  ]\n [  9.680086   -15.634723  ]\n [ 22.84825      1.4533036 ]\n [  6.516365    -5.6839023 ]\n [ 24.51367      0.30587596]]", "nav_goal": "(220.63204956054688, -200.254150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 5.4060297 12.360201 ], 13.490727424621582 meters away.)"}
{"file_name": "images/scenario_16_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 10.2 meters away at (9.7, 3.2). A unknown object with ID 34 is 13.7 meters away at (5.0, 12.7). A unknown object with ID 36 is 13.8 meters away at (8.0, 11.2). A unknown object with ID 35 is 15.0 meters away at (2.4, 14.8). A unknown object with ID 7 is 15.9 meters away at (11.2, 11.3). A vehicle with ID 44 is 18.7 meters away at (16.1, -9.4). A vehicle with ID 46 is 18.7 meters away at (-13.4, 13.1). A vehicle with ID 33 is 22.6 meters away at (5.5, -21.9). A unknown object with ID 27 is 26.5 meters away at (14.7, -22.0). A vehicle with ID 38 is 28.3 meters away at (-0.5, -28.3).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [-5.0598917  0.761144 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-3.0755584   0.41064513] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 4.2313576 -3.7999492] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.9083789 1.0134676] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.788133   0.90207535] m/s.", "light_description": "There are active red lights at the following coordinates: [[  4.3509064   -7.399652  ]\n [ 11.196782   -16.779104  ]\n [  7.1358957   -4.703531  ]\n [  9.680086   -15.634723  ]\n [ 12.388895   -23.767704  ]\n [ 33.814186   -10.984436  ]\n [ 22.84825      1.4533036 ]\n [  6.516365    -5.6839023 ]\n [ 24.51367      0.30587596]]", "nav_goal": "(220.63204956054688, -200.254150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [9.707322  3.2268698], 10.22960376739502 meters away.)"}
{"file_name": "images/scenario_16_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.1) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 9.2 meters away at (-1.2, 9.2). A vehicle with ID 46 is 10.4 meters away at (-6.9, 7.7). A vehicle with ID 44 is 13.6 meters away at (9.3, -9.9). A unknown object with ID 34 is 13.7 meters away at (5.0, 12.8). A unknown object with ID 36 is 13.8 meters away at (7.9, 11.3). A unknown object with ID 35 is 15.1 meters away at (2.3, 14.9). A vehicle with ID 33 is 21.7 meters away at (6.3, -20.8). A vehicle with ID 38 is 26.8 meters away at (0.6, -26.7). A vehicle with ID 43 is 28.4 meters away at (-5.6, -27.8). A vehicle with ID 29 is 31.1 meters away at (-8.5, 29.9).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [-5.7274194  4.6959443] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 2.045972 -1.554471] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-3.643186  -1.2100894] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  4.3509064   -7.399652  ]\n [ 11.196782   -16.779104  ]\n [  7.1358957   -4.703531  ]\n [  9.680086   -15.634723  ]\n [ 12.388895   -23.767704  ]\n [ 21.889153     2.640931  ]\n [ 22.84825      1.4533036 ]\n [  6.516365    -5.6839023 ]\n [ 24.51367      0.30587596]]", "nav_goal": "(220.63204956054688, -200.254150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.1711063  9.158945 ], 9.233512878417969 meters away.)"}
{"file_name": "images/scenario_16_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.0) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 10.1 meters away at (-6.8, 7.5). A vehicle with ID 44 is 12.4 meters away at (-1.4, -12.3). A unknown object with ID 36 is 14.4 meters away at (4.9, 13.6). A unknown object with ID 34 is 15.1 meters away at (1.9, 15.0). A unknown object with ID 35 is 17.0 meters away at (-0.7, 17.0). A vehicle with ID 33 is 18.8 meters away at (3.3, -18.6). A vehicle with ID 38 is 25.7 meters away at (-3.0, -25.5). A vehicle with ID 43 is 27.0 meters away at (-8.5, -25.6). A vehicle with ID 39 is 27.9 meters away at (-16.5, 22.5). A vehicle with ID 40 is 30.7 meters away at (26.3, 15.7).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [ 2.147261  -1.5066681] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-3.7273622 -3.3455875] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-7.060387  6.203877] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 11.196782   -16.779104  ]\n [  9.680086   -15.634723  ]\n [ 12.388895   -23.767704  ]\n [ 21.889153     2.640931  ]\n [ 22.84825      1.4533036 ]\n [ 24.51367      0.30587596]]", "nav_goal": "(220.63204956054688, -200.254150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.7857    7.492646], 10.108682632446289 meters away.)"}
{"file_name": "images/scenario_17_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 7.7 meters away at (7.2, -2.6). A vehicle with ID 34 is 7.8 meters away at (0.8, -7.7). A vehicle with ID 25 is 8.1 meters away at (-6.5, -4.8). A vehicle with ID 19 is 8.8 meters away at (-8.4, 2.6). A unknown object with ID 16 is 10.2 meters away at (-6.2, -8.1). A unknown object with ID 20 is 10.9 meters away at (-5.1, -9.6). A vehicle with ID 22 is 10.9 meters away at (-1.4, -10.8). A vehicle with ID 45 is 13.4 meters away at (9.0, -9.9). A vehicle with ID 27 is 13.5 meters away at (4.9, -12.6). A unknown object with ID 13 is 13.9 meters away at (-12.5, -5.9).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.3528929 -0.120998 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 35.189518 -20.605108]\n [ 36.368404 -18.735504]]", "nav_goal": "(-2.2792837619781494, -112.76648712158203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 7.2445726 -2.6070273], 7.699378490447998 meters away.)"}
{"file_name": "images/scenario_17_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 7.7 meters away at (7.3, -2.6). A vehicle with ID 25 is 7.8 meters away at (-5.9, -5.0). A vehicle with ID 34 is 7.8 meters away at (0.8, -7.7). A vehicle with ID 19 is 8.9 meters away at (-8.4, 2.7). A unknown object with ID 16 is 10.3 meters away at (-6.3, -8.1). A unknown object with ID 20 is 10.9 meters away at (-5.1, -9.6). A vehicle with ID 22 is 10.9 meters away at (-1.5, -10.8). A vehicle with ID 45 is 13.5 meters away at (9.1, -9.9). A vehicle with ID 27 is 13.5 meters away at (4.9, -12.6). A unknown object with ID 13 is 13.9 meters away at (-12.5, -6.0).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 35.189518 -20.605108]\n [ 36.368404 -18.735504]\n [ 47.369247 -12.555926]]", "nav_goal": "(-2.2792837619781494, -112.76648712158203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 7.2592216 -2.6062748], 7.712908744812012 meters away.)"}
{"file_name": "images/scenario_17_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 7.7 meters away at (-5.8, -5.1). A vehicle with ID 17 is 7.7 meters away at (7.3, -2.6). A vehicle with ID 34 is 7.8 meters away at (0.9, -7.8). A vehicle with ID 19 is 8.9 meters away at (-8.5, 2.7). A unknown object with ID 16 is 10.2 meters away at (-6.2, -8.1). A unknown object with ID 20 is 10.8 meters away at (-5.1, -9.6). A vehicle with ID 22 is 10.9 meters away at (-1.4, -10.8). A vehicle with ID 27 is 13.5 meters away at (4.9, -12.6). A vehicle with ID 45 is 13.5 meters away at (9.2, -10.0). A unknown object with ID 13 is 13.9 meters away at (-12.5, -6.0).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 0.37634358 -0.12244964] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 47.369247 -12.555926]]", "nav_goal": "(-2.2792837619781494, -112.76648712158203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.8093596 -5.0672693], 7.708817958831787 meters away.)"}
{"file_name": "images/scenario_17_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 7.7 meters away at (7.3, -2.6). A vehicle with ID 25 is 7.7 meters away at (-5.8, -5.1). A vehicle with ID 34 is 8.1 meters away at (1.5, -8.0). A vehicle with ID 19 is 8.9 meters away at (-8.5, 2.6). A unknown object with ID 16 is 10.3 meters away at (-6.3, -8.1). A unknown object with ID 20 is 10.8 meters away at (-5.0, -9.6). A vehicle with ID 22 is 10.9 meters away at (-1.4, -10.8). A vehicle with ID 27 is 13.5 meters away at (4.9, -12.6). A unknown object with ID 13 is 13.9 meters away at (-12.5, -6.0). A vehicle with ID 31 is 14.2 meters away at (13.6, -4.3).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.830532   -0.27037612] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 41.119247 -21.41702 ]\n [ 44.07829  -23.571478]\n [ 39.73473  -21.17281 ]\n [ 47.369247 -12.555926]]", "nav_goal": "(-2.2792837619781494, -112.76648712158203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 7.27657  -2.622121], 7.7345967292785645 meters away.)"}
{"file_name": "images/scenario_18_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, 3.0) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 95 is 11.4 meters away at (-7.0, -9.0). A vehicle with ID 102 is 12.0 meters away at (-9.7, 7.1). A unknown object with ID 105 is 17.7 meters away at (-16.7, -6.0). A unknown object with ID 106 is 18.4 meters away at (-17.8, -4.5). A vehicle with ID 50 is 18.4 meters away at (-16.1, 9.0). A unknown object with ID 86 is 21.1 meters away at (-17.5, -11.8). A unknown object with ID 107 is 21.3 meters away at (-21.0, -3.5). A unknown object with ID 92 is 24.3 meters away at (-24.1, -2.4). A pedestrian with ID 96 is 25.9 meters away at (25.9, 0.4). A vehicle with ID 110 is 26.9 meters away at (-24.3, 11.6).", "velocity_description": "The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-0.98992854  0.4302606 ] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.132456    0.45050314]\n [10.935467    0.49202734]]", "nav_goal": "(-63.78390121459961, -92.42936706542969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.9840965 -8.955294 ], 11.356711387634277 meters away.)"}
{"file_name": "images/scenario_18_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, 3.0) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 4.3 meters away at (2.8, 3.2). A vehicle with ID 110 is 7.9 meters away at (-5.3, 5.8). A vehicle with ID 102 is 9.1 meters away at (9.0, 1.4). A unknown object with ID 107 is 9.5 meters away at (-2.0, -9.3). A unknown object with ID 92 is 9.7 meters away at (-5.2, -8.2). A unknown object with ID 106 is 10.3 meters away at (1.1, -10.2). A unknown object with ID 111 is 11.0 meters away at (-8.3, -7.2). A unknown object with ID 105 is 12.0 meters away at (2.3, -11.8). A unknown object with ID 112 is 12.8 meters away at (-10.2, -7.8). A vehicle with ID 52 is 14.1 meters away at (-11.8, 7.6).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-63.78390121459961, -92.42936706542969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.8213005 3.2001667], 4.266240119934082 meters away.)"}
{"file_name": "images/scenario_18_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, 2.5) m/s. Its current heading (yaw) is 2.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 6.2 meters away at (5.7, 2.5). A vehicle with ID 51 is 8.4 meters away at (-6.0, 5.9). A vehicle with ID 93 is 10.0 meters away at (-1.7, -9.8). A pedestrian with ID 74 is 11.0 meters away at (-2.9, -10.6). A vehicle with ID 90 is 11.8 meters away at (-9.0, -7.6). A vehicle with ID 110 is 12.1 meters away at (12.1, 0.7). A unknown object with ID 112 is 14.9 meters away at (7.4, -13.0). A vehicle with ID 26 is 15.1 meters away at (-12.8, 8.0). A pedestrian with ID 78 is 15.1 meters away at (-8.2, 12.7). A unknown object with ID 111 is 15.5 meters away at (9.3, -12.4).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.02125003 0.03019838] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0.03238481 0.06608455] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-63.78390121459961, -92.42936706542969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.694298  2.4730854], 6.208154201507568 meters away.)"}
{"file_name": "images/scenario_18_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 1.9) m/s. Its current heading (yaw) is 2.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 5.5 meters away at (3.4, 4.2). A pedestrian with ID 65 is 6.5 meters away at (2.4, 6.1). A vehicle with ID 16 is 7.1 meters away at (-3.8, 5.9). A pedestrian with ID 84 is 7.2 meters away at (-2.5, 6.7). A pedestrian with ID 67 is 7.2 meters away at (2.8, 6.7). A vehicle with ID 94 is 9.4 meters away at (-5.5, -7.7). A vehicle with ID 91 is 9.7 meters away at (1.1, -9.7). A vehicle with ID 51 is 10.7 meters away at (10.5, 2.0). A pedestrian with ID 14 is 11.2 meters away at (-7.5, 8.4). A vehicle with ID 13 is 12.3 meters away at (-9.4, 7.9).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.10341971  0.12213936] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [ 0.00339313 -0.02244149] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.02951566  0.06691784] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.13146701  0.24238351] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-63.78390121459961, -92.42936706542969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.443428  4.2321243], 5.456012725830078 meters away.)"}
{"file_name": "images/scenario_19_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.5, -0.2) m/s. Its current heading (yaw) is -0.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 76 is 7.0 meters away at (0.2, 7.0). A pedestrian with ID 79 is 8.2 meters away at (1.8, 8.0). A pedestrian with ID 74 is 10.4 meters away at (-5.5, 8.8). A vehicle with ID 72 is 10.8 meters away at (-5.7, -9.3). A vehicle with ID 75 is 11.4 meters away at (-3.4, 10.9). A vehicle with ID 68 is 12.2 meters away at (-8.4, -8.8). A vehicle with ID 86 is 12.4 meters away at (4.7, 11.5). A vehicle with ID 69 is 13.6 meters away at (-8.7, 10.4). A vehicle with ID 66 is 14.5 meters away at (-11.2, -9.3). A pedestrian with ID 58 is 18.4 meters away at (4.7, -17.8).", "velocity_description": "The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.01868269  0.3357277 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.00207953 0.00168945] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-1.1881326   0.66139966] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.1245832   0.95943546] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [0.15028572 7.043699  ], 7.045301914215088 meters away.)"}
{"file_name": "images/scenario_19_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.2, 0.2) m/s. Its current heading (yaw) is 0.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 10.3 meters away at (9.3, 4.4). A unknown object with ID 51 is 11.1 meters away at (-5.0, -9.9). A vehicle with ID 86 is 17.3 meters away at (-12.9, 11.5). A pedestrian with ID 79 is 18.1 meters away at (-16.2, 8.0). A pedestrian with ID 76 is 19.0 meters away at (-17.6, 7.1). A vehicle with ID 102 is 19.2 meters away at (16.9, -9.2). A vehicle with ID 103 is 20.4 meters away at (16.5, -12.0). A cyclist with ID 59 is 22.1 meters away at (-15.2, -16.0). A pedestrian with ID 58 is 22.2 meters away at (-15.2, -16.2). A vehicle with ID 75 is 23.8 meters away at (-21.1, 10.9).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [-10.743597   -0.2551008] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.42678556 -0.16879466] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.01255337 0.01924211] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-0.9699906  1.3104547] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.0165609  1.0089369] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [9.258148 4.447622], 10.271059036254883 meters away.)"}
{"file_name": "images/scenario_19_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.7, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 9.5 meters away at (-2.0, -9.3). A vehicle with ID 103 is 12.3 meters away at (-2.6, -12.0). A vehicle with ID 63 is 13.8 meters away at (8.9, 10.6). A vehicle with ID 48 is 17.7 meters away at (-1.5, -17.6). A vehicle with ID 50 is 21.4 meters away at (5.0, -20.9). A vehicle with ID 44 is 21.6 meters away at (8.7, -19.8). A vehicle with ID 47 is 30.7 meters away at (-30.5, 3.7). A vehicle with ID 40 is 32.4 meters away at (24.6, -21.0). A vehicle with ID 86 is 33.8 meters away at (-31.9, 11.4). A pedestrian with ID 79 is 36.6 meters away at (-35.7, 8.0).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-10.045728   -0.1702797] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.00668617 0.00768142] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.0443459 -9.289717 ], 9.512001991271973 meters away.)"}
{"file_name": "images/scenario_19_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 15.1 meters away at (-10.7, 10.7). A vehicle with ID 40 is 21.5 meters away at (4.9, -20.9). A vehicle with ID 30 is 22.5 meters away at (17.7, -13.9). A vehicle with ID 44 is 22.7 meters away at (-11.1, -19.8). A vehicle with ID 29 is 23.0 meters away at (20.3, 10.8). A vehicle with ID 102 is 23.8 meters away at (-21.9, -9.3). A vehicle with ID 50 is 25.5 meters away at (-14.8, -20.7). A vehicle with ID 22 is 28.8 meters away at (27.3, -9.0). A vehicle with ID 20 is 34.8 meters away at (33.2, 10.4). A vehicle with ID 28 is 35.7 meters away at (27.3, -23.0).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-10.663258  10.697684], 15.104486465454102 meters away.)"}
{"file_name": "images/scenario_20_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 4.9) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A unknown object with ID 127 is 6.0 meters away at (-2.8, -5.2). A unknown object with ID 125 is 6.8 meters away at (-0.2, -6.8). A unknown object with ID 124 is 8.8 meters away at (2.4, -8.4). A vehicle with ID 126 is 19.7 meters away at (3.1, -19.5). A unknown object with ID 88 is 34.4 meters away at (-32.2, 12.0). A unknown object with ID 109 is 37.4 meters away at (-34.9, 13.5). A unknown object with ID 103 is 40.5 meters away at (-37.6, 15.1). A unknown object with ID 93 is 43.4 meters away at (-40.1, 16.6). A pedestrian with ID 99 is 54.2 meters away at (-53.7, 7.3). A unknown object with ID 63 is 58.0 meters away at (-52.8, 24.2).", "velocity_description": "The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [ 2.253219  -1.8102175] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 1.0456531 -1.0355766] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-247.300048828125, 163.35447692871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.8442278 -5.244018 ], 5.965681552886963 meters away.)"}
{"file_name": "images/scenario_20_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 4.8) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A unknown object with ID 91 is 6.3 meters away at (-2.8, -5.7). A unknown object with ID 88 is 16.4 meters away at (-16.2, 2.3). A unknown object with ID 109 is 19.3 meters away at (-18.9, 4.0). A unknown object with ID 127 is 19.4 meters away at (12.7, -14.7). A unknown object with ID 103 is 22.2 meters away at (-21.5, 5.5). A unknown object with ID 125 is 22.6 meters away at (15.6, -16.4). A unknown object with ID 93 is 25.2 meters away at (-24.1, 7.1). A unknown object with ID 124 is 25.6 meters away at (18.2, -18.0). A unknown object with ID 79 is 25.7 meters away at (18.3, -18.1). A unknown object with ID 86 is 28.1 meters away at (-26.8, 8.6).", "velocity_description": "The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-247.300048828125, 163.35447692871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.7862568 -5.689002 ], 6.3346638679504395 meters away.)"}
{"file_name": "images/scenario_20_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 4.4) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 109 is 6.2 meters away at (-3.3, -5.2). A unknown object with ID 88 is 6.8 meters away at (-0.7, -6.7). A unknown object with ID 103 is 6.8 meters away at (-5.8, -3.7). A unknown object with ID 91 is 19.7 meters away at (12.9, -14.8). A unknown object with ID 63 is 22.0 meters away at (-21.2, 5.5). A unknown object with ID 75 is 24.7 meters away at (-23.7, 7.0). A pedestrian with ID 99 is 24.9 meters away at (-19.6, -15.4). A unknown object with ID 52 is 27.6 meters away at (-26.3, 8.4). A unknown object with ID 113 is 27.9 meters away at (-27.4, -5.7). A unknown object with ID 50 is 30.6 meters away at (-28.9, 10.1).", "velocity_description": "The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.72991705 -0.70928466] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-247.300048828125, 163.35447692871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-3.3012123 -5.23242  ], 6.1867780685424805 meters away.)"}
{"file_name": "images/scenario_20_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.4) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 87 is 6.5 meters away at (-1.6, -6.3). A unknown object with ID 95 is 6.5 meters away at (5.5, 3.5). A unknown object with ID 100 is 6.9 meters away at (5.7, 3.9). A unknown object with ID 63 is 7.2 meters away at (-6.4, -3.3). A unknown object with ID 110 is 8.4 meters away at (1.7, -8.2). A unknown object with ID 75 is 9.0 meters away at (-8.8, -1.8). A unknown object with ID 52 is 11.5 meters away at (-11.5, -0.4). A vehicle with ID 117 is 11.7 meters away at (1.2, -11.7). A unknown object with ID 50 is 14.1 meters away at (-14.1, 1.3). A unknown object with ID 103 is 14.9 meters away at (8.5, -12.3).", "velocity_description": "The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [11.335658  -6.8165064] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-247.300048828125, 163.35447692871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.5713768 -6.276289 ], 6.470010280609131 meters away.)"}
{"file_name": "images/scenario_21_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 4.4) m/s. Its current heading (yaw) is 1.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 26.4 meters away at (9.2, -24.7). A vehicle with ID 21 is 42.6 meters away at (17.2, 38.9). A vehicle with ID 20 is 47.6 meters away at (-1.8, -47.5). A unknown object with ID 16 is 47.7 meters away at (12.7, 46.0). A unknown object with ID 17 is 48.5 meters away at (12.6, 46.8). A unknown object with ID 18 is 48.8 meters away at (12.5, 47.2). A vehicle with ID 4 is 55.5 meters away at (-38.7, 39.8).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.337565  27.34252  ]\n [ 6.4068193 27.294527 ]\n [20.570633  38.397923 ]\n [17.472654  39.30396  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [  9.177621 -24.740328], 26.387733459472656 meters away.)"}
{"file_name": "images/scenario_21_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 2.1) m/s. Its current heading (yaw) is 1.37 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 29.6 meters away at (29.6, -2.0). A vehicle with ID 19 is 32.1 meters away at (7.7, -31.2). A vehicle with ID 21 is 36.0 meters away at (15.7, 32.4). A unknown object with ID 16 is 41.1 meters away at (11.2, 39.5). A unknown object with ID 17 is 41.9 meters away at (11.0, 40.4). A unknown object with ID 18 is 42.2 meters away at (10.9, 40.7). A vehicle with ID 4 is 52.2 meters away at (-40.2, 33.3). A vehicle with ID 20 is 54.1 meters away at (-3.3, -54.0).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.48335606  1.0058969 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.337565  27.34252  ]\n [ 6.4068193 27.294527 ]\n [20.570633  38.397923 ]\n [17.472654  39.30396  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [29.580055  -1.9578304], 29.644777297973633 meters away.)"}
{"file_name": "images/scenario_21_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 1.35 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 28.3 meters away at (28.2, -1.8). A vehicle with ID 19 is 33.8 meters away at (7.3, -32.9). A vehicle with ID 21 is 34.2 meters away at (15.3, 30.6). A unknown object with ID 16 is 39.3 meters away at (10.8, 37.8). A unknown object with ID 17 is 40.0 meters away at (10.6, 38.5). A unknown object with ID 18 is 40.4 meters away at (10.5, 39.0). A vehicle with ID 4 is 51.4 meters away at (-40.6, 31.4). A vehicle with ID 20 is 56.2 meters away at (-3.8, -56.1). A cyclist with ID 2 is 60.9 meters away at (16.8, 58.5).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.29828724  1.2361573 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.34733325 -0.5815992 ] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-0.04862697 -8.571121  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.337565  27.34252  ]\n [ 6.4068193 27.294527 ]\n [20.570633  38.397923 ]\n [17.472654  39.30396  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [28.245874  -1.8052845], 28.303504943847656 meters away.)"}
{"file_name": "images/scenario_21_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.35 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 27.7 meters away at (27.7, 0.0). A vehicle with ID 19 is 33.9 meters away at (7.3, -33.1). A vehicle with ID 21 is 34.0 meters away at (15.3, 30.4). A unknown object with ID 16 is 39.1 meters away at (10.7, 37.6). A unknown object with ID 17 is 39.9 meters away at (10.6, 38.4). A unknown object with ID 18 is 40.3 meters away at (10.5, 38.9). A cyclist with ID 2 is 49.6 meters away at (16.7, 46.6). A vehicle with ID 4 is 51.3 meters away at (-40.7, 31.2). A vehicle with ID 20 is 58.9 meters away at (-5.3, -58.6). A unknown object with ID 10 is 69.1 meters away at (11.8, 68.1).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.2423961  1.0196215] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-0.09292768 -4.678821  ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.9933911 -1.5533426] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.337565  27.34252  ]\n [ 6.4068193 27.294527 ]\n [20.570633  38.397923 ]\n [17.472654  39.30396  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [2.7654285e+01 1.0513306e-02], 27.654287338256836 meters away.)"}
{"file_name": "images/scenario_22_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -4.1) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 3.3 meters away at (-2.4, -2.3). A vehicle with ID 67 is 6.7 meters away at (-6.6, 1.3). A vehicle with ID 75 is 7.6 meters away at (7.6, 0.6). A vehicle with ID 63 is 11.9 meters away at (-10.7, 5.2). A vehicle with ID 82 is 12.3 meters away at (11.9, -3.2). A unknown object with ID 78 is 12.9 meters away at (11.9, 4.8). A unknown object with ID 55 is 13.0 meters away at (12.2, 4.6). A unknown object with ID 79 is 13.1 meters away at (12.3, 4.4). A unknown object with ID 80 is 13.2 meters away at (12.9, 2.8). A unknown object with ID 81 is 13.8 meters away at (13.4, 3.3).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-22.0548152923584, 121.18212127685547)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.388102  -2.3493366], 3.349987268447876 meters away.)"}
{"file_name": "images/scenario_22_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -3.1) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 69 is 4.2 meters away at (0.1, -4.2). A vehicle with ID 82 is 5.3 meters away at (3.5, 4.0). A vehicle with ID 75 is 7.8 meters away at (-0.8, 7.8). A pedestrian with ID 56 is 8.0 meters away at (-2.3, -7.6). A vehicle with ID 70 is 8.2 meters away at (3.7, -7.3). A vehicle with ID 64 is 8.3 meters away at (8.3, 0.2). A unknown object with ID 80 is 11.0 meters away at (4.5, 10.0). A unknown object with ID 81 is 11.7 meters away at (5.0, 10.6). A vehicle with ID 71 is 11.9 meters away at (-10.9, 4.9). A unknown object with ID 79 is 12.3 meters away at (3.7, 11.8).", "velocity_description": "The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.0025118   0.00750605] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-22.0548152923584, 121.18212127685547)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.05198479 -4.2197847 ], 4.220105171203613 meters away.)"}
{"file_name": "images/scenario_22_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.7) m/s. Its current heading (yaw) is -0.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 3.1 meters away at (-1.7, -2.6). A vehicle with ID 69 is 5.3 meters away at (-5.3, 0.4). A vehicle with ID 64 is 5.6 meters away at (3.0, 4.8). A pedestrian with ID 56 is 8.2 meters away at (-7.7, -2.9). A vehicle with ID 82 is 8.9 meters away at (-1.9, 8.7). A unknown object with ID 42 is 11.6 meters away at (2.8, 11.2). A vehicle with ID 9 is 11.6 meters away at (-9.0, 7.3). A vehicle with ID 75 is 13.9 meters away at (-6.2, 12.5). A unknown object with ID 81 is 15.3 meters away at (-0.5, 15.3). A unknown object with ID 79 is 16.6 meters away at (-1.7, 16.5).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.007263   0.01202327] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 2.7984927 -2.45588  ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-22.0548152923584, 121.18212127685547)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.6769409 -2.6474724], 3.1338860988616943 meters away.)"}
{"file_name": "images/scenario_22_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -1.0) m/s. Its current heading (yaw) is -0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 98 is 3.0 meters away at (2.7, 1.4). A vehicle with ID 70 is 4.5 meters away at (-4.5, -0.3). A vehicle with ID 64 is 7.2 meters away at (0.2, 7.2). A vehicle with ID 69 is 8.6 meters away at (-8.1, 2.9). A vehicle with ID 9 is 9.4 meters away at (-7.3, 5.9). A unknown object with ID 29 is 11.0 meters away at (6.5, 8.9). A vehicle with ID 82 is 12.0 meters away at (-4.6, 11.0). A vehicle with ID 75 is 17.4 meters away at (-9.1, 14.9). A unknown object with ID 81 is 18.0 meters away at (-3.3, 17.7). A unknown object with ID 79 is 19.3 meters away at (-4.4, 18.8).", "velocity_description": "The vehicle with ID 98 is traveling at a (x, y) velocity of [-6.057191   4.9188495] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.9599893 -1.6975853] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-22.0548152923584, 121.18212127685547)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.6648788 1.395504 ], 3.008157253265381 meters away.)"}
{"file_name": "images/scenario_23_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -2.2) m/s. Its current heading (yaw) is -1.01 ", "actor_description": " The most relevant actors are: A cyclist with ID 1 is 10.7 meters away at (-2.5, 10.4). A vehicle with ID 42 is 17.3 meters away at (-15.0, -8.6). A vehicle with ID 44 is 19.1 meters away at (-6.1, -18.0). A vehicle with ID 47 is 29.6 meters away at (-12.2, 27.0). A vehicle with ID 48 is 35.7 meters away at (-35.1, 6.4). A vehicle with ID 49 is 37.4 meters away at (-35.6, -11.5). A vehicle with ID 46 is 37.5 meters away at (-23.1, 29.5). A vehicle with ID 34 is 40.4 meters away at (-16.5, 36.9). A cyclist with ID 50 is 42.1 meters away at (-1.9, 42.0). A cyclist with ID 31 is 42.7 meters away at (-33.1, 26.9).", "velocity_description": "The cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.19030961 -5.277808  ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.7697512 -6.948321 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-0.7431496 -1.773819 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [2.6704686 8.780929 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [1.4222032 6.0245175] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 4.0365305 10.2333975] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 4.696418 11.760352] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [ -7.106947 -16.117952] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-0.00082743 -0.02457528] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.289499 -13.179454]\n [-32.595367  14.881066]\n [-15.655466 -16.090868]\n [-31.619324  17.406393]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-2.5057988 10.392753 ], 10.690572738647461 meters away.)"}
{"file_name": "images/scenario_23_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -3.3) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A cyclist with ID 1 is 8.0 meters away at (-4.7, 6.4). A vehicle with ID 44 is 16.4 meters away at (-10.6, -12.5). A cyclist with ID 50 is 23.7 meters away at (-19.2, 13.9). A vehicle with ID 42 is 29.1 meters away at (-22.9, -17.9). A vehicle with ID 47 is 35.1 meters away at (-17.8, 30.3). A vehicle with ID 49 is 37.5 meters away at (-36.2, 9.8). A vehicle with ID 4 is 37.9 meters away at (-2.9, 37.8). A vehicle with ID 23 is 44.6 meters away at (-29.9, -33.2). A vehicle with ID 48 is 45.4 meters away at (-33.6, 30.5). A cyclist with ID 31 is 49.7 meters away at (-37.7, 32.3).", "velocity_description": "The cyclist with ID 1 is traveling at a (x, y) velocity of [ 1.9026743 -3.6949768] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [ -5.619995 -16.930836] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.4717677 -8.216704 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-0.20530073 -0.5100423 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [2.6411135 8.680751 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.3391082 -8.060966 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ -1.8978717 -16.461555 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [3.4459178 9.563233 ] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-0.01072021 -0.05764633] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.289499 -13.179454]\n [-32.595367  14.881066]\n [-15.655466 -16.090868]\n [-31.619324  17.406393]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-4.7443323  6.440226 ], 7.999074935913086 meters away.)"}
{"file_name": "images/scenario_23_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -3.3) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A cyclist with ID 1 is 8.9 meters away at (-7.1, 5.5). A vehicle with ID 44 is 20.4 meters away at (-19.5, -6.0). A vehicle with ID 4 is 34.5 meters away at (-16.8, 30.1). A cyclist with ID 50 is 40.1 meters away at (-37.7, -13.7). A cyclist with ID 27 is 41.3 meters away at (-24.1, 33.6). A vehicle with ID 47 is 45.3 meters away at (-27.1, 36.3). A vehicle with ID 42 is 45.4 meters away at (-34.6, -29.4). A vehicle with ID 49 is 52.4 meters away at (-38.8, 35.2). A cyclist with ID 31 is 60.6 meters away at (-46.6, 38.7). A pedestrian with ID 39 is 60.8 meters away at (-46.7, 39.0).", "velocity_description": "The cyclist with ID 1 is traveling at a (x, y) velocity of [ 4.066781  -4.0372553] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.215388 -6.147977] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [ -3.6726627 -16.296288 ] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ -4.733085 -12.703309] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.1162156 -9.273811 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 3.7578175 10.08885  ] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 0.06405446 -0.09383915] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.03801207 -0.12592909] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.289499   -13.179454  ]\n [-13.398595     0.75011903]\n [-32.595367    14.881066  ]\n [-10.583581    -2.6570036 ]\n [-15.655466   -16.090868  ]\n [-15.747603     4.5246663 ]\n [-31.619324    17.406393  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-7.058459  5.499872], 8.948208808898926 meters away.)"}
{"file_name": "images/scenario_23_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -3.6) m/s. Its current heading (yaw) is -0.47 ", "actor_description": " The most relevant actors are: A cyclist with ID 1 is 10.1 meters away at (-9.2, 4.2). A vehicle with ID 44 is 31.9 meters away at (-31.9, 0.8). A vehicle with ID 4 is 38.7 meters away at (-29.1, 25.5). A cyclist with ID 27 is 46.7 meters away at (-44.0, 15.6). A pedestrian with ID 25 is 56.3 meters away at (55.3, -10.5). A vehicle with ID 47 is 58.4 meters away at (-39.4, 43.1). A vehicle with ID 42 is 65.1 meters away at (-49.0, -42.9). A cyclist with ID 21 is 69.8 meters away at (-63.3, -29.5). A cyclist with ID 20 is 73.0 meters away at (-67.3, -28.3). A cyclist with ID 31 is 74.5 meters away at (-59.1, 45.4).", "velocity_description": "The cyclist with ID 1 is traveling at a (x, y) velocity of [ 5.9919705 -3.8070118] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 1.1906228 -5.32466  ] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ -3.2962062 -11.979142 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00592823 0.01243643] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ -0.61904114 -10.307183  ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 1.432144 15.543934] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ 1.2339542 14.814735 ] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 0.09912857 -0.07154903] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.289499 -13.179454]\n [-32.595367  14.881066]\n [-15.655466 -16.090868]\n [-31.619324  17.406393]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-9.153881  4.158474], 10.05417537689209 meters away.)"}
{"file_name": "images/scenario_24_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 1.1 meters away at (0.4, -1.1). A vehicle with ID 9 is 12.9 meters away at (-8.7, -9.5). A unknown object with ID 13 is 29.4 meters away at (1.0, -29.4). A vehicle with ID 11 is 40.3 meters away at (-14.2, -37.7). A unknown object with ID 5 is 46.2 meters away at (37.5, 27.0). A pedestrian with ID 14 is 57.5 meters away at (-4.4, -57.3).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00696272  0.00509179] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 8.787033  -7.2359405] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.7565575   0.81111974] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.410864 -19.045591]\n [-18.899433 -20.609926]]", "nav_goal": "(-150.3408203125, 163.62933349609375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 0.37285128 -1.0656672 ], 1.1290104389190674 meters away.)"}
{"file_name": "images/scenario_24_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 12.8 meters away at (-8.6, -9.4). A unknown object with ID 13 is 29.1 meters away at (1.0, -29.1). A pedestrian with ID 14 is 56.3 meters away at (-6.2, -55.9).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.91456056  0.86600834] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.410864 -19.045591]\n [-18.899433 -20.609926]]", "nav_goal": "(-150.3408203125, 163.62933349609375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.604677 -9.421515], 12.759522438049316 meters away.)"}
{"file_name": "images/scenario_24_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 12.7 meters away at (-8.6, -9.4). A unknown object with ID 13 is 29.3 meters away at (1.0, -29.3). A pedestrian with ID 14 is 55.1 meters away at (-7.9, -54.5).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.7888422   0.81111825] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.410864 -19.045591]\n [-18.899433 -20.609926]]", "nav_goal": "(-150.3408203125, 163.62933349609375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.554672 -9.3683  ], 12.686508178710938 meters away.)"}
{"file_name": "images/scenario_24_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 12.9 meters away at (-8.7, -9.5). A unknown object with ID 13 is 29.4 meters away at (1.0, -29.4). A vehicle with ID 2 is 44.6 meters away at (-12.5, -42.8). A unknown object with ID 3 is 46.3 meters away at (37.5, 27.0). A pedestrian with ID 14 is 53.4 meters away at (-8.7, -52.7). A unknown object with ID 6 is 54.7 meters away at (-14.6, -52.8).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 16.615545 -13.917869] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.7076326  0.7734713] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.410864 -19.045591]\n [-18.899433 -20.609926]]", "nav_goal": "(-150.3408203125, 163.62933349609375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.687528 -9.521291], 12.889069557189941 meters away.)"}
{"file_name": "images/scenario_25_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -4.0) m/s. Its current heading (yaw) is -1.43 ", "actor_description": " The most relevant actors are: A cyclist with ID 74 is 10.4 meters away at (10.2, -1.5). A unknown object with ID 76 is 22.5 meters away at (-13.9, -17.7). A unknown object with ID 75 is 25.2 meters away at (10.7, -22.8). A unknown object with ID 73 is 25.4 meters away at (12.9, -21.8). A unknown object with ID 71 is 26.1 meters away at (15.4, -21.0). A unknown object with ID 43 is 26.3 meters away at (15.3, -21.4). A unknown object with ID 70 is 26.8 meters away at (17.5, -20.3). A unknown object with ID 69 is 27.9 meters away at (19.5, -19.9). A unknown object with ID 67 is 30.8 meters away at (23.6, -19.8). A unknown object with ID 66 is 34.1 meters away at (27.7, -19.8).", "velocity_description": "The cyclist with ID 74 is traveling at a (x, y) velocity of [ 0.0269822  -0.01130659] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [10.248347  -1.5465031], 10.364376068115234 meters away.)"}
{"file_name": "images/scenario_25_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -3.6) m/s. Its current heading (yaw) is -1.20 ", "actor_description": " The most relevant actors are: A cyclist with ID 74 is 10.6 meters away at (8.6, 6.2). A unknown object with ID 75 is 17.5 meters away at (9.0, -15.0). A unknown object with ID 73 is 18.0 meters away at (11.1, -14.1). A unknown object with ID 76 is 18.5 meters away at (-15.6, -9.9). A unknown object with ID 71 is 19.1 meters away at (13.7, -13.3). A unknown object with ID 43 is 19.4 meters away at (13.7, -13.7). A unknown object with ID 70 is 20.2 meters away at (15.8, -12.6). A unknown object with ID 69 is 21.6 meters away at (17.8, -12.1). A unknown object with ID 67 is 25.0 meters away at (21.9, -12.1). A unknown object with ID 66 is 28.7 meters away at (26.0, -12.1).", "velocity_description": "The cyclist with ID 74 is traveling at a (x, y) velocity of [-0.0066146  -0.00404886] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [8.6365185 6.225849 ], 10.646626472473145 meters away.)"}
{"file_name": "images/scenario_25_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.6) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 75 is 9.9 meters away at (4.8, -8.7). A unknown object with ID 73 is 10.4 meters away at (6.9, -7.7). A unknown object with ID 71 is 11.7 meters away at (9.4, -7.0). A unknown object with ID 70 is 13.1 meters away at (11.5, -6.2). A cyclist with ID 74 is 13.3 meters away at (4.4, 12.5). A unknown object with ID 69 is 14.7 meters away at (13.5, -5.8). A unknown object with ID 67 is 18.5 meters away at (17.6, -5.8). A unknown object with ID 76 is 20.1 meters away at (-19.8, -3.6). A unknown object with ID 66 is 22.5 meters away at (21.8, -5.8). A unknown object with ID 37 is 25.8 meters away at (13.0, -22.3).", "velocity_description": "The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 74 is traveling at a (x, y) velocity of [ 0.01395042 -0.0045603 ] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 4.765241 -8.678263], 9.900492668151855 meters away.)"}
{"file_name": "images/scenario_25_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -0.8) m/s. Its current heading (yaw) is -0.16 ", "actor_description": " The most relevant actors are: A unknown object with ID 71 is 3.6 meters away at (1.4, -3.3). A unknown object with ID 73 is 4.2 meters away at (-1.0, -4.1). A unknown object with ID 70 is 4.3 meters away at (3.5, -2.6). A unknown object with ID 69 is 5.9 meters away at (5.5, -2.2). A unknown object with ID 75 is 6.0 meters away at (-3.2, -5.0). A unknown object with ID 67 is 9.8 meters away at (9.6, -2.1). A unknown object with ID 66 is 13.9 meters away at (13.7, -2.1). A cyclist with ID 74 is 16.5 meters away at (-3.7, 16.1). A unknown object with ID 28 is 17.0 meters away at (12.5, -11.5). A unknown object with ID 65 is 19.1 meters away at (19.0, -2.1).", "velocity_description": "The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 74 is traveling at a (x, y) velocity of [-0.03528102  0.02946464] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 1.4290056 -3.3124275], 3.6075246334075928 meters away.)"}
{"file_name": "images/scenario_26_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.2) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 8.0 meters away at (-0.2, -8.0). A vehicle with ID 7 is 10.9 meters away at (10.8, 1.5). A vehicle with ID 32 is 29.0 meters away at (-19.4, -21.6). A pedestrian with ID 41 is 29.3 meters away at (28.6, -6.5). A cyclist with ID 27 is 29.8 meters away at (-29.6, -3.5). A pedestrian with ID 15 is 30.5 meters away at (-13.9, 27.2). A cyclist with ID 28 is 31.4 meters away at (-18.6, -25.3). A pedestrian with ID 31 is 33.9 meters away at (-25.4, 22.5). A vehicle with ID 8 is 34.0 meters away at (31.1, -13.7). A vehicle with ID 36 is 34.0 meters away at (-33.2, 7.3).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 0.52454436 -1.2718759 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.0045358 -0.0475802] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-5.1626797  1.4471765] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.29677066 -1.0443184 ] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-3.3675406 -7.7227235] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.093372   -0.40203846] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 7.6721525 -3.185501 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 7.5342126 -3.422997 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.5389185   -2.78215   ]\n [  0.09816139 -15.62538   ]\n [ -3.5638096  -14.258007  ]\n [ -0.24753377 -15.445279  ]\n [  0.3139272  -15.764047  ]\n [ -3.3325307   -5.747696  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.15047073 -7.9598355 ], 7.961257457733154 meters away.)"}
{"file_name": "images/scenario_26_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -3.5) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 8.4 meters away at (-4.7, 6.9). A vehicle with ID 30 is 16.1 meters away at (-16.1, -1.3). A pedestrian with ID 25 is 21.6 meters away at (21.3, -3.7). A vehicle with ID 8 is 34.2 meters away at (31.2, -13.9). A vehicle with ID 36 is 37.4 meters away at (-36.8, 6.9). A pedestrian with ID 10 is 37.6 meters away at (35.4, -12.7). A vehicle with ID 32 is 37.9 meters away at (-35.1, -14.4). A pedestrian with ID 15 is 44.0 meters away at (-30.4, 31.8). A pedestrian with ID 31 is 48.5 meters away at (-39.5, 28.2). A vehicle with ID 21 is 49.5 meters away at (-2.1, 49.4).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [ 0.8547782 -1.5870886] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00661883 0.00696551] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 8.804506  -3.7137907] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 5.1784983 -4.535556 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.01863013 0.02539927] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0.24904099 0.2962134 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.3252214 -1.0779712] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.875865  -0.6968492] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.7662467 -9.135044 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.09816139 -15.62538   ]\n [ -3.5638096  -14.258007  ]\n [ -0.24753377 -15.445279  ]\n [  0.3139272  -15.764047  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.7326946  6.8814726], 8.35183048248291 meters away.)"}
{"file_name": "images/scenario_26_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -3.7) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 25 is 5.9 meters away at (4.9, 3.3). A vehicle with ID 7 is 18.7 meters away at (-16.8, 8.3). A pedestrian with ID 10 is 19.7 meters away at (18.9, -5.6). A vehicle with ID 30 is 33.4 meters away at (-32.9, 5.8). A vehicle with ID 8 is 35.9 meters away at (32.8, -14.6). A vehicle with ID 21 is 44.7 meters away at (-21.8, 39.0). A vehicle with ID 36 is 46.9 meters away at (-46.8, 2.2). A vehicle with ID 32 is 51.6 meters away at (-51.2, -6.8). A pedestrian with ID 15 is 60.3 meters away at (-47.8, 36.7). A pedestrian with ID 12 is 61.0 meters away at (58.5, -17.2).", "velocity_description": "The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.01671764 0.02196318] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 4.05764  -3.217869] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.07714227  0.14014989] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.4672835   0.24952655] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 9.132468 -3.77286 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.4693434 -8.377054 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.9464247 -6.7611847] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.60532093 -0.87319916] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1202033 -0.5887237] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.09816139 -15.62538   ]\n [ -3.5638096  -14.258007  ]\n [ -0.24753377 -15.445279  ]\n [  0.3139272  -15.764047  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [4.909073  3.3431683], 5.939341068267822 meters away.)"}
{"file_name": "images/scenario_26_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.4, -4.1) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 2.3 meters away at (0.8, 2.2). A pedestrian with ID 25 is 17.3 meters away at (-13.2, 11.1). A vehicle with ID 7 is 25.0 meters away at (-23.1, 9.6). A vehicle with ID 8 is 36.0 meters away at (33.0, -14.4). A pedestrian with ID 12 is 44.2 meters away at (43.0, -9.9). A pedestrian with ID 13 is 44.2 meters away at (42.9, -10.6). A unknown object with ID 18 is 46.1 meters away at (44.1, -13.4). A unknown object with ID 24 is 47.4 meters away at (45.3, -13.9). A vehicle with ID 30 is 55.2 meters away at (-53.2, 14.7). A pedestrian with ID 1 is 67.6 meters away at (58.2, -34.3).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.17985922 0.01088577] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.02864567 0.00146598] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 7.5726056 -3.57538  ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 9.096316  -3.8833692] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.3743863 -0.5062733] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.3797301 -0.5210799] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.8789698  1.402929 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.4387201 -0.4874689] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.09816139 -15.62538   ]\n [ -3.5638096  -14.258007  ]\n [ -0.24753377 -15.445279  ]\n [  0.3139272  -15.764047  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [0.8488693 2.1893978], 2.3481996059417725 meters away.)"}
{"file_name": "images/scenario_27_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.3) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 3.5 meters away at (-2.6, 2.3). A vehicle with ID 56 is 8.7 meters away at (-0.7, 8.6). A unknown object with ID 39 is 15.1 meters away at (10.2, -11.2). A vehicle with ID 28 is 17.8 meters away at (-17.7, -1.7). A vehicle with ID 60 is 18.1 meters away at (2.3, 18.0). A vehicle with ID 19 is 21.1 meters away at (-21.1, -1.3). A vehicle with ID 61 is 22.2 meters away at (14.8, -16.5). A vehicle with ID 63 is 24.3 meters away at (-19.0, -15.1). A vehicle with ID 14 is 24.9 meters away at (-24.8, 0.8). A vehicle with ID 68 is 26.0 meters away at (5.1, 25.5).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.05119323730469, -113.50476837158203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.6214154  2.3291862], 3.506697416305542 meters away.)"}
{"file_name": "images/scenario_27_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 3.9 meters away at (-2.4, 3.1). A vehicle with ID 56 is 9.4 meters away at (-0.5, 9.4). A vehicle with ID 28 is 17.4 meters away at (-17.4, -1.1). A vehicle with ID 60 is 18.9 meters away at (2.6, 18.8). A vehicle with ID 19 is 20.8 meters away at (-20.8, -0.5). A vehicle with ID 61 is 21.7 meters away at (15.0, -15.7). A vehicle with ID 63 is 23.6 meters away at (-18.7, -14.3). A vehicle with ID 14 is 24.6 meters away at (-24.5, 1.5). A vehicle with ID 47 is 25.8 meters away at (-22.3, -12.9). A vehicle with ID 68 is 26.7 meters away at (5.3, 26.2).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.05119323730469, -113.50476837158203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.3684237  3.0934484], 3.8960049152374268 meters away.)"}
{"file_name": "images/scenario_27_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.8) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 6.8 meters away at (-1.2, 6.7). A vehicle with ID 56 is 13.1 meters away at (0.8, 13.0). A vehicle with ID 28 is 16.5 meters away at (-16.3, 2.4). A vehicle with ID 19 is 19.8 meters away at (-19.6, 2.9). A vehicle with ID 61 is 20.3 meters away at (16.3, -12.1). A vehicle with ID 63 is 20.5 meters away at (-17.5, -10.8). A vehicle with ID 60 is 22.7 meters away at (3.8, 22.4). A vehicle with ID 47 is 23.1 meters away at (-21.0, -9.4). A vehicle with ID 14 is 23.9 meters away at (-23.4, 4.9). A vehicle with ID 65 is 26.6 meters away at (14.8, -22.2).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.05119323730469, -113.50476837158203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.1592274  6.7012653], 6.800791263580322 meters away.)"}
{"file_name": "images/scenario_27_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -4.9) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 14.7 meters away at (-14.6, -2.0). A vehicle with ID 55 is 15.7 meters away at (1.8, 15.6). A vehicle with ID 28 is 17.7 meters away at (-13.4, 11.5). A vehicle with ID 47 is 18.1 meters away at (-18.1, -0.5). A vehicle with ID 61 is 19.5 meters away at (19.2, -3.3). A vehicle with ID 19 is 20.3 meters away at (-16.4, 11.9). A vehicle with ID 6 is 20.5 meters away at (-9.2, -18.3). A pedestrian with ID 69 is 20.8 meters away at (-10.7, -17.9). A vehicle with ID 65 is 22.1 meters away at (17.6, -13.3). A vehicle with ID 56 is 22.3 meters away at (3.7, 22.0).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.05629864 -0.06204856] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.05119323730469, -113.50476837158203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-14.565811   -1.9680271], 14.698162078857422 meters away.)"}
{"file_name": "images/scenario_28_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 7.1 meters away at (4.4, -5.5). A vehicle with ID 42 is 12.2 meters away at (-6.8, -10.1). A vehicle with ID 43 is 15.2 meters away at (9.5, -11.9). A unknown object with ID 34 is 22.8 meters away at (-15.0, -17.2). A vehicle with ID 47 is 23.4 meters away at (15.3, -17.7). A vehicle with ID 49 is 23.5 meters away at (-23.5, 1.0). A vehicle with ID 48 is 26.0 meters away at (-22.4, -13.3). A vehicle with ID 41 is 28.1 meters away at (-25.8, -11.0). A vehicle with ID 54 is 28.8 meters away at (-23.5, 16.6). A vehicle with ID 45 is 30.3 meters away at (-29.0, -8.8).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 3.9474068  -0.01629908] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-2.4216294 -6.7256413] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 2.9166281 -5.8860016] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-5.3842793 -5.326877 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.524185   -1.7605344]\n [  5.0666103  -6.4670153]\n [-13.184876   -8.8246155]\n [-13.422772   -8.313794 ]\n [-15.354465   -1.8922467]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.3918304 -5.516019 ], 7.05086088180542 meters away.)"}
{"file_name": "images/scenario_28_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 7.4 meters away at (4.5, -5.8). A vehicle with ID 23 is 13.8 meters away at (-11.0, 8.2). A vehicle with ID 42 is 14.7 meters away at (3.0, -14.3). A vehicle with ID 43 is 15.6 meters away at (9.7, -12.2). A vehicle with ID 54 is 21.8 meters away at (-21.4, 4.3). A unknown object with ID 34 is 23.0 meters away at (-14.9, -17.5). A unknown object with ID 17 is 23.1 meters away at (-16.4, -16.3). A vehicle with ID 47 is 23.7 meters away at (15.3, -18.1). A vehicle with ID 48 is 26.0 meters away at (-22.2, -13.5). A vehicle with ID 41 is 28.1 meters away at (-25.7, -11.3).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 12.468164 -14.756305] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.3024545 -4.5475554] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.975973 -6.090706] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.524185   -1.7605344]\n [  5.0666103  -6.4670153]\n [  5.0666103  -6.4670153]\n [-13.184876   -8.8246155]\n [-13.422772   -8.313794 ]\n [-15.354465   -1.8922467]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.469767 -5.83768 ], 7.352368354797363 meters away.)"}
{"file_name": "images/scenario_28_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.4) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 8.0 meters away at (4.9, -6.4). A vehicle with ID 43 is 17.1 meters away at (10.5, -13.5). A vehicle with ID 50 is 21.2 meters away at (-20.9, 3.6). A unknown object with ID 17 is 23.2 meters away at (-15.3, -17.5). A unknown object with ID 34 is 23.4 meters away at (-14.0, -18.8). A vehicle with ID 48 is 25.8 meters away at (-21.3, -14.6). A vehicle with ID 54 is 27.3 meters away at (-26.0, -8.2). A vehicle with ID 23 is 27.6 meters away at (14.8, -23.2). A vehicle with ID 41 is 27.7 meters away at (-24.8, -12.4). A vehicle with ID 53 is 28.5 meters away at (-23.3, 16.5).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.79081696  0.78614056] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-0.72066796 -6.4260664 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-4.679674 -5.325463] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 12.790788 -16.079142] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 3.1989388 -6.654457 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.524185   -1.7605344]\n [-21.07831    15.367174 ]\n [  5.0666103  -6.4670153]\n [  5.0666103  -6.4670153]\n [-13.184876   -8.8246155]\n [-13.422772   -8.313794 ]\n [-15.354465   -1.8922467]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.885062  -6.3819766], 8.037005424499512 meters away.)"}
{"file_name": "images/scenario_28_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 0.2) m/s. Its current heading (yaw) is 3.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 10.6 meters away at (9.0, -5.6). A vehicle with ID 53 is 14.0 meters away at (-14.0, -1.3). A vehicle with ID 50 is 21.8 meters away at (-18.6, -11.5). A unknown object with ID 17 is 22.3 meters away at (-7.8, -20.8). A vehicle with ID 48 is 22.3 meters away at (-13.5, -17.7). A unknown object with ID 34 is 22.9 meters away at (-6.4, -22.0). A vehicle with ID 41 is 23.2 meters away at (-17.2, -15.5). A vehicle with ID 43 is 24.7 meters away at (18.1, -16.8). A vehicle with ID 51 is 28.3 meters away at (-18.4, -21.4). A vehicle with ID 40 is 31.0 meters away at (-23.3, -20.4).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.7461352  3.3616815] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-1.8933034 -7.029165 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-4.6363835 -4.9318433] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.44332728 0.37070516] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.02089793 0.31251135] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.2643004   0.23244964] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.524185   -1.7605344]\n [-21.07831    15.367174 ]\n [-18.610071   17.31716  ]\n [  5.0666103  -6.4670153]\n [  5.0666103  -6.4670153]\n [-13.184876   -8.8246155]\n [-13.422772   -8.313794 ]\n [-15.354465   -1.8922467]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.02815   -5.6436644], 10.646991729736328 meters away.)"}
{"file_name": "images/scenario_29_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 2.5) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A unknown object with ID 69 is 9.4 meters away at (-2.8, -8.9). A unknown object with ID 71 is 9.9 meters away at (-5.9, -7.9). A unknown object with ID 68 is 10.6 meters away at (-1.6, -10.5). A vehicle with ID 73 is 10.6 meters away at (-8.2, 6.7). A unknown object with ID 72 is 11.5 meters away at (-9.1, -7.0). A unknown object with ID 74 is 13.6 meters away at (-12.2, -6.0). A unknown object with ID 75 is 15.6 meters away at (-14.2, -6.6). A vehicle with ID 76 is 16.9 meters away at (-14.6, 8.5). A vehicle with ID 61 is 17.4 meters away at (13.9, -10.5). A vehicle with ID 77 is 18.8 meters away at (-18.1, -5.1).", "velocity_description": "The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 25.36116  -15.045128]\n [ 24.182278 -16.914732]]", "nav_goal": "(-23.867448806762695, -105.46922302246094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.7780914 -8.94096  ], 9.362614631652832 meters away.)"}
{"file_name": "images/scenario_29_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 2.7) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 76 is 4.2 meters away at (1.6, 3.9). A vehicle with ID 78 is 7.8 meters away at (-5.3, 5.8). A vehicle with ID 73 is 8.3 meters away at (8.1, 2.0). A vehicle with ID 77 is 10.0 meters away at (-1.7, -9.9). A unknown object with ID 74 is 11.6 meters away at (4.2, -10.8). A unknown object with ID 75 is 11.6 meters away at (2.2, -11.4). A vehicle with ID 79 is 13.5 meters away at (-11.2, 7.5). A unknown object with ID 72 is 13.9 meters away at (7.3, -11.8). A vehicle with ID 80 is 15.9 meters away at (-14.7, -6.1). A unknown object with ID 71 is 16.5 meters away at (10.5, -12.7).", "velocity_description": "The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.63043   -9.644585]\n [ 25.36116  -15.045128]\n [ 24.182278 -16.914732]]", "nav_goal": "(-23.867448806762695, -105.46922302246094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.6366978 3.869009 ], 4.200953483581543 meters away.)"}
{"file_name": "images/scenario_29_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 2.1) m/s. Its current heading (yaw) is 2.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 79 is 6.1 meters away at (5.2, 3.2). A vehicle with ID 43 is 6.6 meters away at (1.1, -6.5). A vehicle with ID 63 is 9.3 meters away at (-6.6, 6.6). A pedestrian with ID 82 is 9.5 meters away at (6.9, 6.5). A vehicle with ID 80 is 10.7 meters away at (1.8, -10.5). A vehicle with ID 83 is 10.9 meters away at (-8.1, -7.4). A vehicle with ID 78 is 11.3 meters away at (11.2, 1.5). A pedestrian with ID 45 is 12.1 meters away at (-3.3, 11.6). A vehicle with ID 64 is 14.6 meters away at (-12.1, 8.2). A vehicle with ID 76 is 18.3 meters away at (18.3, -0.5).", "velocity_description": "The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 4.93106   -1.2969408] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.2887168  -0.29112217] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.00454983 0.02367909] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.63043  -9.644585]]", "nav_goal": "(-23.867448806762695, -105.46922302246094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.224304  3.2425508], 6.14877986907959 meters away.)"}
{"file_name": "images/scenario_29_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 2.0) m/s. Its current heading (yaw) is 2.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 5.9 meters away at (3.6, 4.7). A pedestrian with ID 35 is 8.9 meters away at (-4.9, -7.4). A vehicle with ID 63 is 9.5 meters away at (9.0, 3.1). A vehicle with ID 83 is 13.3 meters away at (7.7, -10.9). A unknown object with ID 12 is 15.6 meters away at (-15.5, -2.4). A unknown object with ID 6 is 20.7 meters away at (-20.5, -2.6). A vehicle with ID 79 is 21.1 meters away at (21.1, -0.3). A vehicle with ID 80 is 22.5 meters away at (17.6, -14.0). A vehicle with ID 4 is 24.2 meters away at (-20.9, -12.2). A pedestrian with ID 82 is 25.5 meters away at (25.4, 2.1).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.9817716  0.22776139] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.2766714  -0.28729755] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-23.867448806762695, -105.46922302246094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.6115417 4.697092 ], 5.925024032592773 meters away.)"}
{"file_name": "images/scenario_30_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 5.4) m/s. Its current heading (yaw) is 1.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 70 is 18.8 meters away at (18.8, -1.6). A unknown object with ID 71 is 21.4 meters away at (21.3, -1.8). A unknown object with ID 73 is 23.2 meters away at (23.1, -2.4). A vehicle with ID 18 is 24.6 meters away at (3.5, -24.3). A pedestrian with ID 75 is 38.2 meters away at (18.8, -33.3). A pedestrian with ID 76 is 38.6 meters away at (19.4, -33.4). A pedestrian with ID 48 is 62.5 meters away at (-61.3, -12.3). A unknown object with ID 77 is 66.4 meters away at (11.0, -65.5). A unknown object with ID 41 is 71.9 meters away at (14.3, -70.5). A unknown object with ID 58 is 77.2 meters away at (-12.2, 76.2).", "velocity_description": "The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.9875461  9.668719 ] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.28743872  1.2300764 ] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.30205667  1.2366503 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.07261215 -0.79019743] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [18.757362  -1.5638018], 18.822437286376953 meters away.)"}
{"file_name": "images/scenario_30_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 5.6) m/s. Its current heading (yaw) is 1.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 18.7 meters away at (0.8, -18.7). A pedestrian with ID 75 is 45.6 meters away at (18.1, -41.9). A unknown object with ID 4 is 59.9 meters away at (-5.5, 59.7). A unknown object with ID 5 is 60.2 meters away at (-6.5, 59.9). A unknown object with ID 66 is 60.5 meters away at (17.2, 58.0). A unknown object with ID 45 is 61.0 meters away at (-7.0, 60.6). A vehicle with ID 14 is 72.7 meters away at (18.8, 70.2). A unknown object with ID 42 is 78.9 meters away at (11.9, -78.0).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.6364336  7.1332016] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.1714991  1.2338508] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-4.9392614  -0.63451195] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  0.83758646 -18.708776  ], 18.727516174316406 meters away.)"}
{"file_name": "images/scenario_30_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 6.5) m/s. Its current heading (yaw) is 1.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 18.0 meters away at (-0.9, -18.0). A unknown object with ID 57 is 32.6 meters away at (3.1, -32.4). A unknown object with ID 68 is 36.1 meters away at (-4.9, -35.7). A unknown object with ID 4 is 48.0 meters away at (-6.8, 47.5). A unknown object with ID 38 is 48.1 meters away at (-10.3, 47.0). A unknown object with ID 5 is 48.2 meters away at (-7.9, 47.6). A unknown object with ID 6 is 48.6 meters away at (-8.1, 47.9). A unknown object with ID 45 is 49.0 meters away at (-8.4, 48.3). A pedestrian with ID 75 is 54.0 meters away at (16.4, -51.5). A vehicle with ID 14 is 58.2 meters away at (6.6, 57.8).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0.09246413 6.179482  ] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.19167069  1.2750454 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.139537    0.13495144] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -0.9089569 -18.00639  ], 18.02931785583496 meters away.)"}
{"file_name": "images/scenario_30_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 6.9) m/s. Its current heading (yaw) is 1.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 19.1 meters away at (-2.6, -18.9). A unknown object with ID 4 is 35.2 meters away at (-9.3, 33.9). A unknown object with ID 5 is 35.6 meters away at (-10.4, 34.1). A unknown object with ID 38 is 35.8 meters away at (-12.8, 33.4). A unknown object with ID 6 is 36.3 meters away at (-10.7, 34.7). A unknown object with ID 3 is 36.3 meters away at (-8.4, 35.3). A unknown object with ID 45 is 36.4 meters away at (-10.8, 34.8). A cyclist with ID 65 is 40.6 meters away at (3.8, 40.4). A vehicle with ID 14 is 44.8 meters away at (-3.7, 44.7). A vehicle with ID 2 is 46.1 meters away at (13.0, 44.3).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0.7610555 6.842027 ] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 65 is traveling at a (x, y) velocity of [0.01298769 0.08166175] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.0935478   0.19860454] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-4.288015   -0.16094007] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -2.6397328 -18.886599 ], 19.070180892944336 meters away.)"}
{"file_name": "images/scenario_31_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 7.7) m/s. Its current heading (yaw) is 0.95 ", "actor_description": " The most relevant actors are: A unknown object with ID 117 is 6.3 meters away at (-4.4, 4.4). A unknown object with ID 111 is 6.8 meters away at (-6.5, 1.7). A pedestrian with ID 116 is 7.2 meters away at (-5.7, 4.5). A unknown object with ID 120 is 8.7 meters away at (-6.1, 6.2). A pedestrian with ID 115 is 9.8 meters away at (-9.4, 2.9). A pedestrian with ID 119 is 10.0 meters away at (-8.0, 6.0). A vehicle with ID 114 is 10.3 meters away at (-9.5, 4.0). A unknown object with ID 105 is 10.5 meters away at (-9.9, -3.4). A unknown object with ID 104 is 10.9 meters away at (-10.2, -4.0). A unknown object with ID 121 is 11.0 meters away at (-8.1, 7.4).", "velocity_description": "The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [ 0.14812231 -0.62710935] m/s.The unknown object with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [-0.20674068 -0.4664401 ] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [ 0.0268827 -0.0050812] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(156.84835815429688, 253.60536193847656)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.4463115  4.436138 ], 6.280844211578369 meters away.)"}
{"file_name": "images/scenario_31_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 7.9) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 88 is 5.1 meters away at (-0.7, 5.1). A pedestrian with ID 92 is 7.5 meters away at (-7.2, 1.9). A unknown object with ID 127 is 10.5 meters away at (-10.5, 0.5). A unknown object with ID 123 is 14.8 meters away at (-14.2, -4.1). A unknown object with ID 125 is 15.1 meters away at (-15.0, -1.5). A unknown object with ID 124 is 16.7 meters away at (-16.5, -3.1). A vehicle with ID 96 is 17.0 meters away at (-4.3, 16.4). A unknown object with ID 117 is 18.6 meters away at (-14.7, -11.3). A vehicle with ID 89 is 18.8 meters away at (-3.0, 18.5). A unknown object with ID 120 is 19.0 meters away at (-16.4, -9.6).", "velocity_description": "The vehicle with ID 88 is traveling at a (x, y) velocity of [-4.8553915 -7.4067497] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.14265937  0.04662172] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(156.84835815429688, 253.60536193847656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.66371727  5.096037  ], 5.139077186584473 meters away.)"}
{"file_name": "images/scenario_31_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 8.0) m/s. Its current heading (yaw) is 1.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 100 is 3.8 meters away at (-3.8, 0.1). A vehicle with ID 54 is 12.1 meters away at (-9.9, 7.0). A vehicle with ID 39 is 12.3 meters away at (-11.3, 4.9). A vehicle with ID 47 is 12.8 meters away at (-8.8, 9.3). A vehicle with ID 98 is 17.9 meters away at (-10.1, 14.8). A vehicle with ID 83 is 18.4 meters away at (6.6, 17.2). A vehicle with ID 48 is 19.3 meters away at (-18.1, -6.6). A vehicle with ID 20 is 21.9 meters away at (-11.6, -18.6). A pedestrian with ID 92 is 22.1 meters away at (-17.2, -13.9). A vehicle with ID 64 is 23.9 meters away at (23.9, -0.5).", "velocity_description": "The vehicle with ID 100 is traveling at a (x, y) velocity of [-5.4620767 -8.634917 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-5.5428195 -8.598037 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [5.363679 8.949775] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.05970326 -0.08254892] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(156.84835815429688, 253.60536193847656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.779562    0.09155655], 3.780670642852783 meters away.)"}
{"file_name": "images/scenario_31_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 8.2) m/s. Its current heading (yaw) is 1.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 3.4 meters away at (-2.8, 1.8). A vehicle with ID 95 is 8.6 meters away at (8.6, 0.2). A vehicle with ID 81 is 10.6 meters away at (10.5, -1.4). A pedestrian with ID 22 is 13.0 meters away at (10.8, 7.2). A vehicle with ID 59 is 13.1 meters away at (12.8, -2.7). A vehicle with ID 30 is 15.5 meters away at (14.9, -4.1). A vehicle with ID 23 is 16.3 meters away at (10.6, 12.4). A unknown object with ID 91 is 17.9 meters away at (-2.0, 17.8). A unknown object with ID 42 is 18.1 meters away at (-1.9, 18.0). A unknown object with ID 36 is 18.2 meters away at (-1.2, 18.1).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [-5.1590185 -8.032136 ] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.5708169 0.7868802] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(156.84835815429688, 253.60536193847656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.8327713  1.8284149], 3.3716013431549072 meters away.)"}
{"file_name": "images/scenario_32_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -2.1) m/s. Its current heading (yaw) is -1.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 55 is 5.9 meters away at (-4.4, -3.9). A pedestrian with ID 56 is 6.6 meters away at (-4.9, -4.4). A vehicle with ID 66 is 15.1 meters away at (-13.7, 6.5). A vehicle with ID 76 is 16.7 meters away at (-4.3, 16.1). A vehicle with ID 60 is 18.8 meters away at (-18.7, -1.1). A cyclist with ID 63 is 19.3 meters away at (-3.2, -19.0). A vehicle with ID 54 is 19.5 meters away at (-11.7, -15.5). A cyclist with ID 82 is 19.6 meters away at (0.8, 19.5). A vehicle with ID 64 is 21.5 meters away at (-2.9, -21.3). A vehicle with ID 71 is 24.7 meters away at (-6.0, 23.9).", "velocity_description": "The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 0.01136487 -0.00423839] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.06237819  0.03254464] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-0.5004356 -1.1338515] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ -4.3993926 -12.555236 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 63 is traveling at a (x, y) velocity of [0.04032636 0.00895204] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ -3.989406 -13.840185] m/s.The cyclist with ID 82 is traveling at a (x, y) velocity of [ -5.5558047 -13.077487 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-1.7298529 -4.281835 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.36813   -24.363544 ]\n [-30.673998    3.696976 ]\n [-33.39689    -1.1932086]\n [-27.905762  -22.54755  ]\n [-13.734096  -27.274958 ]\n [-24.114386  -23.185602 ]\n [-10.775145  -18.735909 ]\n [-29.697952    6.222304 ]\n [-11.510572  -21.866535 ]\n [-32.4849      1.5733308]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.394195  -3.9237394], 5.891067981719971 meters away.)"}
{"file_name": "images/scenario_32_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -2.4) m/s. Its current heading (yaw) is -1.29 ", "actor_description": " The most relevant actors are: A pedestrian with ID 55 is 5.1 meters away at (-5.1, 0.3). A pedestrian with ID 56 is 5.8 meters away at (-5.8, -0.0). A cyclist with ID 82 is 9.4 meters away at (-9.1, -2.4). A vehicle with ID 76 is 14.2 meters away at (-13.4, -4.8). A cyclist with ID 63 is 15.2 meters away at (-4.0, -14.6). A vehicle with ID 64 is 17.4 meters away at (-3.8, -16.9). A vehicle with ID 66 is 17.9 meters away at (-14.9, 10.0). A vehicle with ID 60 is 19.8 meters away at (-19.6, 3.3). A vehicle with ID 69 is 20.7 meters away at (-3.6, -20.4). A vehicle with ID 70 is 23.6 meters away at (-4.2, -23.3).", "velocity_description": "The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.02397692 0.00035159] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.0097388  0.01302644] m/s.The cyclist with ID 82 is traveling at a (x, y) velocity of [ -4.000049 -12.919116] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ -3.734471 -12.617546] m/s.The cyclist with ID 63 is traveling at a (x, y) velocity of [0.0126234  0.02862643] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.36813   -24.363544 ]\n [-30.673998    3.696976 ]\n [-33.39689    -1.1932086]\n [-27.905762  -22.54755  ]\n [-13.734096  -27.274958 ]\n [-24.114386  -23.185602 ]\n [-10.775145  -18.735909 ]\n [-29.697952    6.222304 ]\n [-11.510572  -21.866535 ]\n [-32.4849      1.5733308]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.123504    0.32055998], 5.1335225105285645 meters away.)"}
{"file_name": "images/scenario_32_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -3.3) m/s. Its current heading (yaw) is -0.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 55 is 10.0 meters away at (-7.8, 6.2). A pedestrian with ID 56 is 10.3 meters away at (-8.5, 5.8). A cyclist with ID 63 is 10.9 meters away at (-6.7, -8.7). A vehicle with ID 64 is 12.8 meters away at (-6.2, -11.2). A vehicle with ID 69 is 15.9 meters away at (-6.4, -14.6). A vehicle with ID 34 is 16.9 meters away at (-8.0, 14.9). A vehicle with ID 72 is 18.3 meters away at (1.3, -18.3). A vehicle with ID 70 is 18.7 meters away at (-6.8, -17.4). A vehicle with ID 62 is 22.4 meters away at (-1.8, 22.3). A vehicle with ID 66 is 23.7 meters away at (-17.6, 15.8).", "velocity_description": "The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.01382488  0.01053258] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.01012821 0.01237285] m/s.The cyclist with ID 63 is traveling at a (x, y) velocity of [0.01915895 0.00098434] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ -5.080712 -13.683136] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-2.441115 -7.408125] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.36813   -24.363544 ]\n [-30.673998    3.696976 ]\n [-33.39689    -1.1932086]\n [-11.477224  -10.433971 ]\n [ -8.662211  -13.841094 ]\n [-27.905762  -22.54755  ]\n [-13.734096  -27.274958 ]\n [-13.826233   -6.659424 ]\n [-24.114386  -23.185602 ]\n [-10.775145  -18.735909 ]\n [-29.697952    6.222304 ]\n [-11.510572  -21.866535 ]\n [-32.4849      1.5733308]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.8148623  6.191571 ], 9.9703369140625 meters away.)"}
{"file_name": "images/scenario_32_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -3.3) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 12.4 meters away at (-5.1, -11.3). A cyclist with ID 63 is 13.1 meters away at (-13.0, -1.7). A vehicle with ID 64 is 13.2 meters away at (-12.4, -4.3). A vehicle with ID 69 is 14.8 meters away at (-12.8, -7.6). A vehicle with ID 7 is 16.2 meters away at (-4.3, -15.6). A vehicle with ID 70 is 16.8 meters away at (-13.1, -10.5). A vehicle with ID 11 is 17.4 meters away at (-16.5, -5.6). A vehicle with ID 62 is 18.4 meters away at (-10.1, 15.4). A vehicle with ID 61 is 18.9 meters away at (-6.8, -17.6). A vehicle with ID 38 is 19.3 meters away at (-14.2, -13.1).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 63 is traveling at a (x, y) velocity of [ 0.00285243 -0.01282502] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.9598588 -6.4898896] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.36813   -24.363544 ]\n [-30.673998    3.696976 ]\n [-33.39689    -1.1932086]\n [-27.905762  -22.54755  ]\n [-13.734096  -27.274958 ]\n [-24.114386  -23.185602 ]\n [-10.775145  -18.735909 ]\n [-29.697952    6.222304 ]\n [-11.510572  -21.866535 ]\n [-32.4849      1.5733308]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -5.079142 -11.322491], 12.409531593322754 meters away.)"}
{"file_name": "images/scenario_33_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 9.7 meters away at (4.8, 8.5). A vehicle with ID 10 is 11.3 meters away at (8.3, -7.6). A vehicle with ID 6 is 12.0 meters away at (-5.7, 10.6). A pedestrian with ID 12 is 13.7 meters away at (13.4, -3.1). A pedestrian with ID 19 is 14.1 meters away at (-13.9, -2.3). A vehicle with ID 14 is 14.7 meters away at (-1.5, 14.7). A vehicle with ID 17 is 18.8 meters away at (2.0, 18.6). A unknown object with ID 8 is 20.9 meters away at (-0.2, -20.9). A vehicle with ID 22 is 23.4 meters away at (-6.1, -22.6). A vehicle with ID 20 is 23.7 meters away at (17.8, -15.6).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.00112616 -0.00236341] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.3660648  1.186327 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.85591376  2.6255171 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.00127664 -0.00132566] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0408553  -0.65803313] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.0850449  1.7748461] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.783842    6.93952  ]\n [-10.9769945  13.6910305]\n [-20.83636     4.3207707]\n [ -9.396333    7.710237 ]\n [-12.3638315  15.403737 ]\n [ -6.813627    9.742212 ]\n [-11.045626   14.055241 ]]", "nav_goal": "(181.38128662109375, 160.6850128173828)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [4.8012156 8.48449  ], 9.748756408691406 meters away.)"}
{"file_name": "images/scenario_33_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 8.5 meters away at (6.3, -5.8). A pedestrian with ID 7 is 9.8 meters away at (4.8, 8.5). A pedestrian with ID 12 is 13.7 meters away at (13.4, -3.1). A vehicle with ID 14 is 14.8 meters away at (-1.5, 14.7). A pedestrian with ID 19 is 16.4 meters away at (-16.1, -3.2). A vehicle with ID 6 is 17.4 meters away at (-4.6, 16.7). A vehicle with ID 20 is 18.6 meters away at (14.0, -12.3). A vehicle with ID 17 is 18.7 meters away at (2.0, 18.6). A unknown object with ID 8 is 20.9 meters away at (-0.2, -20.9). A vehicle with ID 22 is 23.5 meters away at (-6.1, -22.6).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.74925137  0.67610943] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.00252752 -0.00129602] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00069561 -0.00157516] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0543115 -0.5227244] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [2.0726514 3.4842844] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.6145442  1.355044 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.783842    6.93952  ]\n [-10.9769945  13.6910305]\n [-20.83636     4.3207707]\n [ -9.396333    7.710237 ]\n [-12.3638315  15.403737 ]\n [ -6.813627    9.742212 ]\n [-11.045626   14.055241 ]]", "nav_goal": "(181.38128662109375, 160.6850128173828)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 6.292416 -5.752365], 8.525503158569336 meters away.)"}
{"file_name": "images/scenario_33_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 7.1 meters away at (5.2, -4.8). A pedestrian with ID 7 is 9.8 meters away at (4.8, 8.5). A pedestrian with ID 12 is 13.7 meters away at (13.4, -3.1). A vehicle with ID 14 is 14.8 meters away at (-1.5, 14.7). A vehicle with ID 20 is 15.0 meters away at (11.3, -10.0). A vehicle with ID 17 is 18.6 meters away at (1.9, 18.5). A pedestrian with ID 19 is 18.6 meters away at (-18.1, -4.2). A unknown object with ID 8 is 20.9 meters away at (-0.2, -20.9). A vehicle with ID 22 is 23.5 meters away at (-6.1, -22.7). A vehicle with ID 6 is 25.1 meters away at (2.3, 25.0).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.00309746  0.00260981] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.00347335 0.00110674] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.84294677  0.75271416] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.90935403 -0.5198353 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [4.4476776 4.964771 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.783842    6.93952  ]\n [-10.9769945  13.6910305]\n [-20.83636     4.3207707]\n [ -9.396333    7.710237 ]\n [-12.3638315  15.403737 ]\n [ -6.813627    9.742212 ]\n [-11.045626   14.055241 ]]", "nav_goal": "(181.38128662109375, 160.6850128173828)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.2461753 -4.836291 ], 7.1352691650390625 meters away.)"}
{"file_name": "images/scenario_33_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 7.0 meters away at (5.2, -4.8). A pedestrian with ID 7 is 9.7 meters away at (4.8, 8.5). A pedestrian with ID 12 is 13.7 meters away at (13.4, -3.0). A vehicle with ID 20 is 14.2 meters away at (10.6, -9.4). A vehicle with ID 14 is 14.8 meters away at (-1.5, 14.7). A vehicle with ID 17 is 18.6 meters away at (1.9, 18.5). A pedestrian with ID 19 is 20.6 meters away at (-19.8, -5.6). A unknown object with ID 8 is 20.9 meters away at (-0.2, -20.9). A vehicle with ID 22 is 23.5 meters away at (-6.1, -22.6). A vehicle with ID 23 is 28.0 meters away at (23.5, -15.2).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.00475437 -0.00265017] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-3.1076052e-05  1.4800098e-03] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.877368  -0.7676393] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.783842    6.93952  ]\n [-10.9769945  13.6910305]\n [-20.83636     4.3207707]\n [ -9.396333    7.710237 ]\n [-12.3638315  15.403737 ]\n [ -6.813627    9.742212 ]\n [-11.045626   14.055241 ]]", "nav_goal": "(181.38128662109375, 160.6850128173828)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.1542673 -4.7665477], 7.020430564880371 meters away.)"}
{"file_name": "images/scenario_34_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.1) m/s. Its current heading (yaw) is -2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 5.6 meters away at (-1.7, -5.3). A vehicle with ID 17 is 16.7 meters away at (14.0, 9.1). A pedestrian with ID 8 is 17.8 meters away at (-1.7, -17.7). A vehicle with ID 20 is 21.3 meters away at (3.4, -21.0). A vehicle with ID 12 is 25.0 meters away at (-3.8, -24.7). A vehicle with ID 25 is 32.1 meters away at (12.4, -29.6). A vehicle with ID 33 is 34.0 meters away at (-19.0, -28.2). A vehicle with ID 28 is 38.0 meters away at (-24.5, -29.0). A vehicle with ID 30 is 41.1 meters away at (33.8, 23.3). A vehicle with ID 35 is 41.4 meters away at (-24.3, -33.6).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-3.7385552 -3.0493915] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.102031   0.22771966] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.7593395  3.967556 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.88593   1.4420332] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-4.0601544  2.67969  ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-5.3544602 -4.0887303] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0.20907602 0.25456583] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.86503   -21.096157 ]\n [-13.2096405 -10.057254 ]\n [-12.839513  -10.905775 ]]", "nav_goal": "(-202.2574462890625, -193.82022094726562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.6919985 -5.315683 ], 5.5784711837768555 meters away.)"}
{"file_name": "images/scenario_34_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.0) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.3 meters away at (-0.5, -4.3). A vehicle with ID 17 is 10.0 meters away at (8.9, 4.7). A vehicle with ID 20 is 10.2 meters away at (4.8, -9.0). A vehicle with ID 15 is 20.9 meters away at (17.7, 11.0). A vehicle with ID 25 is 22.3 meters away at (3.7, -22.0). A vehicle with ID 30 is 30.0 meters away at (24.3, 17.5). A pedestrian with ID 26 is 30.7 meters away at (-9.0, -29.4). A vehicle with ID 33 is 32.4 meters away at (-17.8, -27.1). A vehicle with ID 28 is 36.5 meters away at (-23.3, -28.0). A vehicle with ID 35 is 39.4 meters away at (-22.8, -32.1).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.3239865 -2.0058727] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [2.6121411 6.3955007] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.4782295 -2.8972132] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-5.323586   3.6242018] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-5.641277 -3.08175 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.3053521 -0.6620063] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.86503   -21.096157 ]\n [-10.610844  -13.197312 ]\n [-13.2096405 -10.057254 ]\n [-12.839513  -10.905775 ]\n [ -8.692053  -14.581543 ]]", "nav_goal": "(-202.2574462890625, -193.82022094726562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.5193391 -4.3146377], 4.345780849456787 meters away.)"}
{"file_name": "images/scenario_34_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.3 meters away at (-0.5, -4.3). A vehicle with ID 17 is 7.5 meters away at (6.9, 2.9). A vehicle with ID 15 is 14.5 meters away at (12.7, 6.9). A vehicle with ID 20 is 15.2 meters away at (14.8, 3.8). A vehicle with ID 30 is 18.2 meters away at (13.9, 11.7). A vehicle with ID 19 is 19.4 meters away at (-8.5, -17.5). A vehicle with ID 33 is 32.3 meters away at (-17.7, -27.1). A vehicle with ID 36 is 32.7 meters away at (26.9, 18.6). A pedestrian with ID 26 is 32.9 meters away at (-11.4, -30.8). A vehicle with ID 28 is 36.5 meters away at (-23.3, -28.1).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.9034722 -0.7809465] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [6.986638 6.475232] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-4.565146  -2.9152393] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.5006347  -0.01409393] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-4.710326 -3.562442] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.121941   -0.71011764] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.86503   -21.096157 ]\n [-10.610844  -13.197312 ]\n [-13.2096405 -10.057254 ]\n [-12.839513  -10.905775 ]\n [ -8.692053  -14.581543 ]]", "nav_goal": "(-202.2574462890625, -193.82022094726562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.5088892 -4.30186  ], 4.331854820251465 meters away.)"}
{"file_name": "images/scenario_34_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.3 meters away at (-0.5, -4.3). A vehicle with ID 17 is 7.4 meters away at (6.8, 2.9). A vehicle with ID 30 is 10.0 meters away at (7.3, 6.9). A vehicle with ID 15 is 14.0 meters away at (12.3, 6.7). A vehicle with ID 36 is 23.3 meters away at (19.5, 12.8). A vehicle with ID 19 is 26.8 meters away at (-16.9, -20.8). A vehicle with ID 33 is 32.4 meters away at (-17.7, -27.1). A vehicle with ID 20 is 35.2 meters away at (30.7, 17.2). A pedestrian with ID 26 is 36.0 meters away at (-13.6, -33.3). A vehicle with ID 35 is 39.0 meters away at (-22.5, -31.8).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-2.0231984 -1.6171094] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.2132375 -1.7506835] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.4731348 -2.2186375] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [8.99294  7.020181] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.97651994 -1.1395912 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.119572  -27.645061 ]\n [-17.86503   -21.096157 ]\n [-13.871203  -25.766506 ]\n [-10.610844  -13.197312 ]\n [-13.2096405 -10.057254 ]\n [-12.839513  -10.905775 ]\n [ -8.692053  -14.581543 ]]", "nav_goal": "(-202.2574462890625, -193.82022094726562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.52864075 -4.3054338 ], 4.337766647338867 meters away.)"}
{"file_name": "images/scenario_35_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.2) m/s. Its current heading (yaw) is -0.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 5.9 meters away at (-1.3, 5.8). A vehicle with ID 10 is 6.2 meters away at (3.0, -5.4). A pedestrian with ID 12 is 47.6 meters away at (-45.9, -12.6). A pedestrian with ID 13 is 48.2 meters away at (-46.4, -13.2). A vehicle with ID 6 is 59.8 meters away at (57.6, -16.1).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.1718613 0.270075 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [6.556856  1.3903586] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.9311247   0.69463193] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.8767781  0.6996523] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.1793828  5.8399205] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-1.3347392  5.7541766], 5.906951904296875 meters away.)"}
{"file_name": "images/scenario_35_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -0.5) m/s. Its current heading (yaw) is -0.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 7.1 meters away at (-0.4, 7.1). A vehicle with ID 10 is 14.5 meters away at (14.3, -2.1). A unknown object with ID 3 is 37.6 meters away at (36.9, 7.0). A pedestrian with ID 13 is 51.3 meters away at (-50.1, -11.2).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.1274648  0.17491038] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [6.3025713 1.31595  ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.2645789   0.41497305] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-0.4174068  7.108466 ], 7.120710849761963 meters away.)"}
{"file_name": "images/scenario_35_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.8) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 8.3 meters away at (0.5, 8.3). A vehicle with ID 10 is 24.9 meters away at (24.9, 1.4). A vehicle with ID 11 is 34.9 meters away at (34.6, -5.1). A unknown object with ID 3 is 36.4 meters away at (35.5, 8.1). A vehicle with ID 5 is 55.3 meters away at (54.0, 12.1).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.2365756  0.10763488] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [5.6253395 1.0198337] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.661709 -1.11222 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.27773923 11.711427  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [0.5151272 8.31517  ], 8.331110954284668 meters away.)"}
{"file_name": "images/scenario_35_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -0.7) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 10.2 meters away at (0.9, 10.1). A vehicle with ID 11 is 19.7 meters away at (18.7, -6.1). A vehicle with ID 10 is 33.6 meters away at (33.3, 4.5). A vehicle with ID 4 is 33.7 meters away at (33.4, 4.5). A unknown object with ID 3 is 34.8 meters away at (33.4, 9.5).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.339777   0.20420378] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.6730976 -1.1405013] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [4.9358993 0.6228711] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [4.327226  0.6589317] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 0.9384322 10.119763 ], 10.163182258605957 meters away.)"}
{"file_name": "images/scenario_36_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.1) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 9.8 meters away at (9.6, -2.1). A vehicle with ID 19 is 11.1 meters away at (11.0, 1.1). A vehicle with ID 20 is 12.3 meters away at (10.9, 5.6). A vehicle with ID 21 is 13.7 meters away at (3.7, 13.2). A vehicle with ID 22 is 14.8 meters away at (12.5, 7.9). A vehicle with ID 27 is 21.8 meters away at (17.4, 13.1). A vehicle with ID 36 is 23.0 meters away at (9.9, 20.8). A vehicle with ID 28 is 26.4 meters away at (20.2, 16.9). A vehicle with ID 30 is 27.6 meters away at (12.9, 24.4). A vehicle with ID 10 is 29.5 meters away at (3.4, 29.3).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 9.55752  -2.118633], 9.789525032043457 meters away.)"}
{"file_name": "images/scenario_36_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -3.5) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 13.2 meters away at (12.7, 3.3). A vehicle with ID 19 is 15.6 meters away at (14.1, 6.6). A vehicle with ID 20 is 18.0 meters away at (14.1, 11.2). A vehicle with ID 21 is 20.0 meters away at (6.9, 18.8). A vehicle with ID 22 is 20.7 meters away at (15.7, 13.5). A unknown object with ID 5 is 21.7 meters away at (-0.8, 21.7). A vehicle with ID 27 is 27.8 meters away at (20.5, 18.7). A vehicle with ID 36 is 29.4 meters away at (13.1, 26.3). A vehicle with ID 28 is 32.5 meters away at (23.4, 22.6). A vehicle with ID 30 is 34.0 meters away at (16.1, 30.0).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.736006   3.3441448], 13.167731285095215 meters away.)"}
{"file_name": "images/scenario_36_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -4.0) m/s. Its current heading (yaw) is -1.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 17.9 meters away at (14.1, 11.0). A vehicle with ID 19 is 21.0 meters away at (15.4, 14.3). A vehicle with ID 20 is 24.4 meters away at (15.5, 18.9). A vehicle with ID 22 is 27.3 meters away at (17.1, 21.2). A vehicle with ID 21 is 27.7 meters away at (8.2, 26.4). A unknown object with ID 5 is 29.4 meters away at (0.5, 29.3). A vehicle with ID 27 is 34.4 meters away at (22.0, 26.4). A vehicle with ID 36 is 37.0 meters away at (14.5, 34.0). A vehicle with ID 30 is 41.5 meters away at (17.5, 37.6). A vehicle with ID 11 is 43.2 meters away at (8.0, 42.4).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [14.124779 11.034023], 17.9237003326416 meters away.)"}
{"file_name": "images/scenario_36_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -3.5) m/s. Its current heading (yaw) is -1.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 23.1 meters away at (13.7, 18.6). A vehicle with ID 20 is 30.3 meters away at (15.0, 26.3). A vehicle with ID 21 is 34.9 meters away at (7.7, 34.0). A unknown object with ID 5 is 36.9 meters away at (-0.0, 36.9). A vehicle with ID 36 is 43.9 meters away at (14.0, 41.6). A vehicle with ID 30 is 48.3 meters away at (17.0, 45.2). A vehicle with ID 10 is 50.7 meters away at (7.5, 50.1). A pedestrian with ID 1 is 52.2 meters away at (17.0, -49.3). A vehicle with ID 2 is 53.3 meters away at (27.6, -45.7). A vehicle with ID 3 is 55.6 meters away at (23.0, -50.6).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.53134334 0.44945958] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [13.737024 18.601856], 23.12433433532715 meters away.)"}
{"file_name": "images/scenario_37_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.9) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 9.1 meters away at (6.7, -6.1). A pedestrian with ID 46 is 11.6 meters away at (1.3, -11.5). A pedestrian with ID 7 is 18.8 meters away at (-17.9, 5.7). A vehicle with ID 51 is 22.7 meters away at (17.2, -14.8). A vehicle with ID 55 is 34.7 meters away at (-27.0, 21.8). A unknown object with ID 24 is 37.5 meters away at (-37.4, 3.2). A pedestrian with ID 37 is 38.5 meters away at (-29.6, -24.7). A unknown object with ID 52 is 40.2 meters away at (-39.3, -8.8). A unknown object with ID 33 is 42.7 meters away at (-41.1, -11.5). A unknown object with ID 14 is 43.7 meters away at (-41.5, -13.6).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.3583921  1.1788787] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.2694751 -1.0944893] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.113287   0.6456237] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.8351693  2.3916018] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.1646714  1.9172809] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.289504   -0.24432296] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.712231  -6.0790176], 9.055854797363281 meters away.)"}
{"file_name": "images/scenario_37_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 2.9) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 12.0 meters away at (9.0, -7.9). A pedestrian with ID 7 is 15.5 meters away at (-15.1, 3.2). A pedestrian with ID 46 is 19.3 meters away at (8.2, -17.5). A vehicle with ID 51 is 23.5 meters away at (18.0, -15.1). A unknown object with ID 24 is 32.4 meters away at (-32.3, -0.9). A vehicle with ID 55 is 34.2 meters away at (-26.5, 21.5). A unknown object with ID 52 is 36.6 meters away at (-34.2, -12.9). A unknown object with ID 36 is 38.5 meters away at (-35.5, -14.9). A vehicle with ID 44 is 39.0 meters away at (-27.4, 27.8). A pedestrian with ID 1 is 39.1 meters away at (-26.6, 28.6).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.669769   1.4579343] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.9417125   0.67515725] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.9276592 -0.8963652] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-1.6493502  1.471283 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.4622502  1.9183213] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.1558397   0.32407475] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.019133 -7.902777], 11.991607666015625 meters away.)"}
{"file_name": "images/scenario_37_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 3.2) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 10.0 meters away at (-10.0, -0.9). A vehicle with ID 6 is 17.4 meters away at (13.1, -11.4). A vehicle with ID 51 is 29.0 meters away at (22.2, -18.6). A vehicle with ID 44 is 29.7 meters away at (-20.2, 21.8). A pedestrian with ID 46 is 30.6 meters away at (17.6, -25.0). A pedestrian with ID 1 is 31.4 meters away at (-20.7, 23.6). A unknown object with ID 52 is 33.1 meters away at (-27.1, -18.9). A vehicle with ID 55 is 33.3 meters away at (-26.4, 20.4). A unknown object with ID 36 is 35.3 meters away at (-28.5, -20.9). A vehicle with ID 45 is 36.4 meters away at (-25.8, 25.7).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.8914184  1.0525819] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.1779188  1.0584066] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-1.1482555  1.0368148] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.2377894 -0.715143 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.4628763  0.6288809] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-4.598166  2.991564] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-9.968051  -0.9126215], 10.009740829467773 meters away.)"}
{"file_name": "images/scenario_37_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 3.3) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 7.0 meters away at (-4.4, -5.4). A vehicle with ID 44 is 19.7 meters away at (-12.5, 15.2). A pedestrian with ID 1 is 22.2 meters away at (-14.0, 17.2). A vehicle with ID 6 is 22.9 meters away at (17.3, -15.0). A vehicle with ID 45 is 26.2 meters away at (-18.0, 19.1). A unknown object with ID 52 is 32.2 meters away at (-19.4, -25.6). A vehicle with ID 25 is 34.8 meters away at (-31.4, -15.0). A vehicle with ID 51 is 35.6 meters away at (27.2, -23.0). A pedestrian with ID 49 is 36.4 meters away at (-23.0, 28.2). A vehicle with ID 12 is 37.1 meters away at (-27.7, 24.7).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.0884056  1.1176311] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.33434278 -0.21546325] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.9265766  2.5136147] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.023644   1.8399067] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.889952  -0.8088223] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-1.1362048   0.85616213] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.4106197 -5.449936 ], 7.011088848114014 meters away.)"}
{"file_name": "images/scenario_38_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 1.8) m/s. Its current heading (yaw) is 1.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 70.4 meters away at (41.3, -57.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 41.265797 -56.985977], 70.35813903808594 meters away.)"}
{"file_name": "images/scenario_38_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.3) m/s. Its current heading (yaw) is 0.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 71.4 meters away at (40.1, -59.2).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 40.053944 -59.16458 ], 71.44764709472656 meters away.)"}
{"file_name": "images/scenario_38_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.6) m/s. Its current heading (yaw) is 0.93 ", "actor_description": " The most relevant actors are: A cyclist with ID 1 is 55.0 meters away at (23.2, -49.9). A vehicle with ID 3 is 71.3 meters away at (40.3, -58.9).", "velocity_description": "The cyclist with ID 1 is traveling at a (x, y) velocity of [5.1280785 5.680115 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a cyclist at [ 23.219538 -49.903084], 55.04057312011719 meters away.)"}
{"file_name": "images/scenario_38_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 3.1) m/s. Its current heading (yaw) is 1.30 ", "actor_description": " The most relevant actors are: A cyclist with ID 1 is 45.4 meters away at (22.4, -39.5). A vehicle with ID 3 is 73.7 meters away at (38.3, -62.9).", "velocity_description": "The cyclist with ID 1 is traveling at a (x, y) velocity of [-2.1336482  7.552482 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a cyclist at [ 22.446848 -39.517555], 45.44775390625 meters away.)"}
{"file_name": "images/scenario_39_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.3) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 6.5 meters away at (3.2, 5.7). A vehicle with ID 77 is 7.8 meters away at (-2.2, 7.5). A vehicle with ID 76 is 10.3 meters away at (-10.3, -0.3). A pedestrian with ID 81 is 10.8 meters away at (6.7, 8.4). A pedestrian with ID 82 is 10.9 meters away at (7.8, 7.7). A pedestrian with ID 83 is 11.4 meters away at (6.9, 9.2). A vehicle with ID 86 is 12.9 meters away at (-8.7, 9.6). A vehicle with ID 80 is 16.4 meters away at (-16.3, 1.7). A pedestrian with ID 84 is 19.3 meters away at (-13.5, 13.8). A pedestrian with ID 85 is 20.0 meters away at (-14.4, 13.8).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.3291988  -0.32639313] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.3381193  -0.35329866] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.2981299  -0.37564462] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [ 0.01203367 -0.00662651] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.00489767 -0.00767561] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(241.60972595214844, -171.32876586914062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.181138  5.6778593], 6.508281230926514 meters away.)"}
{"file_name": "images/scenario_39_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 6.4 meters away at (2.7, 5.9). A vehicle with ID 77 is 8.1 meters away at (-2.7, 7.6). A vehicle with ID 76 is 10.9 meters away at (-10.9, -0.1). A pedestrian with ID 81 is 11.5 meters away at (8.6, 7.7). A pedestrian with ID 82 is 12.2 meters away at (9.8, 7.2). A pedestrian with ID 83 is 12.3 meters away at (8.8, 8.5). A vehicle with ID 86 is 13.4 meters away at (-9.2, 9.8). A vehicle with ID 80 is 17.0 meters away at (-16.8, 1.9). A pedestrian with ID 84 is 19.8 meters away at (-14.0, 14.0). A vehicle with ID 79 is 20.0 meters away at (2.1, -19.9).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.2338601  -0.34156436] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.2755377  -0.21174483] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.3006426  -0.35686934] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.0043467   0.01114837] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(241.60972595214844, -171.32876586914062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.6871438 5.852494 ], 6.439908504486084 meters away.)"}
{"file_name": "images/scenario_39_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -1.4) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 7.2 meters away at (-1.1, 7.1). A vehicle with ID 77 is 10.9 meters away at (-6.4, 8.9). A pedestrian with ID 81 is 11.1 meters away at (7.2, 8.4). A pedestrian with ID 83 is 11.9 meters away at (7.5, 9.3). A pedestrian with ID 82 is 11.9 meters away at (8.6, 8.3). A vehicle with ID 76 is 14.6 meters away at (-14.6, 1.2). A vehicle with ID 86 is 17.0 meters away at (-12.9, 11.0). A vehicle with ID 79 is 18.7 meters away at (-1.6, -18.6). A vehicle with ID 6 is 19.5 meters away at (11.4, -15.7). A vehicle with ID 80 is 20.8 meters away at (-20.5, 3.1).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.1301464 -0.1964562] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.1512091  -0.20570453] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.1783413  -0.15802044] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.73067886 0.7468141 ] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(241.60972595214844, -171.32876586914062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.0838876  7.090287 ], 7.17265510559082 meters away.)"}
{"file_name": "images/scenario_39_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.2) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A pedestrian with ID 82 is 11.7 meters away at (0.7, 11.7). A pedestrian with ID 81 is 11.7 meters away at (-0.6, 11.7). A vehicle with ID 6 is 11.8 meters away at (1.7, -11.7). A pedestrian with ID 83 is 12.5 meters away at (-0.5, 12.5). A vehicle with ID 74 is 15.5 meters away at (-11.5, 10.5). A vehicle with ID 78 is 18.6 meters away at (12.4, 13.9). A vehicle with ID 79 is 19.4 meters away at (-12.0, -15.2). A pedestrian with ID 90 is 20.7 meters away at (8.7, 18.8). A vehicle with ID 77 is 20.9 meters away at (-16.9, 12.3). A vehicle with ID 93 is 23.1 meters away at (-4.9, -22.6).", "velocity_description": "The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 1.371566  -0.0906864] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.3263664  -0.11294679] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.35343477 0.21920133] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.3193773  -0.11054444] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.8427971 0.7415996] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(241.60972595214844, -171.32876586914062)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 0.71354866 11.66823   ], 11.690028190612793 meters away.)"}
{"file_name": "images/scenario_40_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -2.4) m/s. Its current heading (yaw) is -1.53 ", "actor_description": " The most relevant actors are: A pedestrian with ID 59 is 5.8 meters away at (-5.7, 1.1). A pedestrian with ID 61 is 7.0 meters away at (6.4, -2.7). A vehicle with ID 22 is 7.0 meters away at (-3.1, -6.3). A pedestrian with ID 68 is 7.1 meters away at (6.2, -3.5). A vehicle with ID 20 is 12.2 meters away at (-4.9, -11.2). A pedestrian with ID 16 is 12.9 meters away at (2.1, -12.8). A vehicle with ID 21 is 17.8 meters away at (-6.8, -16.5). A pedestrian with ID 66 is 26.5 meters away at (-11.3, -24.0). A pedestrian with ID 65 is 26.6 meters away at (-12.0, -23.7). A vehicle with ID 56 is 33.9 meters away at (0.8, -33.9).", "velocity_description": "The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.50399864 1.0146434 ] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.31753716 1.1742163 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.34177658 1.1882746 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.40852198 -1.1431571 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.45604753 1.2285054 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.47014248 1.1626961 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[20.554878 26.68356 ]\n [18.226341 24.267118]]", "nav_goal": "(-112.06170654296875, 69.20319366455078)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-5.677527   1.0830407], 5.779903888702393 meters away.)"}
{"file_name": "images/scenario_40_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.9) m/s. Its current heading (yaw) is -1.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 3.3 meters away at (-3.1, -1.3). A vehicle with ID 20 is 7.8 meters away at (-4.8, -6.1). A pedestrian with ID 68 is 7.8 meters away at (6.8, 3.8). A pedestrian with ID 61 is 8.5 meters away at (7.2, 4.5). A pedestrian with ID 59 is 9.5 meters away at (-4.9, 8.1). A pedestrian with ID 16 is 10.2 meters away at (1.5, -10.1). A vehicle with ID 21 is 13.2 meters away at (-6.6, -11.4). A pedestrian with ID 66 is 19.8 meters away at (-10.5, -16.8). A pedestrian with ID 65 is 20.1 meters away at (-11.2, -16.6). A vehicle with ID 32 is 21.7 meters away at (2.4, -21.6).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.3988503 1.0505947] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.37733403 1.1156034 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.4055896 1.0418419] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.31989595 -1.1586225 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.4168319 1.0532243] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.43227336 1.0419698 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-112.06170654296875, 69.20319366455078)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.0749965 -1.2718029], 3.327624559402466 meters away.)"}
{"file_name": "images/scenario_40_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -3.9) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 3.2 meters away at (-3.2, 0.3). A vehicle with ID 22 is 5.3 meters away at (-1.5, 5.1). A pedestrian with ID 16 is 6.3 meters away at (2.2, -5.9). A vehicle with ID 21 is 6.9 meters away at (-5.0, -4.7). A pedestrian with ID 66 is 11.4 meters away at (-8.0, -8.1). A pedestrian with ID 65 is 11.9 meters away at (-8.9, -7.9). A pedestrian with ID 35 is 15.2 meters away at (-12.3, -8.9). A pedestrian with ID 68 is 15.7 meters away at (9.3, 12.6). A pedestrian with ID 61 is 16.4 meters away at (9.5, 13.4). A pedestrian with ID 49 is 17.5 meters away at (-3.1, 17.2).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.4343973 -1.2636086] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.3571776  0.93773705] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.3719243 0.934172 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.7073443 1.0718495] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.343153  1.0885814] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.35066736 1.1171728 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.3618697 1.0134134] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-112.06170654296875, 69.20319366455078)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.1750093  0.3478136], 3.1940035820007324 meters away.)"}
{"file_name": "images/scenario_40_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -5.1) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 4.4 meters away at (-2.0, 3.9). A pedestrian with ID 16 is 4.5 meters away at (4.4, 0.6). A pedestrian with ID 66 is 5.2 meters away at (-4.4, 2.7). A pedestrian with ID 65 is 6.0 meters away at (-5.2, 3.0). A pedestrian with ID 35 is 8.7 meters away at (-8.4, 2.4). A vehicle with ID 20 is 9.1 meters away at (-0.2, 9.1). A unknown object with ID 34 is 9.2 meters away at (-8.8, -2.7). A vehicle with ID 12 is 9.8 meters away at (7.5, -6.4). A unknown object with ID 40 is 9.9 meters away at (-9.2, -3.7). A unknown object with ID 47 is 10.4 meters away at (-9.3, -4.6).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.46944875 -1.2276803 ] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.21133208 0.8995968 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.19860788 0.79764223] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.25677747 1.0205587 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-112.06170654296875, 69.20319366455078)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.0120392  3.8717499], 4.363341808319092 meters away.)"}
{"file_name": "images/scenario_41_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.7) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 4.5 meters away at (-4.2, 1.6). A unknown object with ID 7 is 35.2 meters away at (12.7, 32.9).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.2156796  1.6071975], 4.511655807495117 meters away.)"}
{"file_name": "images/scenario_41_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.7) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 4.5 meters away at (-4.0, 2.1). A unknown object with ID 7 is 35.7 meters away at (13.0, 33.3).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-3.9600797  2.0500617], 4.459258079528809 meters away.)"}
{"file_name": "images/scenario_41_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -2.2) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_41_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 1.1) m/s. Its current heading (yaw) is 2.93 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 9.9 meters away at (6.8, 7.2). A pedestrian with ID 5 is 45.2 meters away at (38.5, -23.6). A pedestrian with ID 8 is 47.8 meters away at (40.9, -24.9).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.07360735 -0.8294318 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.16607204 -0.93043387] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [6.814789 7.153344], 9.879861831665039 meters away.)"}
{"file_name": "images/scenario_42_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 1.3) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 6.9 meters away at (-4.4, -5.3). A vehicle with ID 21 is 8.1 meters away at (1.7, 7.9). A unknown object with ID 22 is 8.8 meters away at (6.7, -5.7). A unknown object with ID 25 is 13.4 meters away at (3.1, -13.1). A pedestrian with ID 24 is 13.8 meters away at (-0.4, 13.8). A pedestrian with ID 26 is 16.0 meters away at (8.2, 13.8). A unknown object with ID 23 is 17.4 meters away at (-11.1, -13.4). A unknown object with ID 30 is 22.5 meters away at (-3.9, -22.1). A unknown object with ID 28 is 27.2 meters away at (-17.3, -21.0). A vehicle with ID 36 is 28.5 meters away at (-16.4, -23.3).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.2205687  -0.09451967] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-2.0727077   0.16614594] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.875309  11.835342 ]\n [34.87061   20.851782 ]\n [ 8.3162565 10.98603  ]\n [31.870043  22.241695 ]\n [18.273512  17.806614 ]\n [19.219118  16.78544  ]]", "nav_goal": "(-3.278989791870117, 168.98013305664062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-4.4345922 -5.2990746], 6.9098334312438965 meters away.)"}
{"file_name": "images/scenario_42_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 1.5) m/s. Its current heading (yaw) is 0.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 5.5 meters away at (-2.2, 5.1). A unknown object with ID 22 is 9.1 meters away at (2.8, -8.7). A pedestrian with ID 26 is 10.9 meters away at (0.7, 10.9). A pedestrian with ID 24 is 11.3 meters away at (-5.9, 9.7). A unknown object with ID 19 is 11.8 meters away at (-8.4, -8.2). A unknown object with ID 25 is 16.1 meters away at (-0.9, -16.1). A unknown object with ID 23 is 22.3 meters away at (-15.2, -16.3). A unknown object with ID 30 is 26.3 meters away at (-8.0, -25.1). A unknown object with ID 32 is 26.3 meters away at (25.5, 6.5). A unknown object with ID 6 is 27.5 meters away at (26.6, 6.9).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.4873554  -0.26104704] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.47980377 -0.72639114] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.875309  11.835342 ]\n [34.87061   20.851782 ]\n [ 8.3162565 10.98603  ]\n [31.870043  22.241695 ]\n [18.273512  17.806614 ]\n [19.219118  16.78544  ]]", "nav_goal": "(-3.278989791870117, 168.98013305664062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.1934505  5.0919085], 5.544254302978516 meters away.)"}
{"file_name": "images/scenario_42_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.7) m/s. Its current heading (yaw) is 0.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 5.1 meters away at (-4.4, 2.5). A pedestrian with ID 26 is 9.3 meters away at (-4.3, 8.2). A pedestrian with ID 24 is 10.7 meters away at (-8.4, 6.7). A unknown object with ID 22 is 11.2 meters away at (0.6, -11.2). A unknown object with ID 19 is 15.1 meters away at (-10.6, -10.8). A unknown object with ID 25 is 18.9 meters away at (-3.1, -18.7). A vehicle with ID 40 is 19.3 meters away at (-14.7, -12.5). A unknown object with ID 23 is 25.7 meters away at (-17.4, -18.9). A unknown object with ID 30 is 29.5 meters away at (-10.2, -27.6). A pedestrian with ID 37 is 31.1 meters away at (31.0, 2.1).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.2430266   0.17729387] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01255764  0.01340108] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [3.5869334 4.1787267] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.5770224  -0.68866163] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.875309  11.835342 ]\n [11.621141  26.352585 ]\n [34.87061   20.851782 ]\n [ 8.3162565 10.98603  ]\n [11.890033  26.348745 ]\n [31.870043  22.241695 ]\n [12.056822  26.900005 ]\n [11.621141  26.352585 ]\n [18.273512  17.806614 ]\n [19.219118  16.78544  ]]", "nav_goal": "(-3.278989791870117, 168.98013305664062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.3944063  2.530717 ], 5.071028709411621 meters away.)"}
{"file_name": "images/scenario_42_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 5.1 meters away at (-4.7, 2.0). A pedestrian with ID 26 is 10.5 meters away at (-7.2, 7.7). A pedestrian with ID 24 is 10.7 meters away at (-8.7, 6.2). A unknown object with ID 22 is 11.7 meters away at (0.3, -11.7). A vehicle with ID 40 is 12.2 meters away at (-9.2, -8.1). A unknown object with ID 19 is 15.7 meters away at (-10.9, -11.3). A unknown object with ID 25 is 19.4 meters away at (-3.4, -19.1). A unknown object with ID 4 is 20.4 meters away at (0.7, 20.4). A vehicle with ID 20 is 22.9 meters away at (-8.9, 21.2). A unknown object with ID 23 is 26.2 meters away at (-17.6, -19.4).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.2564257  -0.32925525] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.00893729 -0.0051895 ] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [1.8239585 0.9970611] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.42051   -0.6193915] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.875309  11.835342 ]\n [11.621141  26.352585 ]\n [34.87061   20.851782 ]\n [ 8.3162565 10.98603  ]\n [11.890033  26.348745 ]\n [31.870043  22.241695 ]\n [12.056822  26.900005 ]\n [11.621141  26.352585 ]\n [18.273512  17.806614 ]\n [19.219118  16.78544  ]]", "nav_goal": "(-3.278989791870117, 168.98013305664062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.7332363  2.0233326], 5.1475629806518555 meters away.)"}
{"file_name": "images/scenario_43_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -1.8) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 16.6 meters away at (12.5, 10.9). A pedestrian with ID 12 is 19.7 meters away at (-10.7, 16.5). A vehicle with ID 14 is 38.5 meters away at (26.1, 28.3). A vehicle with ID 17 is 68.3 meters away at (39.8, 55.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.0042799 -4.5768266] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.03547125 0.02529054] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.520675 10.85442 ], 16.570629119873047 meters away.)"}
{"file_name": "images/scenario_43_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -3.2) m/s. Its current heading (yaw) is -2.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 14.5 meters away at (12.7, 7.0). A pedestrian with ID 12 is 22.6 meters away at (-4.9, 22.1). A vehicle with ID 14 is 46.6 meters away at (31.9, 34.0). A unknown object with ID 10 is 66.5 meters away at (57.6, -33.2). A vehicle with ID 17 is 76.3 meters away at (45.6, 61.2).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [-2.0915992 -5.141572 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00980647 -0.00960132] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.709872   6.9570427], 14.489350318908691 meters away.)"}
{"file_name": "images/scenario_43_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -1.1) m/s. Its current heading (yaw) is -2.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 23.6 meters away at (23.6, 0.8). A pedestrian with ID 12 is 27.6 meters away at (6.3, 26.9). A vehicle with ID 14 is 58.0 meters away at (43.2, 38.7). A unknown object with ID 10 is 74.6 meters away at (68.9, -28.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [ 1.9004523 -5.5209866] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.00493139 -0.01154662] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [23.581154   0.8405323], 23.596128463745117 meters away.)"}
{"file_name": "images/scenario_43_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 1.3) m/s. Its current heading (yaw) is 2.94 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 32.7 meters away at (19.9, 26.0). A vehicle with ID 13 is 45.8 meters away at (44.8, -9.6). A unknown object with ID 4 is 46.8 meters away at (46.8, -1.7). A vehicle with ID 14 is 68.2 meters away at (56.7, 37.8).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.10055824 -0.15386441] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 5.763182  -4.4294586] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [19.88887  25.958218], 32.70162582397461 meters away.)"}
{"file_name": "images/scenario_44_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.2) m/s. Its current heading (yaw) is -2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 9.3 meters away at (8.6, -3.5). A vehicle with ID 14 is 16.3 meters away at (2.2, -16.1). A cyclist with ID 11 is 17.6 meters away at (-5.9, -16.6). A vehicle with ID 18 is 18.8 meters away at (3.7, 18.4). A vehicle with ID 15 is 18.8 meters away at (1.4, 18.8). A vehicle with ID 21 is 19.6 meters away at (6.0, 18.7). A vehicle with ID 24 is 20.3 meters away at (8.5, 18.4). A vehicle with ID 32 is 22.5 meters away at (13.4, 18.1). A vehicle with ID 40 is 23.5 meters away at (23.4, -2.3). A vehicle with ID 23 is 25.9 meters away at (-6.4, -25.1).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-2.5190551  6.6612535] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.303079605102539, 247.2884979248047)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 8.616279  -3.5475106], 9.317997932434082 meters away.)"}
{"file_name": "images/scenario_44_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.86 ", "actor_description": " The most relevant actors are: A cyclist with ID 11 is 8.4 meters away at (-7.4, -4.0). A vehicle with ID 17 is 9.5 meters away at (8.9, -3.5). A vehicle with ID 14 is 16.2 meters away at (2.5, -16.0). A vehicle with ID 18 is 18.8 meters away at (4.0, 18.4). A vehicle with ID 15 is 19.0 meters away at (1.7, 18.9). A vehicle with ID 21 is 19.7 meters away at (6.3, 18.7). A vehicle with ID 24 is 20.5 meters away at (8.8, 18.5). A vehicle with ID 32 is 22.6 meters away at (13.6, 18.1). A vehicle with ID 40 is 23.8 meters away at (23.7, -2.2). A vehicle with ID 23 is 25.8 meters away at (-6.1, -25.0).", "velocity_description": "The cyclist with ID 11 is traveling at a (x, y) velocity of [0.43797374 6.2058063 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.303079605102539, 247.2884979248047)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-7.41059   -4.0279245], 8.434514045715332 meters away.)"}
{"file_name": "images/scenario_44_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.0) m/s. Its current heading (yaw) is -2.86 ", "actor_description": " The most relevant actors are: A cyclist with ID 11 is 5.2 meters away at (0.4, 5.2). A vehicle with ID 17 is 9.7 meters away at (9.0, -3.4). A vehicle with ID 14 is 16.2 meters away at (2.6, -16.0). A vehicle with ID 15 is 18.9 meters away at (1.9, 18.8). A vehicle with ID 18 is 18.9 meters away at (4.2, 18.5). A vehicle with ID 21 is 19.8 meters away at (6.4, 18.7). A vehicle with ID 24 is 20.5 meters away at (8.9, 18.5). A vehicle with ID 32 is 22.8 meters away at (13.8, 18.1). A vehicle with ID 40 is 23.9 meters away at (23.8, -2.2). A vehicle with ID 23 is 25.7 meters away at (-5.9, -25.0).", "velocity_description": "The cyclist with ID 11 is traveling at a (x, y) velocity of [6.5493646 2.5453033] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.303079605102539, 247.2884979248047)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [0.43016553 5.1979895 ], 5.215758323669434 meters away.)"}
{"file_name": "images/scenario_44_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -0.2) m/s. Its current heading (yaw) is -2.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 11.0 meters away at (10.6, -3.0). A vehicle with ID 14 is 16.2 meters away at (4.2, -15.6). A vehicle with ID 15 is 19.5 meters away at (3.3, 19.3). A vehicle with ID 18 is 19.6 meters away at (5.6, 18.8). A cyclist with ID 11 is 19.8 meters away at (18.4, 7.2). A vehicle with ID 21 is 20.7 meters away at (7.9, 19.2). A vehicle with ID 24 is 21.5 meters away at (10.4, 18.9). A vehicle with ID 32 is 24.0 meters away at (15.3, 18.5). A vehicle with ID 23 is 25.0 meters away at (-4.3, -24.6). A vehicle with ID 40 is 25.5 meters away at (25.4, -1.6).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [ 8.787199   -0.03051391] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.303079605102539, 247.2884979248047)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [10.590403  -3.0242288], 11.013745307922363 meters away.)"}
{"file_name": "images/scenario_45_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, -7.2) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 23.6 meters away at (-16.5, -16.9). A vehicle with ID 9 is 54.1 meters away at (44.3, 31.1). A vehicle with ID 10 is 54.7 meters away at (44.7, 31.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [9.579473 7.345195] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [7.1223   6.012671] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [7.728977 6.527212] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-238.51382446289062, -184.5076141357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-16.528965 -16.872787], 23.619857788085938 meters away.)"}
{"file_name": "images/scenario_45_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, -7.1) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 23.1 meters away at (20.1, 11.3).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [8.781284  6.7224545] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-238.51382446289062, -184.5076141357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [20.06702  11.348064], 23.053499221801758 meters away.)"}
{"file_name": "images/scenario_45_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, -7.3) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 31.0 meters away at (29.2, 10.4). A vehicle with ID 2 is 33.2 meters away at (-24.4, -22.6). A vehicle with ID 6 is 63.5 meters away at (-48.8, -40.7). A vehicle with ID 13 is 67.3 meters away at (55.3, 38.4).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [10.682373  7.901459] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [10.594772   7.8636227] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [7.8074613 5.8903503] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-238.51382446289062, -184.5076141357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [29.195786 10.376461], 30.984912872314453 meters away.)"}
{"file_name": "images/scenario_45_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.7, -7.5) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 13.5 meters away at (-8.6, -10.5). A vehicle with ID 2 is 17.3 meters away at (15.4, 7.8).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [10.228092   7.6675944] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [10.00198    7.9105315] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-238.51382446289062, -184.5076141357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -8.551918 -10.458427], 13.509774208068848 meters away.)"}
{"file_name": "images/scenario_46_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.3) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 6.1 meters away at (1.0, 6.1). A vehicle with ID 64 is 9.0 meters away at (-4.6, 7.7). A vehicle with ID 11 is 10.0 meters away at (-9.5, 3.2). A vehicle with ID 74 is 11.3 meters away at (11.3, -0.1). A vehicle with ID 70 is 15.3 meters away at (-15.2, 1.8). A vehicle with ID 73 is 18.0 meters away at (14.9, 10.2). A vehicle with ID 77 is 18.9 meters away at (-15.2, 11.2). A vehicle with ID 67 is 19.4 meters away at (-4.3, -18.9). A vehicle with ID 66 is 19.6 meters away at (-8.3, -17.7). A vehicle with ID 71 is 20.9 meters away at (2.2, -20.8).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 2.402268  -0.8239308] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-5.9443016  1.7594606] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.21895888 -0.5926515 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.41915893554688, -69.65544891357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.0130882 6.057349 ], 6.141484260559082 meters away.)"}
{"file_name": "images/scenario_46_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 5.6 meters away at (-3.5, 4.4). A vehicle with ID 63 is 6.2 meters away at (0.6, 6.2). A vehicle with ID 11 is 7.4 meters away at (-7.0, 2.3). A vehicle with ID 64 is 9.3 meters away at (-5.0, 7.8). A vehicle with ID 73 is 15.5 meters away at (13.3, 7.8). A vehicle with ID 70 is 15.6 meters away at (-15.5, 1.9). A vehicle with ID 77 is 19.2 meters away at (-15.5, 11.3). A vehicle with ID 67 is 19.6 meters away at (-4.7, -19.0). A vehicle with ID 66 is 19.6 meters away at (-8.6, -17.6). A vehicle with ID 71 is 20.8 meters away at (1.8, -20.8).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [-8.486428   2.5622494] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.6725446 -2.464419 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.41915893554688, -69.65544891357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.4521592  4.4157453], 5.605016708374023 meters away.)"}
{"file_name": "images/scenario_46_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -0.5) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 6.5 meters away at (-0.4, 6.5). A vehicle with ID 73 is 7.4 meters away at (6.3, 3.9). A vehicle with ID 11 is 8.2 meters away at (-7.8, 2.6). A vehicle with ID 64 is 10.2 meters away at (-6.0, 8.2). A vehicle with ID 70 is 16.8 meters away at (-16.6, 2.3). A vehicle with ID 67 is 19.4 meters away at (-5.7, -18.6). A vehicle with ID 66 is 19.9 meters away at (-9.8, -17.3). A vehicle with ID 77 is 20.3 meters away at (-16.6, 11.7). A vehicle with ID 71 is 20.5 meters away at (0.7, -20.5). A vehicle with ID 50 is 21.5 meters away at (12.7, 17.3).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-4.032384  -1.1389462] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.41915893554688, -69.65544891357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.39333773  6.4909315 ], 6.502838134765625 meters away.)"}
{"file_name": "images/scenario_46_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -1.3) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 9.8 meters away at (-5.5, 8.1). A vehicle with ID 73 is 10.0 meters away at (-7.9, 6.2). A vehicle with ID 11 is 12.3 meters away at (-11.7, 3.8). A vehicle with ID 64 is 14.9 meters away at (-11.2, 9.8). A vehicle with ID 71 is 19.4 meters away at (-4.4, -18.9). A vehicle with ID 50 is 20.4 meters away at (7.6, 19.0). A vehicle with ID 66 is 21.7 meters away at (-14.9, -15.7). A vehicle with ID 70 is 22.1 meters away at (-21.8, 4.0). A vehicle with ID 59 is 23.0 meters away at (20.9, -9.5). A vehicle with ID 76 is 24.8 meters away at (-6.0, -24.0).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-5.678132   1.3086305] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.3498375 -0.5430117] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.41915893554688, -69.65544891357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.4506087  8.112878 ], 9.773838996887207 meters away.)"}
{"file_name": "images/scenario_47_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.4) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 5.6 meters away at (5.3, -2.0). A vehicle with ID 26 is 6.1 meters away at (5.0, 3.4). A pedestrian with ID 18 is 6.4 meters away at (0.7, 6.4). A pedestrian with ID 19 is 6.8 meters away at (0.1, 6.8). A vehicle with ID 22 is 7.2 meters away at (2.5, -6.8). A vehicle with ID 24 is 8.2 meters away at (-4.2, -7.0). A vehicle with ID 25 is 11.2 meters away at (-0.2, -11.2). A vehicle with ID 27 is 13.7 meters away at (13.7, 0.3). A vehicle with ID 16 is 15.9 meters away at (-8.5, -13.4). A vehicle with ID 31 is 15.9 meters away at (-3.0, -15.6).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [4.3968434 7.445402 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.77701795 -1.2190868 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7657539 -1.23177  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.2783594 -2.0118022], 5.648754596710205 meters away.)"}
{"file_name": "images/scenario_47_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 4.7 meters away at (-0.3, 4.7). A pedestrian with ID 19 is 5.2 meters away at (-0.9, 5.2). A vehicle with ID 21 is 5.9 meters away at (5.7, -1.3). A vehicle with ID 22 is 6.8 meters away at (2.9, -6.2). A vehicle with ID 24 is 7.4 meters away at (-3.8, -6.3). A vehicle with ID 25 is 10.5 meters away at (0.2, -10.5). A vehicle with ID 27 is 14.1 meters away at (14.1, 1.1). A vehicle with ID 31 is 15.2 meters away at (-2.5, -15.0). A vehicle with ID 23 is 15.8 meters away at (-8.5, -13.3). A pedestrian with ID 34 is 22.7 meters away at (-14.2, -17.7).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6948865 -1.0746202] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.6968596 -1.1258291] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0942718  1.052989 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-0.26764798  4.695439  ], 4.703061103820801 meters away.)"}
{"file_name": "images/scenario_47_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 2.9 meters away at (-1.7, 2.4). A pedestrian with ID 19 is 3.7 meters away at (-2.3, 2.9). A vehicle with ID 21 is 5.9 meters away at (5.8, -1.3). A vehicle with ID 22 is 6.8 meters away at (2.9, -6.1). A vehicle with ID 24 is 7.6 meters away at (-3.9, -6.5). A vehicle with ID 25 is 10.4 meters away at (0.3, -10.4). A vehicle with ID 27 is 14.2 meters away at (14.1, 1.1). A vehicle with ID 31 is 15.1 meters away at (-2.5, -14.9). A vehicle with ID 23 is 16.0 meters away at (-8.6, -13.5). A pedestrian with ID 10 is 23.3 meters away at (-10.6, -20.8).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7055373 -1.1706474] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.75420845 -1.202173  ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.19785656 -0.30114037] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.2631514  1.0343337] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-1.6691213  2.3976085], 2.9213852882385254 meters away.)"}
{"file_name": "images/scenario_47_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 3.1 meters away at (-3.1, 0.1). A pedestrian with ID 19 is 3.7 meters away at (-3.6, 0.6). A vehicle with ID 21 is 5.9 meters away at (5.8, -1.3). A vehicle with ID 22 is 6.8 meters away at (2.9, -6.1). A vehicle with ID 24 is 8.4 meters away at (-4.4, -7.2). A vehicle with ID 25 is 10.4 meters away at (0.3, -10.4). A vehicle with ID 27 is 14.2 meters away at (14.1, 1.2). A vehicle with ID 31 is 15.1 meters away at (-2.5, -14.9). A vehicle with ID 23 is 17.1 meters away at (-9.2, -14.4). A pedestrian with ID 10 is 22.8 meters away at (-13.3, -18.5).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7421086 -1.1731081] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.71614504 -1.1557783 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.28795606 -0.4699163 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.2542667  -0.39769974] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0940163  1.0713338] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-3.0902452   0.08663988], 3.0914595127105713 meters away.)"}
{"file_name": "images/scenario_48_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 13.3 meters away at (10.8, -7.7). A unknown object with ID 15 is 26.3 meters away at (23.0, 12.6). A unknown object with ID 17 is 28.4 meters away at (24.3, 14.6). A vehicle with ID 10 is 29.5 meters away at (12.0, -27.0). A unknown object with ID 18 is 30.1 meters away at (25.2, 16.5). A unknown object with ID 13 is 32.0 meters away at (26.7, 17.6). A unknown object with ID 19 is 44.1 meters away at (18.1, 40.2). A unknown object with ID 3 is 44.4 meters away at (17.4, 40.9). A unknown object with ID 20 is 45.0 meters away at (18.7, 41.0). A unknown object with ID 6 is 51.7 meters away at (-43.9, 27.4).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.413675 -5.630106] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 3.1059024 -5.9557924] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.3987465 -14.118336 ]\n [-12.231092  -13.932885 ]]", "nav_goal": "(-194.36614990234375, 171.9893798828125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [10.824048  -7.6749783], 13.268959999084473 meters away.)"}
{"file_name": "images/scenario_48_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 20.5 meters away at (9.4, -18.2). A unknown object with ID 15 is 26.5 meters away at (23.2, 12.9). A unknown object with ID 17 is 28.7 meters away at (24.6, 14.9). A unknown object with ID 18 is 30.4 meters away at (25.4, 16.6). A vehicle with ID 4 is 39.0 meters away at (-2.3, -38.9). A unknown object with ID 19 is 44.5 meters away at (18.4, 40.5). A unknown object with ID 3 is 44.7 meters away at (17.7, 41.0). A vehicle with ID 10 is 44.9 meters away at (22.9, -38.6). A unknown object with ID 20 is 45.4 meters away at (18.9, 41.3).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [ 0.1739714 -5.6226764] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-13.897984  12.586787] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 6.461314  -5.9284077] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.3987465 -14.118336 ]\n [-12.231092  -13.932885 ]]", "nav_goal": "(-194.36614990234375, 171.9893798828125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  9.424462 -18.172358], 20.470834732055664 meters away.)"}
{"file_name": "images/scenario_48_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 26.6 meters away at (23.2, 12.9). A unknown object with ID 17 is 28.8 meters away at (24.6, 14.9). A unknown object with ID 18 is 30.4 meters away at (25.4, 16.7). A vehicle with ID 9 is 32.6 meters away at (14.4, -29.2). A vehicle with ID 4 is 32.9 meters away at (-29.8, -13.9). A unknown object with ID 19 is 44.5 meters away at (18.4, 40.5). A unknown object with ID 3 is 44.8 meters away at (17.7, 41.1). A unknown object with ID 20 is 45.5 meters away at (18.8, 41.4). A vehicle with ID 7 is 48.5 meters away at (11.5, -47.1).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 4.9309454 -5.6476064] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-13.408012  12.170983] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-6.843122   6.6191416] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.3987465 -14.118336 ]\n [-12.231092  -13.932885 ]]", "nav_goal": "(-194.36614990234375, 171.9893798828125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [23.248343 12.917858], 26.596174240112305 meters away.)"}
{"file_name": "images/scenario_48_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 26.6 meters away at (23.3, 12.9). A unknown object with ID 17 is 28.8 meters away at (24.6, 14.9). A unknown object with ID 18 is 30.4 meters away at (25.5, 16.7). A vehicle with ID 7 is 37.0 meters away at (0.7, -37.0). A unknown object with ID 19 is 44.5 meters away at (18.4, 40.5). A unknown object with ID 3 is 44.8 meters away at (17.7, 41.1). A unknown object with ID 20 is 45.4 meters away at (18.8, 41.3). A vehicle with ID 9 is 49.6 meters away at (26.9, -41.7). A vehicle with ID 4 is 56.7 meters away at (-55.9, 9.6).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-3.1706815  3.0015845] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.129439  -6.8730693] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-12.575674  11.446956] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.3987465 -14.118336 ]\n [-17.216469  -30.852892 ]\n [-19.109156  -33.409508 ]\n [-15.104062  -28.202763 ]\n [-12.231092  -13.932885 ]]", "nav_goal": "(-194.36614990234375, 171.9893798828125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [23.25681  12.916125], 26.602733612060547 meters away.)"}
{"file_name": "images/scenario_49_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.7) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 10.3 meters away at (3.2, -9.7). A vehicle with ID 28 is 10.4 meters away at (3.2, -9.9). A vehicle with ID 29 is 13.3 meters away at (5.6, -12.1). A pedestrian with ID 27 is 17.5 meters away at (-10.2, -14.2). A pedestrian with ID 33 is 22.0 meters away at (19.1, -10.9). A pedestrian with ID 34 is 22.6 meters away at (20.0, -10.6). A vehicle with ID 47 is 23.8 meters away at (15.7, 17.9). A vehicle with ID 31 is 32.0 meters away at (3.6, -31.8). A vehicle with ID 32 is 43.4 meters away at (24.2, -36.0). A unknown object with ID 36 is 48.9 meters away at (-42.9, -23.5).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00828949  0.01436598] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.02136119  0.02655682] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.04399534  0.01722618] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-2.5624003 -5.4627104] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [6.8226604 1.2059102] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 8.437661 -2.982263] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.5260372  -9.176566 ]\n [  2.6291025  -9.508584 ]\n [  5.7205825 -11.629679 ]\n [  2.4089513  -9.397452 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.1927457 -9.748434 ], 10.257952690124512 meters away.)"}
{"file_name": "images/scenario_49_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 6.9) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 7.4 meters away at (6.0, -4.4). A vehicle with ID 9 is 23.4 meters away at (-2.5, -23.2). A vehicle with ID 28 is 23.4 meters away at (-2.5, -23.3). A vehicle with ID 29 is 25.8 meters away at (-0.3, -25.8). A pedestrian with ID 34 is 27.9 meters away at (14.3, -23.9). A pedestrian with ID 27 is 32.0 meters away at (-15.9, -27.8). A pedestrian with ID 12 is 33.7 meters away at (0.6, -33.7). A pedestrian with ID 13 is 43.0 meters away at (33.1, 27.4). A vehicle with ID 15 is 48.4 meters away at (12.0, -46.9). A vehicle with ID 37 is 66.7 meters away at (-40.6, -52.9).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [-1.6099232 -3.4849231] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.03304395  0.02199714] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.01448577 -0.00017737] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00727119  0.00273181] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00884926  0.01080057] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 7.6920137 -2.066933 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.5260372  -9.176566 ]\n [  2.6291025  -9.508584 ]\n [  5.7205825 -11.629679 ]\n [  2.4089513  -9.397452 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.0005198 -4.3779297], 7.427819728851318 meters away.)"}
{"file_name": "images/scenario_49_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 6.6) m/s. Its current heading (yaw) is 1.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 23.6 meters away at (-2.4, -23.5). A unknown object with ID 20 is 29.2 meters away at (-16.8, -23.9). A pedestrian with ID 22 is 29.7 meters away at (-17.0, -24.4). A pedestrian with ID 13 is 30.6 meters away at (27.3, 13.8). A vehicle with ID 9 is 37.7 meters away at (-8.5, -36.8). A vehicle with ID 28 is 37.8 meters away at (-8.4, -36.8). A pedestrian with ID 34 is 38.2 meters away at (8.5, -37.3). A vehicle with ID 6 is 41.5 meters away at (26.2, 32.2). A pedestrian with ID 27 is 46.7 meters away at (-21.8, -41.3). A unknown object with ID 26 is 77.9 meters away at (22.2, 74.7).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [-0.80819505 -1.7843765 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.01468328 -0.01283361] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00044534 0.01014189] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.0353903  -0.01205569] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.2516901 -5.190365 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.01421977  0.00603056] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.5260372 -9.176566 ]\n [ 2.6291025 -9.508584 ]\n [ 2.4089513 -9.397452 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ -2.3946896 -23.516985 ], 23.638593673706055 meters away.)"}
{"file_name": "images/scenario_49_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.6) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 17.8 meters away at (16.1, 7.7). A unknown object with ID 19 is 26.9 meters away at (25.5, 8.6). A vehicle with ID 47 is 39.5 meters away at (-9.0, -38.4). A unknown object with ID 20 is 43.2 meters away at (-22.4, -37.0). A pedestrian with ID 34 is 50.4 meters away at (2.9, -50.3). A pedestrian with ID 14 is 50.8 meters away at (1.9, -50.8). A vehicle with ID 9 is 51.7 meters away at (-14.1, -49.8). A vehicle with ID 28 is 51.8 meters away at (-14.1, -49.8). A pedestrian with ID 27 is 60.9 meters away at (-27.4, -54.4).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.116257 -6.249306] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00488174 -0.01737783] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.02838697  0.01541612] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00595434 -0.00964336] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.5260372 -9.176566 ]\n [ 2.6291025 -9.508584 ]\n [ 2.4089513 -9.397452 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [16.087551   7.7160454], 17.84227180480957 meters away.)"}
{"file_name": "images/scenario_50_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -4.8) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 43.3 meters away at (-28.3, -32.8). A pedestrian with ID 23 is 49.1 meters away at (-35.4, -34.0). A pedestrian with ID 22 is 49.4 meters away at (-35.1, -34.8). A vehicle with ID 26 is 60.5 meters away at (-26.5, 54.4).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.9773479  -0.09632474] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.0570571  -0.15615001] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-28.261784 -32.815174], 43.30778503417969 meters away.)"}
{"file_name": "images/scenario_50_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.5) m/s. Its current heading (yaw) is -1.96 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 23.7 meters away at (-0.5, -23.7). A unknown object with ID 14 is 25.8 meters away at (-0.9, -25.7). A unknown object with ID 25 is 32.8 meters away at (-24.0, -22.4). A pedestrian with ID 23 is 37.3 meters away at (-28.8, -23.7). A pedestrian with ID 22 is 38.0 meters away at (-28.7, -24.9). A vehicle with ID 13 is 42.0 meters away at (-19.3, 37.3). A vehicle with ID 26 is 68.4 meters away at (-22.2, 64.7).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.0793523  -0.31589013] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.1033844  -0.21575916] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -0.4797697 -23.729988 ], 23.73483657836914 meters away.)"}
{"file_name": "images/scenario_50_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -5.6) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 13.2 meters away at (4.2, -12.5). A unknown object with ID 14 is 15.0 meters away at (3.8, -14.5). A unknown object with ID 25 is 22.3 meters away at (-19.3, -11.2). A pedestrian with ID 23 is 25.9 meters away at (-22.3, -13.2). A pedestrian with ID 22 is 26.5 meters away at (-22.4, -14.1). A pedestrian with ID 17 is 70.5 meters away at (-17.7, -68.2). A vehicle with ID 9 is 75.7 meters away at (-39.2, -64.7). A vehicle with ID 26 is 77.9 meters away at (-17.5, 75.9).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.7955884  -0.26819775] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.66806525 -0.24246183] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.02245064 -0.00130194] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [3.5926745 4.870774 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  4.2224674 -12.48851  ], 13.183023452758789 meters away.)"}
{"file_name": "images/scenario_50_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -5.5) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 9.1 meters away at (9.0, -1.4). A unknown object with ID 14 is 9.2 meters away at (8.5, -3.4). A pedestrian with ID 23 is 16.4 meters away at (-16.2, -2.5). A pedestrian with ID 22 is 17.0 meters away at (-16.6, -3.5). A vehicle with ID 9 is 50.9 meters away at (-27.8, -42.7). A pedestrian with ID 17 is 58.6 meters away at (-12.8, -57.2). A vehicle with ID 4 is 75.0 meters away at (-36.4, -65.6).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.5941447  -0.29928234] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.5626779  -0.31848064] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [2.7882218 6.0539827] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.07948033 -0.03538977] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [2.4505632 6.4784946] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 8.952282  -1.3962555], 9.06051254272461 meters away.)"}
{"file_name": "images/scenario_51_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (11.2, -7.8) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A pedestrian with ID 57 is 21.5 meters away at (-20.7, 5.8). A pedestrian with ID 55 is 22.5 meters away at (-21.5, 6.7). A pedestrian with ID 53 is 24.6 meters away at (-23.4, 7.5). A pedestrian with ID 54 is 25.2 meters away at (-24.1, 7.4). A pedestrian with ID 70 is 29.9 meters away at (29.9, 0.6). A pedestrian with ID 71 is 32.9 meters away at (32.9, -2.0). A pedestrian with ID 72 is 36.0 meters away at (35.9, -2.3). A pedestrian with ID 61 is 41.9 meters away at (-19.2, 37.2). A pedestrian with ID 62 is 42.2 meters away at (-18.6, 37.8). A pedestrian with ID 65 is 43.0 meters away at (-21.4, 37.3).", "velocity_description": "The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.02251457 0.00750645] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.02457877 0.0092568 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.03491184 -0.0190318 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.12864727 -0.10611097] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.167841   -0.86575055] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.2514445 -0.7621822] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.182674  -0.8145594] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.0037256  0.8279537] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.0463035  0.7825471] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.0456572  -0.78589475] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(115.39595794677734, -203.75701904296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-20.728971   5.79126 ], 21.522754669189453 meters away.)"}
{"file_name": "images/scenario_51_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, -7.4) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A pedestrian with ID 70 is 17.8 meters away at (10.7, 14.2). A pedestrian with ID 71 is 18.2 meters away at (14.0, 11.6). A pedestrian with ID 72 is 20.1 meters away at (17.1, 10.7). A pedestrian with ID 74 is 26.2 meters away at (26.0, 2.9). A pedestrian with ID 47 is 37.6 meters away at (37.5, -3.0). A pedestrian with ID 39 is 42.3 meters away at (30.0, -29.8). A pedestrian with ID 57 is 47.0 meters away at (-42.1, 20.9). A pedestrian with ID 55 is 48.1 meters away at (-42.9, 21.8). A pedestrian with ID 25 is 62.2 meters away at (45.4, -42.6). A pedestrian with ID 65 is 65.2 meters away at (-40.9, 50.8).", "velocity_description": "The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.2673628 -1.0288386] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.3287474 -0.901399 ] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.2944244 -0.9510945] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 0.9260445  -0.71201074] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.2057928   0.81390226] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.215293   0.8755499] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.02876674 -0.01914425] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 0.01556272 -0.00152218] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.277826   -0.91572046] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.1144551  -0.80593914] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(115.39595794677734, -203.75701904296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [10.743359 14.167486], 17.780254364013672 meters away.)"}
{"file_name": "images/scenario_51_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.6, -6.9) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A pedestrian with ID 39 is 15.8 meters away at (7.7, -13.8). A pedestrian with ID 74 is 17.7 meters away at (8.4, 15.6). A pedestrian with ID 47 is 20.0 meters away at (15.1, 13.1). A pedestrian with ID 72 is 22.8 meters away at (0.1, 22.8). A pedestrian with ID 71 is 24.3 meters away at (-3.2, 24.0). A pedestrian with ID 70 is 27.5 meters away at (-6.5, 26.7). A pedestrian with ID 25 is 41.3 meters away at (28.1, -30.3). A pedestrian with ID 52 is 51.3 meters away at (37.3, -35.1). A pedestrian with ID 51 is 51.4 meters away at (36.9, -35.8). A vehicle with ID 32 is 56.7 meters away at (51.4, -23.8).", "velocity_description": "The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.2469918  0.916323 ] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 1.1784724 -0.7664781] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.2570456  0.9368901] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.3159124  -0.93858385] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.177231  -0.8681784] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.294102   -0.87461793] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.2592697  -0.96838975] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-1.0223047  0.7595426] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.0484947   0.80847746] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-9.15216    6.2433043] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(115.39595794677734, -203.75701904296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  7.6818733 -13.764828 ], 15.763300895690918 meters away.)"}
{"file_name": "images/scenario_51_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.1, -6.5) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A pedestrian with ID 39 is 13.4 meters away at (-13.4, 1.5). A vehicle with ID 32 is 14.1 meters away at (13.8, 3.0). A pedestrian with ID 25 is 22.3 meters away at (12.1, -18.8). A pedestrian with ID 38 is 25.2 meters away at (15.9, -19.6). A pedestrian with ID 52 is 26.0 meters away at (16.5, -20.0). A pedestrian with ID 51 is 26.2 meters away at (16.0, -20.7). A pedestrian with ID 74 is 28.8 meters away at (-8.1, 27.6). A pedestrian with ID 47 is 29.2 meters away at (-6.0, 28.6). A pedestrian with ID 72 is 37.8 meters away at (-16.0, 34.2). A pedestrian with ID 71 is 40.7 meters away at (-19.7, 35.6).", "velocity_description": "The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0449532   0.87900466] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-9.90741   7.190388] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.4273   -1.058631] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.95463467  0.7326665 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.97866154  0.75678855] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.9205295  0.7207824] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 1.2012857  -0.73576117] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.1375762   0.86506134] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.365817 -1.103214] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.1058292 -0.9345158] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(115.39595794677734, -203.75701904296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-13.353394    1.5470657], 13.442713737487793 meters away.)"}
{"file_name": "images/scenario_52_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.6) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 3.0 meters away at (-0.8, -2.9). A unknown object with ID 26 is 3.5 meters away at (-2.8, -2.0). A unknown object with ID 22 is 4.3 meters away at (0.9, -4.2). A unknown object with ID 7 is 4.6 meters away at (-4.2, -1.8). A vehicle with ID 23 is 5.3 meters away at (-0.5, -5.2). A unknown object with ID 15 is 6.1 meters away at (-4.1, -4.6). A unknown object with ID 25 is 6.6 meters away at (-2.3, -6.2). A unknown object with ID 20 is 6.8 meters away at (1.4, -6.6). A unknown object with ID 9 is 7.3 meters away at (-0.8, -7.2). A unknown object with ID 21 is 7.8 meters away at (0.2, -7.8).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.8383074 -2.9008026], 3.019505739212036 meters away.)"}
{"file_name": "images/scenario_52_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 4.4) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 14.5 meters away at (8.7, -11.6). A unknown object with ID 18 is 14.8 meters away at (8.2, -12.3). A unknown object with ID 17 is 14.9 meters away at (9.3, -11.7). A unknown object with ID 26 is 15.2 meters away at (10.4, -11.1). A unknown object with ID 15 is 16.3 meters away at (9.1, -13.5). A unknown object with ID 24 is 17.2 meters away at (12.3, -12.0). A unknown object with ID 25 is 18.6 meters away at (10.9, -15.0). A vehicle with ID 23 is 19.3 meters away at (13.1, -14.2). A unknown object with ID 22 is 19.4 meters away at (14.2, -13.2). A unknown object with ID 12 is 37.3 meters away at (35.4, -11.7).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  8.730362 -11.632505], 14.544222831726074 meters away.)"}
{"file_name": "images/scenario_52_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 4.4) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 30.0 meters away at (21.8, -20.6). A unknown object with ID 18 is 30.1 meters away at (21.4, -21.1). A unknown object with ID 26 is 30.9 meters away at (23.7, -19.8). A unknown object with ID 15 is 31.5 meters away at (22.2, -22.4). A unknown object with ID 24 is 33.0 meters away at (25.5, -20.9). A unknown object with ID 14 is 41.1 meters away at (-25.3, 32.3).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 21.797764 -20.607788], 29.997058868408203 meters away.)"}
{"file_name": "images/scenario_52_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.7) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 34.1 meters away at (-17.8, 29.1). A unknown object with ID 4 is 34.6 meters away at (-17.3, 29.9). A unknown object with ID 5 is 34.9 meters away at (-16.8, 30.6). A unknown object with ID 19 is 35.9 meters away at (-15.8, 32.3).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-17.793182  29.079147], 34.09096908569336 meters away.)"}
{"file_name": "images/scenario_53_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.9) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 3.8 meters away at (3.6, -1.2). A vehicle with ID 45 is 7.4 meters away at (-7.4, 0.9). A pedestrian with ID 16 is 7.7 meters away at (4.8, -6.0). A vehicle with ID 41 is 9.3 meters away at (8.1, 4.7). A vehicle with ID 46 is 11.4 meters away at (-10.9, -3.4). A vehicle with ID 39 is 15.0 meters away at (11.9, 9.1). A vehicle with ID 47 is 17.9 meters away at (-13.3, -11.9). A vehicle with ID 48 is 18.5 meters away at (-15.9, -9.5). A vehicle with ID 49 is 24.6 meters away at (-19.8, -14.6). A vehicle with ID 50 is 26.3 meters away at (-18.8, -18.4).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [1.0385851 1.0287173] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.966732 -17.07824 ]\n [-12.194188 -19.848042]\n [-19.452034 -15.914075]\n [-18.314896 -16.9134  ]\n [-16.98659  -17.558496]\n [-14.522726 -22.264482]]", "nav_goal": "(203.3134765625, 110.9336929321289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.5529737 -1.2255678], 3.758409023284912 meters away.)"}
{"file_name": "images/scenario_53_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 5.9) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 3.7 meters away at (2.4, -2.8). A vehicle with ID 41 is 7.5 meters away at (-1.5, -7.3). A vehicle with ID 44 is 11.6 meters away at (9.7, 6.4). A vehicle with ID 42 is 12.9 meters away at (2.0, 12.8). A vehicle with ID 43 is 14.6 meters away at (-6.1, -13.3). A pedestrian with ID 16 is 16.1 meters away at (-3.1, -15.8). A vehicle with ID 45 is 20.4 meters away at (-17.1, -11.1). A vehicle with ID 46 is 25.9 meters away at (-20.6, -15.6). A vehicle with ID 40 is 27.1 meters away at (11.5, 24.5). A vehicle with ID 48 is 33.5 meters away at (-25.6, -21.7).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [1.0973547 1.0141199] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.966732 -17.07824 ]\n [-12.194188 -19.848042]\n [-19.452034 -15.914075]\n [-18.314896 -16.9134  ]\n [-16.98659  -17.558496]\n [-14.522726 -22.264482]]", "nav_goal": "(203.3134765625, 110.9336929321289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.39921   -2.8089943], 3.694138288497925 meters away.)"}
{"file_name": "images/scenario_53_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.5) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 4.7 meters away at (0.8, -4.6). A vehicle with ID 42 is 7.2 meters away at (-7.0, 1.7). A vehicle with ID 40 is 13.7 meters away at (2.4, 13.4). A vehicle with ID 39 is 15.4 meters away at (-6.6, -13.9). A vehicle with ID 41 is 21.4 meters away at (-10.7, -18.5). A pedestrian with ID 16 is 26.8 meters away at (-10.2, -24.7). A vehicle with ID 43 is 28.9 meters away at (-15.3, -24.5). A vehicle with ID 45 is 34.3 meters away at (-26.1, -22.3). A vehicle with ID 51 is 34.7 meters away at (29.2, 18.7). A vehicle with ID 1 is 38.3 meters away at (34.2, 17.2).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.9530061 0.937923 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.452034 -15.914075]\n [-18.314896 -16.9134  ]]", "nav_goal": "(203.3134765625, 110.9336929321289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.76226234 -4.6209164 ], 4.683365345001221 meters away.)"}
{"file_name": "images/scenario_53_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.2) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 6.7 meters away at (-4.5, 4.9). A vehicle with ID 44 is 14.5 meters away at (-6.2, -13.1). A vehicle with ID 42 is 15.6 meters away at (-14.0, -6.8). A vehicle with ID 51 is 24.5 meters away at (22.2, 10.2). A vehicle with ID 39 is 26.2 meters away at (-13.6, -22.3). A vehicle with ID 1 is 28.6 meters away at (27.2, 8.7). A vehicle with ID 41 is 32.3 meters away at (-17.7, -27.1). A pedestrian with ID 16 is 34.5 meters away at (-15.5, -30.9). A vehicle with ID 3 is 38.9 meters away at (38.6, 5.0). A vehicle with ID 43 is 39.9 meters away at (-22.4, -33.0).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.888409  1.2108138] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.966732 -17.07824 ]\n [-19.452034 -15.914075]\n [-18.314896 -16.9134  ]\n [-16.98659  -17.558496]]", "nav_goal": "(203.3134765625, 110.9336929321289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.505213  4.945347], 6.689797878265381 meters away.)"}
{"file_name": "images/scenario_54_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -1.3) m/s. Its current heading (yaw) is -0.16 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 39.6 meters away at (-37.7, 12.1). A vehicle with ID 10 is 67.8 meters away at (60.2, -31.2).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-2.4135287   0.22915205] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.935317   2.0767648] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-37.716484  12.112858], 39.61381912231445 meters away.)"}
{"file_name": "images/scenario_54_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -1.4) m/s. Its current heading (yaw) is -0.18 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 11.4 meters away at (-9.5, 6.3). A unknown object with ID 14 is 14.0 meters away at (-12.2, 6.8). A vehicle with ID 10 is 47.8 meters away at (41.5, -23.7). A pedestrian with ID 19 is 59.7 meters away at (-57.8, 14.9). A vehicle with ID 5 is 62.2 meters away at (44.4, -43.6).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.781424   2.7376804] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-2.0019734   0.26261356] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-9.465075  6.270789], 11.353873252868652 meters away.)"}
{"file_name": "images/scenario_54_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -1.4) m/s. Its current heading (yaw) is -0.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 24.8 meters away at (18.4, -16.5). A unknown object with ID 7 is 25.5 meters away at (-23.8, 9.0). A pedestrian with ID 15 is 27.0 meters away at (17.4, -20.6). A pedestrian with ID 16 is 27.5 meters away at (17.7, -21.1). A vehicle with ID 5 is 50.6 meters away at (30.0, -40.8). A pedestrian with ID 6 is 70.8 meters away at (65.8, -26.0).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.5885124  1.4584904] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.01683751 -0.04546764] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.01101497 0.00441156] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [1.2210675  0.03812231] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 18.446281 -16.526838], 24.76694679260254 meters away.)"}
{"file_name": "images/scenario_54_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -0.9) m/s. Its current heading (yaw) is -0.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 6.6 meters away at (1.0, 6.5). A vehicle with ID 10 is 12.4 meters away at (-5.3, -11.3). A pedestrian with ID 15 is 19.0 meters away at (6.3, -17.9). A pedestrian with ID 16 is 19.7 meters away at (6.6, -18.6). A unknown object with ID 7 is 36.7 meters away at (-34.9, 11.4). A unknown object with ID 9 is 38.1 meters away at (-36.5, 11.0). A vehicle with ID 5 is 42.7 meters away at (18.8, -38.3). A pedestrian with ID 6 is 61.6 meters away at (57.1, -23.1).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.2784859   0.30559158] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-6.399241  1.294038] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.05281383 0.01828066] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.02789214  0.02576207] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [1.0711758  0.09891454] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [0.9778366 6.52444  ], 6.59730863571167 meters away.)"}
{"file_name": "images/scenario_55_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.4) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 9.8 meters away at (3.3, -9.3). A pedestrian with ID 12 is 24.6 meters away at (23.3, -7.8). A unknown object with ID 8 is 30.3 meters away at (-22.3, -20.5). A unknown object with ID 9 is 32.1 meters away at (-23.5, -21.9). A unknown object with ID 10 is 33.9 meters away at (-24.7, -23.2). A vehicle with ID 11 is 39.5 meters away at (30.4, -25.2). A vehicle with ID 13 is 58.0 meters away at (43.6, -38.4). A pedestrian with ID 5 is 65.4 meters away at (-23.7, -61.0).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.46559805 -1.3473152 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.23363033 -0.22906536] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.9166781 -1.1633734] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.2906106 -9.28119  ], 9.847264289855957 meters away.)"}
{"file_name": "images/scenario_55_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 3.2) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 16.5 meters away at (-0.1, -16.5). A pedestrian with ID 12 is 24.3 meters away at (20.6, -12.8). A unknown object with ID 8 is 35.5 meters away at (-25.1, -25.2). A unknown object with ID 9 is 37.3 meters away at (-26.2, -26.6). A unknown object with ID 10 is 39.1 meters away at (-27.6, -27.7). A vehicle with ID 11 is 40.8 meters away at (27.6, -30.1). A vehicle with ID 13 is 59.6 meters away at (40.8, -43.5). A vehicle with ID 6 is 70.3 meters away at (48.5, -50.8). A vehicle with ID 1 is 75.3 meters away at (-35.7, -66.3).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.22448948 -1.1094898 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.09231583 -0.0183458 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -0.08530092 -16.53484   ], 16.535058975219727 meters away.)"}
{"file_name": "images/scenario_55_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 3.5) m/s. Its current heading (yaw) is 1.90 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 25.8 meters away at (-0.4, -25.8). A pedestrian with ID 12 is 28.8 meters away at (20.4, -20.4). A unknown object with ID 8 is 40.7 meters away at (-24.7, -32.3). A unknown object with ID 9 is 42.5 meters away at (-26.1, -33.5). A unknown object with ID 10 is 44.2 meters away at (-27.3, -34.8). A vehicle with ID 11 is 46.4 meters away at (28.0, -37.0). A vehicle with ID 13 is 65.0 meters away at (41.1, -50.4). A vehicle with ID 6 is 75.7 meters away at (49.0, -57.7). A vehicle with ID 1 is 81.4 meters away at (-35.3, -73.4).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.4761197 -1.1012948] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.615661  -0.4705248] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -0.41165566 -25.79619   ], 25.799474716186523 meters away.)"}
{"file_name": "images/scenario_55_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 3.7) m/s. Its current heading (yaw) is 2.08 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 34.7 meters away at (1.6, -34.7). A pedestrian with ID 12 is 36.5 meters away at (22.7, -28.6). A unknown object with ID 8 is 44.7 meters away at (-21.2, -39.4). A unknown object with ID 9 is 46.5 meters away at (-22.5, -40.7). A vehicle with ID 11 is 54.1 meters away at (31.6, -44.0). A vehicle with ID 13 is 72.7 meters away at (44.6, -57.4).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.76715434 -0.7813889 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.5260743  -0.57052404] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [  1.5930085 -34.699112 ], 34.735660552978516 meters away.)"}
{"file_name": "images/scenario_56_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.2) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 4.1 meters away at (-1.5, 3.8). A vehicle with ID 35 is 8.1 meters away at (-8.1, -0.2). A vehicle with ID 37 is 9.1 meters away at (-8.4, 3.7). A vehicle with ID 33 is 9.3 meters away at (-8.2, -4.4). A pedestrian with ID 41 is 12.2 meters away at (12.2, -0.8). A pedestrian with ID 42 is 12.8 meters away at (12.7, -1.2). A unknown object with ID 45 is 13.3 meters away at (10.5, -8.2). A pedestrian with ID 44 is 13.4 meters away at (13.4, -1.0). A pedestrian with ID 46 is 13.5 meters away at (13.2, -3.1). A vehicle with ID 43 is 13.7 meters away at (-13.3, -3.0).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [0.0030854  0.01614795] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-4.3322518e-05 -2.2031534e-03] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.11255981 -0.09085348] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.07981963 -0.02670735] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.244091   5.3473153]\n [ 6.72272   13.168144 ]\n [10.621681   4.177513 ]\n [ 6.4791245 13.50977  ]\n [ 9.601074   6.6223063]\n [ 9.09336   10.182345 ]\n [ 5.467072  14.496678 ]\n [ 6.8071785 23.784706 ]\n [ 2.6692762 19.314957 ]\n [ 5.184616  21.420547 ]\n [ 8.401589  10.973042 ]\n [ 6.369156  22.874233 ]]", "nav_goal": "(238.10604858398438, -167.9127655029297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.5080676  3.822319 ], 4.1090617179870605 meters away.)"}
{"file_name": "images/scenario_56_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 4.1 meters away at (-1.7, 3.8). A vehicle with ID 31 is 8.0 meters away at (-2.4, 7.6). A vehicle with ID 35 is 8.3 meters away at (-8.3, -0.3). A vehicle with ID 37 is 9.3 meters away at (-8.5, 3.6). A vehicle with ID 33 is 9.3 meters away at (-8.3, -4.4). A pedestrian with ID 41 is 12.1 meters away at (12.1, -0.9). A pedestrian with ID 42 is 12.7 meters away at (12.7, -1.3). A unknown object with ID 45 is 13.2 meters away at (10.4, -8.2). A pedestrian with ID 46 is 13.4 meters away at (13.0, -3.2). A pedestrian with ID 44 is 13.4 meters away at (13.3, -1.4).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.31881818 0.19403777] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.01886159  0.01219497] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.00946439 0.00399861] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.00195961  0.00157504] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.01457901 0.00746767] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.244091   5.3473153]\n [ 6.72272   13.168144 ]\n [10.621681   4.177513 ]\n [ 6.4791245 13.50977  ]\n [ 9.601074   6.6223063]\n [ 9.09336   10.182345 ]\n [ 5.467072  14.496678 ]\n [ 8.401589  10.973042 ]]", "nav_goal": "(238.10604858398438, -167.9127655029297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.675014   3.7557225], 4.112313747406006 meters away.)"}
{"file_name": "images/scenario_56_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 4.1 meters away at (-1.7, 3.7). A vehicle with ID 31 is 8.0 meters away at (-2.4, 7.6). A vehicle with ID 33 is 8.0 meters away at (-7.1, -3.7). A vehicle with ID 35 is 8.3 meters away at (-8.3, -0.2). A vehicle with ID 37 is 9.2 meters away at (-8.5, 3.6). A pedestrian with ID 41 is 12.1 meters away at (12.0, -0.8). A pedestrian with ID 42 is 12.7 meters away at (12.6, -1.2). A unknown object with ID 45 is 13.2 meters away at (10.4, -8.2). A pedestrian with ID 44 is 13.3 meters away at (13.2, -1.3). A pedestrian with ID 46 is 13.3 meters away at (13.0, -3.2).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.63967246 0.40263793] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.0011556  -0.00334733] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.00125737 -0.00125622] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.01865871 -0.00824506] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.00073642  0.00634165] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.244091   5.3473153]\n [ 6.72272   13.168144 ]\n [10.621681   4.177513 ]\n [ 6.4791245 13.50977  ]\n [ 9.601074   6.6223063]\n [ 9.09336   10.182345 ]\n [ 5.467072  14.496678 ]\n [ 8.401589  10.973042 ]]", "nav_goal": "(238.10604858398438, -167.9127655029297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.7023695  3.744633 ], 4.113433837890625 meters away.)"}
{"file_name": "images/scenario_56_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 4.1 meters away at (-1.7, 3.8). A vehicle with ID 33 is 7.1 meters away at (-6.4, -3.2). A vehicle with ID 31 is 7.9 meters away at (-2.4, 7.6). A vehicle with ID 35 is 8.3 meters away at (-8.3, -0.3). A vehicle with ID 37 is 9.3 meters away at (-8.5, 3.6). A pedestrian with ID 41 is 12.1 meters away at (12.0, -0.8). A pedestrian with ID 42 is 12.7 meters away at (12.7, -1.2). A unknown object with ID 45 is 13.2 meters away at (10.3, -8.3). A pedestrian with ID 44 is 13.2 meters away at (13.2, -1.3). A pedestrian with ID 46 is 13.3 meters away at (12.9, -3.2).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.00135009  0.00184398] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.00169656 -0.00012275] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.00935319 -0.00239937] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.01463329 -0.00583505] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.244091   5.3473153]\n [ 6.72272   13.168144 ]\n [10.621681   4.177513 ]\n [ 6.4791245 13.50977  ]\n [ 9.601074   6.6223063]\n [ 9.09336   10.182345 ]\n [ 5.467072  14.496678 ]\n [ 8.401589  10.973042 ]]", "nav_goal": "(238.10604858398438, -167.9127655029297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.6813037  3.7660952], 4.124349117279053 meters away.)"}
{"file_name": "images/scenario_57_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 8.5 meters away at (-7.8, -3.5). A vehicle with ID 1 is 8.7 meters away at (3.8, 7.9). A unknown object with ID 37 is 11.5 meters away at (7.2, 9.0). A unknown object with ID 40 is 13.7 meters away at (7.4, 11.5). A unknown object with ID 41 is 14.8 meters away at (-11.4, 9.4). A vehicle with ID 3 is 17.5 meters away at (6.6, 16.2). A unknown object with ID 42 is 19.0 meters away at (9.4, 16.6). A unknown object with ID 44 is 21.9 meters away at (-6.5, 20.9). A vehicle with ID 45 is 23.3 meters away at (14.4, -18.3). A unknown object with ID 46 is 25.2 meters away at (11.5, 22.4).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [1.3981742 0.6133078] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.802528  -17.709433 ]\n [ 14.825352   80.86788  ]\n [  3.428968  -18.393042 ]\n [-28.050308  -17.764063 ]\n [  3.4400635 -18.706251 ]\n [ -3.3703227  -6.9935117]\n [ 14.880019   80.86309  ]\n [ 11.621894   80.41709  ]\n [  3.4387677 -18.677525 ]\n [-27.800278  -17.762724 ]\n [  3.4591084 -17.958447 ]\n [ -3.1561737  -6.820562 ]\n [  3.4400635 -18.70625  ]\n [-27.806017  -17.643576 ]]", "nav_goal": "(-187.6700439453125, -243.22264099121094)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-7.7544093 -3.506628 ], 8.51042366027832 meters away.)"}
{"file_name": "images/scenario_57_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.9) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 4.4 meters away at (-4.3, -0.7). A vehicle with ID 1 is 10.2 meters away at (4.4, 9.2). A unknown object with ID 37 is 13.0 meters away at (7.8, 10.4). A unknown object with ID 40 is 15.2 meters away at (8.1, 12.9). A unknown object with ID 41 is 15.3 meters away at (-10.7, 10.9). A vehicle with ID 3 is 19.0 meters away at (7.2, 17.5). A unknown object with ID 42 is 20.6 meters away at (10.0, 18.0). A pedestrian with ID 28 is 21.4 meters away at (-7.6, 20.1). A vehicle with ID 45 is 22.5 meters away at (15.0, -16.9). A unknown object with ID 44 is 23.1 meters away at (-5.9, 22.3).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [1.4069253  0.69115925] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.01075018 0.01758237] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.802528  -17.709433 ]\n [ 14.825352   80.86788  ]\n [  3.428968  -18.393042 ]\n [-28.050308  -17.764063 ]\n [  3.4400635 -18.706251 ]\n [ -3.3703227  -6.9935117]\n [ 14.880019   80.86309  ]\n [ 11.621894   80.41709  ]\n [  3.4387677 -18.677525 ]\n [-27.800278  -17.762724 ]\n [  3.4591084 -17.958447 ]\n [ -3.1561737  -6.820562 ]\n [  3.4400635 -18.70625  ]\n [-27.806017  -17.643576 ]]", "nav_goal": "(-187.6700439453125, -243.22264099121094)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-4.3329644  -0.71988726], 4.392359256744385 meters away.)"}
{"file_name": "images/scenario_57_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -4.0) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 7.4 meters away at (0.6, 7.4). A vehicle with ID 1 is 14.3 meters away at (6.4, 12.8). A unknown object with ID 41 is 18.7 meters away at (-7.7, 17.1). A unknown object with ID 37 is 20.0 meters away at (10.9, 16.7). A vehicle with ID 45 is 21.0 meters away at (18.2, -10.6). A unknown object with ID 40 is 22.2 meters away at (11.2, 19.2). A pedestrian with ID 5 is 22.3 meters away at (-5.5, -21.6). A vehicle with ID 3 is 24.0 meters away at (9.5, 22.1). A pedestrian with ID 28 is 26.7 meters away at (-4.6, 26.3). A unknown object with ID 34 is 27.4 meters away at (-4.5, 27.0).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.7119287 1.0554569] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.048134  -2.5269413] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.9619693 -0.2045742] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.7483052 -1.8189068] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.02982505 -0.02606927] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.802528  -17.709433 ]\n [  3.428968  -18.393042 ]\n [-28.050308  -17.764063 ]\n [  3.4400635 -18.706251 ]\n [  3.4387677 -18.677525 ]\n [-27.800278  -17.762724 ]\n [  3.4591084 -17.958447 ]\n [  3.4400635 -18.70625  ]\n [-27.806017  -17.643576 ]]", "nav_goal": "(-187.6700439453125, -243.22264099121094)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [0.6224704 7.355418 ], 7.381710529327393 meters away.)"}
{"file_name": "images/scenario_57_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -5.2) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 5 is 12.6 meters away at (-0.5, -12.6). A vehicle with ID 1 is 17.1 meters away at (8.7, 14.7). A pedestrian with ID 38 is 20.1 meters away at (7.7, 18.6). A vehicle with ID 45 is 23.8 meters away at (23.7, -1.5). A unknown object with ID 21 is 23.9 meters away at (-0.6, 23.8). A unknown object with ID 41 is 26.3 meters away at (-2.0, 26.2). A vehicle with ID 39 is 26.3 meters away at (-26.3, -1.3). A vehicle with ID 3 is 28.1 meters away at (12.6, 25.1). A unknown object with ID 44 is 37.8 meters away at (2.7, 37.7). A unknown object with ID 42 is 38.3 meters away at (18.8, 33.4).", "velocity_description": "The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.0022299  -0.00619678] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.3367686 -4.9281597] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.855091  0.8349172] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.6944706 -4.1809874] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.802528  -17.709433 ]\n [  3.428968  -18.393042 ]\n [-28.050308  -17.764063 ]\n [  3.4400635 -18.706251 ]\n [  3.4387677 -18.677525 ]\n [-27.800278  -17.762724 ]\n [  3.4591084 -17.958447 ]\n [  3.4400635 -18.70625  ]\n [-27.806017  -17.643576 ]]", "nav_goal": "(-187.6700439453125, -243.22264099121094)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ -0.5394802 -12.586037 ], 12.597594261169434 meters away.)"}
{"file_name": "images/scenario_58_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 7.7) m/s. Its current heading (yaw) is 1.46 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 6.2 meters away at (6.2, 0.2). A unknown object with ID 8 is 10.2 meters away at (6.5, -7.8). A unknown object with ID 15 is 16.1 meters away at (4.5, -15.5). A pedestrian with ID 12 is 17.9 meters away at (0.1, -17.9). A pedestrian with ID 16 is 18.1 meters away at (4.7, -17.5). A pedestrian with ID 13 is 20.1 meters away at (0.9, -20.1). A vehicle with ID 14 is 21.0 meters away at (-0.4, -21.0). A unknown object with ID 6 is 35.9 meters away at (-7.1, 35.2). A pedestrian with ID 20 is 57.5 meters away at (-17.1, -55.0). A pedestrian with ID 21 is 59.4 meters away at (-17.5, -56.8).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.07814185  0.07031064] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.02384283 -0.00339564] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.03684257 -0.02313225] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02521924 -0.09676543] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.00190383 -0.00264586] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.05118934  0.01135083] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-193.2151336669922, 100.14253997802734)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [6.218462   0.17573166], 6.220944404602051 meters away.)"}
{"file_name": "images/scenario_58_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 7.3) m/s. Its current heading (yaw) is 1.51 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 15.6 meters away at (4.9, -14.8). A unknown object with ID 6 is 21.8 meters away at (-8.5, 20.1). A unknown object with ID 15 is 30.5 meters away at (3.1, -30.3). A pedestrian with ID 16 is 32.7 meters away at (3.4, -32.5). A pedestrian with ID 12 is 33.0 meters away at (-1.1, -33.0). A pedestrian with ID 13 is 35.3 meters away at (-0.3, -35.3). A vehicle with ID 14 is 36.2 meters away at (-1.7, -36.2).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.0049547   0.01111732] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00391802 0.02325224] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.07078306  0.01728976] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.03722594 -0.00582758] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-193.2151336669922, 100.14253997802734)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  4.8807826 -14.821315 ], 15.604275703430176 meters away.)"}
{"file_name": "images/scenario_58_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 6.8) m/s. Its current heading (yaw) is 1.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 10.2 meters away at (-8.5, 5.7). A pedestrian with ID 19 is 29.2 meters away at (4.4, -28.8). A pedestrian with ID 16 is 46.6 meters away at (2.9, -46.5). A pedestrian with ID 12 is 46.8 meters away at (-1.9, -46.7). A pedestrian with ID 13 is 49.3 meters away at (-0.8, -49.3). A vehicle with ID 14 is 50.3 meters away at (-2.3, -50.2).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01663697  0.00660848] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.00160392  0.05969061] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.03629612  0.01309013] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02568307 -0.00894998] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-193.2151336669922, 100.14253997802734)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.497845  5.704296], 10.234859466552734 meters away.)"}
{"file_name": "images/scenario_58_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 6.3) m/s. Its current heading (yaw) is 1.72 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 42.2 meters away at (4.9, -41.9). A unknown object with ID 5 is 43.2 meters away at (0.0, 43.2). A pedestrian with ID 12 is 59.7 meters away at (-1.5, -59.7). A vehicle with ID 10 is 63.2 meters away at (-1.9, -63.2).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01977386 -0.02940517] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.03834992 -0.01552438] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-193.2151336669922, 100.14253997802734)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  4.941117 -41.883617], 42.174068450927734 meters away.)"}
{"file_name": "images/scenario_59_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -3.0) m/s. Its current heading (yaw) is -0.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 7.5 meters away at (-7.3, 2.0). A vehicle with ID 16 is 13.4 meters away at (-12.0, 6.1). A vehicle with ID 17 is 17.3 meters away at (15.0, -8.6). A vehicle with ID 18 is 35.6 meters away at (-22.3, 27.7). A unknown object with ID 22 is 37.6 meters away at (34.9, -13.8). A vehicle with ID 19 is 41.5 meters away at (-26.7, 31.7). A vehicle with ID 20 is 46.1 meters away at (-41.2, 20.7). A vehicle with ID 21 is 48.9 meters away at (-32.6, 36.5). A vehicle with ID 23 is 56.7 meters away at (-38.5, 41.5). A vehicle with ID 24 is 62.6 meters away at (-43.1, 45.4).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.426305   -0.04449369] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 14.41526  -16.578396]\n [ 16.76463  -15.331266]\n [ 17.903416 -14.223363]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.2726326  2.0003386], 7.542714595794678 meters away.)"}
{"file_name": "images/scenario_59_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -3.2) m/s. Its current heading (yaw) is -0.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 15.4 meters away at (-13.2, 7.8). A vehicle with ID 17 is 17.4 meters away at (17.4, -0.1). A vehicle with ID 16 is 21.5 meters away at (-17.9, 11.9). A unknown object with ID 22 is 30.2 meters away at (29.2, -7.9). A vehicle with ID 18 is 43.8 meters away at (-28.3, 33.4). A vehicle with ID 19 is 49.8 meters away at (-32.8, 37.4). A vehicle with ID 20 is 54.0 meters away at (-47.2, 26.3). A vehicle with ID 21 is 57.1 meters away at (-38.6, 42.1). A vehicle with ID 14 is 59.7 meters away at (56.8, -18.4). A unknown object with ID 5 is 61.9 meters away at (56.8, -24.7).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.0323095 2.7794902] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-8.471386   1.2523042] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 17.903416 -14.223363]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-13.227642   7.802054], 15.357166290283203 meters away.)"}
{"file_name": "images/scenario_59_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -4.1) m/s. Its current heading (yaw) is -1.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 21.3 meters away at (-15.2, 15.0). A unknown object with ID 22 is 27.2 meters away at (27.2, -0.5). A vehicle with ID 16 is 27.5 meters away at (-20.0, 18.9). A vehicle with ID 17 is 28.3 meters away at (24.0, 15.0). A vehicle with ID 14 is 40.2 meters away at (39.2, -9.1). A vehicle with ID 18 is 50.6 meters away at (-30.3, 40.5). A vehicle with ID 19 is 56.5 meters away at (-34.8, 44.5). A unknown object with ID 5 is 57.6 meters away at (55.0, -17.1). A vehicle with ID 20 is 59.5 meters away at (-49.2, 33.5). A vehicle with ID 21 is 63.8 meters away at (-40.6, 49.2).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.6651835 4.6641145] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.9874873  1.2925689] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 18.151468 -13.600077]\n [ 14.41526  -16.578396]\n [ 18.080679 -13.69766 ]\n [ 16.76463  -15.331266]\n [ 34.106525 -12.176244]\n [ 17.903416 -14.223363]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-15.193363  14.973089], 21.331472396850586 meters away.)"}
{"file_name": "images/scenario_59_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -4.5) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 25.5 meters away at (-10.1, 23.4). A vehicle with ID 16 is 31.2 meters away at (-15.0, 27.3). A vehicle with ID 14 is 32.7 meters away at (32.6, 3.1). A unknown object with ID 22 is 33.1 meters away at (32.2, 7.7). A vehicle with ID 17 is 51.3 meters away at (38.9, 33.4). A pedestrian with ID 1 is 53.9 meters away at (-23.2, -48.7). A pedestrian with ID 13 is 68.9 meters away at (68.8, 3.3).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-4.219983   2.6407092] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.766127 5.270338] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.9204754 1.1925262] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.2577436   0.36455935] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 18.151468 -13.600077]\n [ 14.41526  -16.578396]\n [ 18.080679 -13.69766 ]\n [ 16.76463  -15.331266]\n [ 17.903416 -14.223363]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.136505  23.444824], 25.542287826538086 meters away.)"}
{"file_name": "images/scenario_60_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 4.7) m/s. Its current heading (yaw) is 2.10 ", "actor_description": " The most relevant actors are: A unknown object with ID 49 is 15.5 meters away at (-9.4, 12.3). A unknown object with ID 23 is 19.5 meters away at (19.3, 2.4). A vehicle with ID 46 is 23.3 meters away at (-15.9, 17.0). A pedestrian with ID 47 is 26.1 meters away at (16.2, -20.5). A vehicle with ID 56 is 28.9 meters away at (-20.5, 20.4). A vehicle with ID 58 is 34.0 meters away at (-25.1, 23.0). A pedestrian with ID 51 is 38.1 meters away at (-12.4, -36.0). A pedestrian with ID 52 is 38.8 meters away at (-11.9, -36.9). A pedestrian with ID 15 is 39.8 meters away at (8.6, -38.9). A vehicle with ID 54 is 40.4 meters away at (1.1, -40.4).", "velocity_description": "The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [1.268834   0.40712395] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.90554297 -0.5861451 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.9628559 -0.6038963] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.9412509  0.8672332] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(37.6138801574707, -68.14034271240234)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-9.406937 12.344057], 15.519865036010742 meters away.)"}
{"file_name": "images/scenario_60_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 3.9) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 49 is 4.3 meters away at (-0.9, 4.2). A vehicle with ID 46 is 11.7 meters away at (-7.5, 8.9). A vehicle with ID 56 is 17.2 meters away at (-12.1, 12.2). A vehicle with ID 58 is 22.3 meters away at (-16.7, 14.8). A pedestrian with ID 33 is 25.2 meters away at (-18.0, 17.6). A unknown object with ID 23 is 28.4 meters away at (27.8, -5.7). A pedestrian with ID 47 is 38.7 meters away at (27.5, -27.3). A unknown object with ID 45 is 42.9 meters away at (-42.5, -5.8). A pedestrian with ID 51 is 45.2 meters away at (-5.8, -44.8). A pedestrian with ID 52 is 46.1 meters away at (-5.4, -45.8).", "velocity_description": "The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.05076095  0.00953164] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [1.3570787 1.0920477] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.9699957   0.12360562] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-1.025537    0.14197206] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(37.6138801574707, -68.14034271240234)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-0.9054642  4.2313805], 4.327175617218018 meters away.)"}
{"file_name": "images/scenario_60_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 3.9) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 3.9 meters away at (3.6, 1.6). A vehicle with ID 56 is 5.0 meters away at (-0.8, 4.9). A vehicle with ID 58 is 9.2 meters away at (-5.4, 7.5). A unknown object with ID 37 is 9.3 meters away at (-7.2, -5.9). A pedestrian with ID 33 is 12.1 meters away at (-6.8, 9.9). A vehicle with ID 24 is 34.5 meters away at (-24.7, 24.1). A unknown object with ID 25 is 38.5 meters away at (37.3, -9.6). A unknown object with ID 23 is 41.3 meters away at (39.2, -12.8). A pedestrian with ID 64 is 45.9 meters away at (-38.9, -24.5). A cyclist with ID 28 is 46.3 meters away at (-38.9, -25.1).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.01945494 0.02529397] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.01925868 -0.0036857 ] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [ 0.00120288 -0.00099378] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(37.6138801574707, -68.14034271240234)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [3.598587  1.6208191], 3.94675612449646 meters away.)"}
{"file_name": "images/scenario_60_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.2) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 7.4 meters away at (7.4, -0.2). A pedestrian with ID 42 is 7.6 meters away at (4.8, 5.8). A vehicle with ID 56 is 12.5 meters away at (12.1, -2.9). A vehicle with ID 46 is 17.6 meters away at (16.5, -6.1). A vehicle with ID 24 is 20.0 meters away at (-11.7, 16.3). A pedestrian with ID 64 is 41.8 meters away at (-25.7, -32.9). A pedestrian with ID 6 is 41.8 meters away at (-27.8, -31.2). A cyclist with ID 28 is 41.9 meters away at (-25.9, -32.9). A vehicle with ID 4 is 49.6 meters away at (-44.0, -22.8). A vehicle with ID 11 is 50.0 meters away at (-44.6, 22.6).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.09447604 0.17045662] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.00820409 0.04358278] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.0093103  0.02454289] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [0.14740027 0.02105314] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [10.366097  -5.7947288] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(37.6138801574707, -68.14034271240234)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.3523235  -0.24913025], 7.356543064117432 meters away.)"}
{"file_name": "images/scenario_61_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -1.9) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 8.2 meters away at (-5.4, -6.1). A vehicle with ID 88 is 8.7 meters away at (-0.9, -8.7). A vehicle with ID 86 is 10.1 meters away at (3.8, 9.4). A vehicle with ID 82 is 10.9 meters away at (-10.4, -3.2). A vehicle with ID 92 is 11.4 meters away at (9.1, 6.9). A vehicle with ID 84 is 12.0 meters away at (-10.1, 6.6). A vehicle with ID 85 is 12.7 meters away at (-1.4, 12.6). A vehicle with ID 95 is 12.7 meters away at (4.2, -12.0). A vehicle with ID 97 is 14.9 meters away at (14.5, 3.5). A vehicle with ID 90 is 15.9 meters away at (11.5, -11.0).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 2.813246  -1.5985792] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [ 4.4146047 -2.4207692] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 61.20146  -32.015354]\n [ 61.220245 -32.060234]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.3747134 -6.128216 ], 8.15123176574707 meters away.)"}
{"file_name": "images/scenario_61_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -2.8) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 95 is 8.3 meters away at (-3.7, -7.4). A vehicle with ID 88 is 9.7 meters away at (-8.8, -4.0). A vehicle with ID 102 is 10.1 meters away at (1.1, -10.0). A vehicle with ID 97 is 10.4 meters away at (6.5, 8.2). A vehicle with ID 77 is 10.9 meters away at (10.9, -1.4). A vehicle with ID 92 is 11.5 meters away at (1.2, 11.5). A vehicle with ID 118 is 12.8 meters away at (-6.0, 11.3). A vehicle with ID 84 is 12.9 meters away at (-10.8, 7.1). A vehicle with ID 103 is 13.0 meters away at (12.0, 5.0). A vehicle with ID 83 is 13.4 meters away at (-13.3, -1.5).", "velocity_description": "The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-7.9400125  4.4089775] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [-9.513177   5.5985475] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 4.3555455 -2.5280855] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 61.20146  -32.015354]\n [ 61.220245 -32.060234]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.736783  -7.3973675], 8.287616729736328 meters away.)"}
{"file_name": "images/scenario_61_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -3.4) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 76 is 4.7 meters away at (4.0, 2.4). A vehicle with ID 106 is 8.0 meters away at (-3.4, -7.2). A vehicle with ID 102 is 9.7 meters away at (-8.8, -4.1). A vehicle with ID 107 is 10.5 meters away at (7.0, 7.8). A vehicle with ID 103 is 11.1 meters away at (2.1, 10.9). A vehicle with ID 90 is 12.8 meters away at (8.7, -9.3). A vehicle with ID 109 is 13.1 meters away at (12.3, 4.7). A vehicle with ID 84 is 13.6 meters away at (-11.3, 7.6). A vehicle with ID 95 is 13.9 meters away at (-13.8, -1.4). A pedestrian with ID 112 is 13.9 meters away at (-3.7, -13.4).", "velocity_description": "The vehicle with ID 76 is traveling at a (x, y) velocity of [-8.593375  4.841333] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [ 3.1446881 -2.1737988] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 5.199184  -3.0819337] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-1.0652721  0.5427136] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 61.64869  -30.957664]\n [ 61.20146  -32.015354]\n [ 68.824394 -30.434563]\n [ 61.220245 -32.060234]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.033083  2.3500366], 4.6678080558776855 meters away.)"}
{"file_name": "images/scenario_61_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -3.8) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 90 is 6.6 meters away at (2.1, -6.3). A vehicle with ID 109 is 11.8 meters away at (0.0, 11.8). A vehicle with ID 84 is 15.3 meters away at (-12.7, 8.4). A vehicle with ID 106 is 15.8 meters away at (-15.8, -0.1). A vehicle with ID 107 is 15.9 meters away at (-5.3, 15.0). A pedestrian with ID 112 is 18.5 meters away at (-17.8, -5.0). A vehicle with ID 103 is 20.8 meters away at (-10.2, 18.1). A vehicle with ID 102 is 21.5 meters away at (-21.2, 3.2). A pedestrian with ID 63 is 22.3 meters away at (5.6, -21.6). A vehicle with ID 56 is 22.4 meters away at (13.6, 17.7).", "velocity_description": "The vehicle with ID 90 is traveling at a (x, y) velocity of [ 2.6684911 -2.1691315] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 5.481178  -3.1611552] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-0.75504994  0.5514705 ] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-1.2672333  0.6076297] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 61.64869  -30.957664]\n [ 61.20146  -32.015354]\n [ 44.3579   -25.47435 ]\n [ 68.824394 -30.434563]\n [ 61.220245 -32.060234]\n [ 97.393105 -65.89423 ]\n [ 94.40844  -53.786903]\n [ 97.467575 -65.957214]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 2.0682755 -6.2903175], 6.6216206550598145 meters away.)"}
{"file_name": "images/scenario_62_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 6.4 meters away at (-6.1, -1.7). A vehicle with ID 21 is 13.7 meters away at (-13.4, -2.9). A vehicle with ID 28 is 18.4 meters away at (8.5, 16.4). A vehicle with ID 26 is 20.5 meters away at (-20.3, -2.5). A vehicle with ID 23 is 25.4 meters away at (3.9, 25.1). A vehicle with ID 27 is 34.2 meters away at (0.6, 34.2). A pedestrian with ID 32 is 40.1 meters away at (-11.2, 38.5). A vehicle with ID 33 is 43.8 meters away at (-3.1, 43.7). A vehicle with ID 5 is 55.9 meters away at (-55.9, 0.7). A pedestrian with ID 3 is 61.1 meters away at (-8.6, 60.5).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.6012227 -1.2489015] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.571727   3.7840488] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.14211972 -1.3793215 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.991964   4.713733 ]\n [11.166786   1.7059458]\n [12.718557   5.119242 ]\n [10.580123   5.0448084]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.1440787 -1.7461389], 6.387386322021484 meters away.)"}
{"file_name": "images/scenario_62_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 6.4 meters away at (-6.1, -1.7). A vehicle with ID 21 is 12.9 meters away at (-12.6, -2.9). A vehicle with ID 28 is 18.4 meters away at (8.5, 16.4). A vehicle with ID 26 is 20.5 meters away at (-20.4, -2.5). A vehicle with ID 23 is 25.4 meters away at (3.9, 25.1). A vehicle with ID 27 is 34.3 meters away at (0.6, 34.3). A pedestrian with ID 32 is 37.2 meters away at (-10.3, 35.7). A vehicle with ID 33 is 43.4 meters away at (-2.9, 43.3). A vehicle with ID 14 is 62.3 meters away at (-8.2, 61.7). A vehicle with ID 5 is 73.9 meters away at (-73.4, 8.3).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.48725513 -1.47117   ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.667114   4.1016583] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.991964   4.713733 ]\n [11.166786   1.7059458]\n [12.718557   5.119242 ]\n [10.580123   5.0448084]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.138852  -1.7395129], 6.380549430847168 meters away.)"}
{"file_name": "images/scenario_62_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 6.4 meters away at (-6.2, -1.7). A vehicle with ID 21 is 12.9 meters away at (-12.5, -2.9). A vehicle with ID 28 is 16.5 meters away at (9.5, 13.5). A vehicle with ID 26 is 20.5 meters away at (-20.4, -2.5). A vehicle with ID 23 is 24.6 meters away at (4.2, 24.3). A pedestrian with ID 32 is 34.1 meters away at (-9.5, 32.7). A vehicle with ID 27 is 34.3 meters away at (0.5, 34.3). A vehicle with ID 33 is 43.3 meters away at (-2.8, 43.2). A vehicle with ID 17 is 51.7 meters away at (-5.1, 51.5). A vehicle with ID 14 is 62.2 meters away at (-8.3, 61.6).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 0.79226756 -2.8272161 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.6384413 -1.487753 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.47335657 -1.4197072 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.166786   1.7059458]\n [10.580123   5.0448084]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.15259   -1.7494015], 6.396465301513672 meters away.)"}
{"file_name": "images/scenario_62_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 6.4 meters away at (-6.1, -1.7). A vehicle with ID 28 is 11.4 meters away at (9.9, 5.7). A vehicle with ID 21 is 12.8 meters away at (-12.5, -2.9). A vehicle with ID 23 is 20.4 meters away at (6.5, 19.3). A vehicle with ID 26 is 20.5 meters away at (-20.3, -2.5). A pedestrian with ID 32 is 31.1 meters away at (-8.4, 29.9). A vehicle with ID 27 is 32.5 meters away at (1.3, 32.5). A vehicle with ID 19 is 42.0 meters away at (-41.6, 6.1). A vehicle with ID 33 is 43.2 meters away at (-2.8, 43.1).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.72247535 -4.016569  ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 1.4348598 -3.249946 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.52621615 -1.4344958 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 0.9248284 -2.4656873] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 6.7487435 -2.3038404] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 0.11185112 -0.292666  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.166786   1.7059458]\n [10.580123   5.0448084]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.145581 -1.74446 ], 6.388372421264648 meters away.)"}
{"file_name": "images/scenario_63_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 1.1) m/s. Its current heading (yaw) is 1.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 31 is 5.9 meters away at (-4.3, 4.0). A pedestrian with ID 33 is 6.1 meters away at (-5.9, 1.8). A pedestrian with ID 32 is 6.4 meters away at (-5.6, 3.0). A unknown object with ID 30 is 6.8 meters away at (-4.4, 5.2). A pedestrian with ID 34 is 6.8 meters away at (-6.3, 2.6). A vehicle with ID 2 is 7.0 meters away at (2.3, 6.6). A pedestrian with ID 28 is 7.1 meters away at (-3.5, 6.1). A vehicle with ID 29 is 8.9 meters away at (2.2, -8.6). A pedestrian with ID 1 is 10.5 meters away at (1.1, 10.4). A unknown object with ID 16 is 24.1 meters away at (22.1, 9.6).", "velocity_description": "The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00013217  0.0022734 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01294679 -0.02152539] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.0023681  0.00050058] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.06520225 -0.00993555] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.00991253 0.0016194 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.9315175   0.94785094] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.57874703 0.9539305 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.338505  4.003138], 5.903197288513184 meters away.)"}
{"file_name": "images/scenario_63_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 2.4) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 3.5 meters away at (-0.5, 3.5). A pedestrian with ID 28 is 7.0 meters away at (-6.4, 2.9). A pedestrian with ID 31 is 7.3 meters away at (-7.2, 0.8). A unknown object with ID 30 is 7.5 meters away at (-7.3, 2.0). A pedestrian with ID 32 is 8.7 meters away at (-8.7, -0.1). A pedestrian with ID 33 is 8.8 meters away at (-8.6, -1.5). A pedestrian with ID 1 is 9.1 meters away at (-0.6, 9.1). A pedestrian with ID 34 is 9.2 meters away at (-9.2, -0.6). A vehicle with ID 29 is 10.2 meters away at (-2.0, -10.0). A pedestrian with ID 7 is 13.8 meters away at (-4.1, -13.2).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.01154222  0.00074669] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00153513 -0.00991112] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.06539964  0.01476794] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00615937 -0.03963787] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.64029783 0.88980126] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.02381036 -0.0093885 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.5862197  1.2031085] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.00174628 -0.00316893] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.5043807  3.5118527], 3.5478880405426025 meters away.)"}
{"file_name": "images/scenario_63_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 2.2) m/s. Its current heading (yaw) is 1.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 3.9 meters away at (-3.8, -1.0). A pedestrian with ID 1 is 6.6 meters away at (-2.4, 6.1). A pedestrian with ID 28 is 9.8 meters away at (-9.7, -1.7). A unknown object with ID 30 is 10.9 meters away at (-10.5, -2.6). A pedestrian with ID 31 is 11.2 meters away at (-10.5, -3.8). A pedestrian with ID 32 is 12.9 meters away at (-12.0, -4.7). A pedestrian with ID 33 is 13.4 meters away at (-12.0, -6.0). A vehicle with ID 29 is 13.4 meters away at (-6.1, -11.9). A pedestrian with ID 34 is 13.6 meters away at (-12.6, -5.2). A unknown object with ID 25 is 22.6 meters away at (-4.6, -22.1).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.8692708 0.8067507] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.01190058 0.01360177] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.01143675 0.00429673] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00024474  0.01925259] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.01779897 0.00757258] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.13683227  1.5400546 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.01436532  0.02496118] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.758596  -1.0048075], 3.8905887603759766 meters away.)"}
{"file_name": "images/scenario_63_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 2.0) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 4.3 meters away at (-2.6, 3.5). A vehicle with ID 2 is 7.4 meters away at (-5.3, -5.2). A pedestrian with ID 28 is 12.6 meters away at (-11.2, -5.8). A unknown object with ID 30 is 13.7 meters away at (-12.0, -6.7). A pedestrian with ID 31 is 14.4 meters away at (-11.8, -8.1). A unknown object with ID 3 is 14.6 meters away at (13.4, 5.8). A vehicle with ID 29 is 15.1 meters away at (-7.3, -13.2). A pedestrian with ID 32 is 16.2 meters away at (-13.5, -8.8). A pedestrian with ID 33 is 16.9 meters away at (-13.5, -10.1). A pedestrian with ID 34 is 17.0 meters away at (-14.1, -9.5).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.62019557 0.71061856] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00942518 -0.00996361] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.03342898 -0.02028335] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0.39741066 1.2534754 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [1.3160135e-02 4.6839319e-05] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.0210943  -0.02011914] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.01437307 -0.02254187] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-2.6025167  3.456624 ], 4.326816558837891 meters away.)"}
{"file_name": "images/scenario_64_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -0.3) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 9.6 meters away at (-9.0, 3.2). A vehicle with ID 79 is 10.6 meters away at (-10.6, 0.8). A vehicle with ID 80 is 12.5 meters away at (4.7, -11.6). A vehicle with ID 82 is 12.9 meters away at (12.6, 2.7). A vehicle with ID 45 is 16.5 meters away at (3.1, -16.2). A unknown object with ID 91 is 19.9 meters away at (14.9, -13.2). A vehicle with ID 88 is 20.2 meters away at (-19.3, 6.1). A vehicle with ID 85 is 20.3 meters away at (13.9, 14.8). A pedestrian with ID 84 is 20.3 meters away at (18.7, 7.8). A unknown object with ID 92 is 20.3 meters away at (12.4, -16.0).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [ 2.3984034 -0.8406118] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-1.4276834 -4.587348 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 2.4741433 -1.1260617] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [0.3577347 1.178522 ] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(103.10519409179688, 55.305599212646484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.995407  3.24541 ], 9.56295108795166 meters away.)"}
{"file_name": "images/scenario_64_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 6.7 meters away at (-6.3, 2.3). A vehicle with ID 79 is 10.8 meters away at (-10.8, 0.9). A vehicle with ID 80 is 12.3 meters away at (4.5, -11.5). A vehicle with ID 82 is 12.8 meters away at (8.4, -9.7). A vehicle with ID 88 is 15.8 meters away at (-15.2, 4.2). A vehicle with ID 45 is 16.3 meters away at (2.8, -16.1). A unknown object with ID 91 is 19.7 meters away at (14.7, -13.1). A unknown object with ID 92 is 20.2 meters away at (12.4, -16.0). A vehicle with ID 85 is 20.3 meters away at (13.7, 15.0). A vehicle with ID 18 is 20.4 meters away at (16.5, 12.1).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [ 0.515077   -0.20780693] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-2.5780785 -7.7447777] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 2.036151   -0.75377315] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.87474334 -2.218148  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(103.10519409179688, 55.305599212646484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.3442316  2.2995124], 6.74811315536499 meters away.)"}
{"file_name": "images/scenario_64_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -1.2) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 8.9 meters away at (-8.4, 3.1). A vehicle with ID 80 is 10.3 meters away at (1.3, -10.2). A vehicle with ID 79 is 14.2 meters away at (-14.0, 2.1). A vehicle with ID 45 is 14.9 meters away at (-0.3, -14.9). A vehicle with ID 18 is 14.9 meters away at (11.8, 9.1). A vehicle with ID 88 is 16.1 meters away at (-15.4, 4.7). A unknown object with ID 91 is 16.5 meters away at (11.5, -11.9). A unknown object with ID 92 is 17.3 meters away at (9.1, -14.7). A unknown object with ID 51 is 18.0 meters away at (11.5, -13.8). A vehicle with ID 85 is 19.4 meters away at (10.5, 16.3).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [ 1.406271   -0.54316837] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.55671185 -1.5033655 ] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 0.5360663  -0.11926581] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(103.10519409179688, 55.305599212646484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.375697   3.1128802], 8.935453414916992 meters away.)"}
{"file_name": "images/scenario_64_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.2) m/s. Its current heading (yaw) is -0.50 ", "actor_description": " The most relevant actors are: A unknown object with ID 91 is 8.1 meters away at (2.2, -7.8). A unknown object with ID 46 is 9.3 meters away at (7.6, 5.4). A vehicle with ID 80 is 9.9 meters away at (-7.8, -6.1). A vehicle with ID 18 is 11.8 meters away at (1.9, 11.6). A vehicle with ID 72 is 12.5 meters away at (1.3, -12.4). A vehicle with ID 77 is 12.7 meters away at (12.7, -0.1). A vehicle with ID 45 is 14.2 meters away at (-9.3, -10.7). A vehicle with ID 27 is 14.6 meters away at (-13.4, 5.7). A vehicle with ID 23 is 14.7 meters away at (3.6, -14.3). A vehicle with ID 76 is 17.3 meters away at (16.9, -3.6).", "velocity_description": "The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.1251758 -0.5991749] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 1.7816447 -0.7039394] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(103.10519409179688, 55.305599212646484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.2050266 -7.7575297], 8.064826011657715 meters away.)"}
{"file_name": "images/scenario_65_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 1.5) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 15.4 meters away at (12.1, -9.6). A unknown object with ID 47 is 26.0 meters away at (21.9, -14.0). A unknown object with ID 48 is 27.8 meters away at (23.3, -15.2). A pedestrian with ID 50 is 29.6 meters away at (-27.9, 9.9). A pedestrian with ID 12 is 36.2 meters away at (-34.5, -10.9). A pedestrian with ID 49 is 36.4 meters away at (-34.9, -10.2). A unknown object with ID 56 is 42.5 meters away at (-25.0, 34.4). A pedestrian with ID 55 is 45.7 meters away at (-41.9, -18.0). A vehicle with ID 57 is 56.7 meters away at (-52.2, -22.1). A vehicle with ID 9 is 58.1 meters away at (-56.8, -12.3).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.321613   2.0561135] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.9731653  0.4131675] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.92778325 -0.87328166] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.88789105 -1.0028012 ] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.7244121 -1.0676131] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-235.48895263671875, 67.04668426513672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.087328 -9.570394], 15.417389869689941 meters away.)"}
{"file_name": "images/scenario_65_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 3.2) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 16.7 meters away at (13.1, -10.2). A pedestrian with ID 16 is 22.4 meters away at (-1.5, 22.3). A pedestrian with ID 50 is 25.5 meters away at (-24.8, 6.1). A unknown object with ID 47 is 33.3 meters away at (27.5, -18.7). A unknown object with ID 38 is 33.6 meters away at (-15.9, 29.6). A unknown object with ID 48 is 35.0 meters away at (28.9, -19.9). A pedestrian with ID 12 is 35.1 meters away at (-30.4, -17.5). A pedestrian with ID 49 is 35.2 meters away at (-31.0, -16.7). A unknown object with ID 56 is 35.5 meters away at (-19.3, 29.7). A pedestrian with ID 39 is 41.4 meters away at (-35.6, -21.0).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.2476778  2.0977595] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.01710713 0.00147127] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.1668782   0.24199459] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.78447413 -0.9296644 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.74100566 -0.90449744] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.7495928 -1.018747 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-235.48895263671875, 67.04668426513672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 13.146635 -10.242537], 16.665639877319336 meters away.)"}
{"file_name": "images/scenario_65_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.8) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 14.7 meters away at (2.8, 14.4). A pedestrian with ID 50 is 18.9 meters away at (-18.9, -0.7). A vehicle with ID 46 is 21.0 meters away at (16.6, -12.9). A unknown object with ID 56 is 25.4 meters away at (-11.0, 22.9). A pedestrian with ID 49 is 34.9 meters away at (-24.1, -25.2). A pedestrian with ID 12 is 35.2 meters away at (-23.6, -26.0). A pedestrian with ID 39 is 41.2 meters away at (-29.1, -29.2). A vehicle with ID 43 is 43.7 meters away at (-32.8, 28.8). A pedestrian with ID 55 is 46.3 meters away at (-31.8, -33.7). A vehicle with ID 9 is 48.8 meters away at (-42.7, -23.6).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.2526935  -0.00412805] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.513827   2.3056629] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.84550285 -0.7944451 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.85887986 -0.8033007 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.8382627  -0.78553635] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.8282169 -1.025551 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-235.48895263671875, 67.04668426513672)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 2.7710152 14.386686 ], 14.651118278503418 meters away.)"}
{"file_name": "images/scenario_65_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.8) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 50 is 15.2 meters away at (-12.5, -8.6). A vehicle with ID 46 is 25.5 meters away at (20.0, -15.7). A vehicle with ID 43 is 32.2 meters away at (-24.0, 21.5). A vehicle with ID 44 is 37.9 meters away at (-28.5, 25.0). A pedestrian with ID 49 is 38.1 meters away at (-17.1, -34.0). A pedestrian with ID 12 is 38.7 meters away at (-16.6, -34.9). A vehicle with ID 45 is 43.9 meters away at (-33.7, 28.0). A pedestrian with ID 39 is 44.2 meters away at (-22.1, -38.2). A vehicle with ID 9 is 45.8 meters away at (-33.9, -30.8). A pedestrian with ID 55 is 49.6 meters away at (-24.6, -43.1).", "velocity_description": "The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.136735   -0.37177777] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.4741619  2.1948867] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.8380552  -0.74231297] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.9171267  -0.69601995] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.874349   -0.85855395] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.80556506 -0.9701331 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-235.48895263671875, 67.04668426513672)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-12.522814   -8.5801115], 15.18022346496582 meters away.)"}
{"file_name": "images/scenario_66_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 60 is 9.4 meters away at (-0.4, 9.4). A vehicle with ID 58 is 14.1 meters away at (13.0, -5.4). A unknown object with ID 55 is 15.3 meters away at (-7.0, -13.6). A vehicle with ID 61 is 18.3 meters away at (-10.7, 14.8). A unknown object with ID 31 is 18.9 meters away at (-18.6, -3.5). A vehicle with ID 64 is 24.0 meters away at (-15.4, 18.4). A vehicle with ID 59 is 24.5 meters away at (21.1, -12.5). A vehicle with ID 67 is 29.9 meters away at (-19.9, 22.3). A vehicle with ID 73 is 36.7 meters away at (-25.1, 26.7). A vehicle with ID 63 is 41.4 meters away at (-17.6, -37.4).", "velocity_description": "The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.00240013  0.00300084] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(87.36642456054688, 152.66542053222656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-0.37617397  9.4038725 ], 9.411393165588379 meters away.)"}
{"file_name": "images/scenario_66_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.5) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 4.2 meters away at (2.4, 3.5). A vehicle with ID 64 is 7.5 meters away at (-2.3, 7.1). A pedestrian with ID 60 is 12.9 meters away at (12.7, -1.9). A vehicle with ID 67 is 12.9 meters away at (-6.7, 11.0). A vehicle with ID 73 is 19.5 meters away at (-11.9, 15.4). A vehicle with ID 58 is 31.1 meters away at (26.2, -16.8). A vehicle with ID 78 is 32.3 meters away at (-21.8, 23.8). A vehicle with ID 59 is 41.7 meters away at (34.2, -23.8). A pedestrian with ID 49 is 46.5 meters away at (-31.3, 34.3). A vehicle with ID 63 is 48.9 meters away at (-4.5, -48.7).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.01155778 0.02133496] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.0168941 -0.0270699] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-71.97513   60.871025]\n [-69.50968   59.2266  ]\n [-70.83799   59.8717  ]\n [-70.48983   59.70686 ]]", "nav_goal": "(87.36642456054688, 152.66542053222656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.3970146 3.4601727], 4.209331512451172 meters away.)"}
{"file_name": "images/scenario_66_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.1) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 4.9 meters away at (0.6, 4.8). A vehicle with ID 67 is 5.7 meters away at (5.7, 0.4). A vehicle with ID 64 is 10.7 meters away at (10.1, -3.4). A vehicle with ID 78 is 16.1 meters away at (-9.3, 13.2). A vehicle with ID 61 is 16.5 meters away at (14.8, -7.2). A pedestrian with ID 36 is 26.9 meters away at (-12.9, 23.6). A pedestrian with ID 60 is 28.1 meters away at (25.2, -12.5). A pedestrian with ID 49 is 30.2 meters away at (-18.7, 23.6). A vehicle with ID 52 is 43.9 meters away at (-25.5, 35.7). A vehicle with ID 58 is 47.4 meters away at (38.6, -27.5).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.00914915 -0.01968635] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.05515536 -0.00519952] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.00365477 0.00131521] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-71.97513   60.871025]\n [-69.50968   59.2266  ]\n [-70.83799   59.8717  ]\n [-70.48983   59.70686 ]]", "nav_goal": "(87.36642456054688, 152.66542053222656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.58158493 4.8383827 ], 4.87321138381958 meters away.)"}
{"file_name": "images/scenario_66_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 5.0) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 4.1 meters away at (2.5, 3.3). A vehicle with ID 73 is 13.3 meters away at (12.3, -5.0). A pedestrian with ID 36 is 13.7 meters away at (-0.9, 13.6). A pedestrian with ID 49 is 15.4 meters away at (-6.9, 13.8). A vehicle with ID 67 is 20.0 meters away at (17.6, -9.6). A pedestrian with ID 28 is 22.7 meters away at (-3.3, 22.4). A vehicle with ID 64 is 25.7 meters away at (21.9, -13.5). A vehicle with ID 52 is 29.1 meters away at (-13.6, 25.8). A vehicle with ID 61 is 31.7 meters away at (26.6, -17.3). A vehicle with ID 37 is 32.6 meters away at (-7.9, 31.7).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.03531828 -0.07234066] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.02043446 -0.00336263] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.23595107 1.3417122 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-71.97513   60.871025]\n [-69.50968   59.2266  ]\n [-70.83799   59.8717  ]\n [-70.48983   59.70686 ]]", "nav_goal": "(87.36642456054688, 152.66542053222656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.5083923 3.275158 ], 4.125371932983398 meters away.)"}
{"file_name": "images/scenario_67_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.7) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 6.4 meters away at (1.0, -6.3). A unknown object with ID 18 is 6.6 meters away at (0.8, -6.5). A unknown object with ID 20 is 7.7 meters away at (-7.4, -2.1). A vehicle with ID 27 is 8.4 meters away at (8.4, -0.5). A pedestrian with ID 25 is 12.4 meters away at (4.5, -11.5). A pedestrian with ID 30 is 42.5 meters away at (41.6, -9.1). A pedestrian with ID 31 is 49.2 meters away at (47.6, -12.2). A vehicle with ID 32 is 53.1 meters away at (47.8, -23.2). A vehicle with ID 35 is 58.8 meters away at (48.7, -32.9). A pedestrian with ID 36 is 70.0 meters away at (55.9, -42.2).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 6.6198297 -4.4139714] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2284594  -0.13469139] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.2561961   0.28198662] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00800649 -0.03993335] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.96239704 -0.9588386 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 1.0276775 -6.2954483], 6.378776550292969 meters away.)"}
{"file_name": "images/scenario_67_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.9) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 13.6 meters away at (7.1, -11.6). A unknown object with ID 18 is 22.4 meters away at (15.5, -16.2). A pedestrian with ID 25 is 26.4 meters away at (16.2, -20.9). A vehicle with ID 27 is 41.2 meters away at (36.4, -19.1). A vehicle with ID 10 is 62.9 meters away at (61.4, -13.5). A vehicle with ID 32 is 70.5 meters away at (62.3, -32.8). A vehicle with ID 7 is 70.6 meters away at (-60.7, 36.1). A vehicle with ID 35 is 76.2 meters away at (63.3, -42.6).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2250105  0.3111344] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 6.7901793 -4.48629  ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  7.1452484 -11.614737 ], 13.636592864990234 meters away.)"}
{"file_name": "images/scenario_67_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 5.3) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 40.5 meters away at (30.7, -26.5). A pedestrian with ID 25 is 42.5 meters away at (29.5, -30.6). A vehicle with ID 7 is 52.3 meters away at (-45.5, 25.9). A vehicle with ID 27 is 75.8 meters away at (65.3, -38.5). A vehicle with ID 10 is 80.0 meters away at (76.4, -23.6).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.9844622   0.41511947] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 6.068466  -3.7855937] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 30.675926 -26.470133], 40.51765441894531 meters away.)"}
{"file_name": "images/scenario_67_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 5.3) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 33.1 meters away at (-29.5, 15.1).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-29.486347  15.141327], 33.14670944213867 meters away.)"}
{"file_name": "images/scenario_68_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -8.1) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 55 is 16.1 meters away at (-15.9, 2.9). A unknown object with ID 57 is 16.3 meters away at (-16.2, 1.8). A unknown object with ID 38 is 19.3 meters away at (-2.7, 19.1). A unknown object with ID 39 is 20.8 meters away at (-2.3, 20.7). A unknown object with ID 42 is 21.0 meters away at (-4.3, 20.6). A unknown object with ID 14 is 21.8 meters away at (-21.8, -0.6). A unknown object with ID 37 is 22.2 meters away at (-1.0, 22.2). A unknown object with ID 44 is 22.4 meters away at (-6.3, 21.5). A unknown object with ID 45 is 24.0 meters away at (-8.0, 22.6). A unknown object with ID 40 is 24.2 meters away at (-0.1, 24.2).", "velocity_description": "The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.615503311157227, -269.66400146484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-15.87867     2.9260664], 16.14602279663086 meters away.)"}
{"file_name": "images/scenario_68_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -7.9) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A unknown object with ID 57 is 20.2 meters away at (-9.2, 18.0). A unknown object with ID 55 is 21.1 meters away at (-8.9, 19.1). A unknown object with ID 38 is 35.5 meters away at (4.3, 35.3). A unknown object with ID 42 is 36.9 meters away at (2.8, 36.8). A unknown object with ID 39 is 37.2 meters away at (4.8, 36.9). A unknown object with ID 44 is 37.5 meters away at (0.9, 37.5). A unknown object with ID 45 is 38.8 meters away at (-1.0, 38.8). A unknown object with ID 37 is 38.9 meters away at (6.1, 38.4). A vehicle with ID 58 is 39.4 meters away at (15.2, 36.4). A unknown object with ID 46 is 40.4 meters away at (-1.7, 40.4).", "velocity_description": "The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-3.5873399 -7.6334944] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.615503311157227, -269.66400146484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-9.235527 17.990528], 20.222612380981445 meters away.)"}
{"file_name": "images/scenario_68_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.5) m/s. Its current heading (yaw) is -1.96 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 32.1 meters away at (-8.5, 30.9). A unknown object with ID 57 is 33.4 meters away at (-2.9, 33.2). A unknown object with ID 55 is 34.5 meters away at (-2.5, 34.4). A unknown object with ID 6 is 36.2 meters away at (-20.0, -30.2). A unknown object with ID 7 is 36.9 meters away at (-21.3, -30.1). A unknown object with ID 5 is 38.1 meters away at (-20.9, -31.9). A vehicle with ID 58 is 40.1 meters away at (15.2, 37.1). A unknown object with ID 42 is 52.8 meters away at (9.3, 51.9). A unknown object with ID 44 is 53.2 meters away at (7.2, 52.7). A unknown object with ID 39 is 53.3 meters away at (11.1, 52.2).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-2.7039943 -6.697655 ] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.615503311157227, -269.66400146484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-8.46455  30.921005], 32.058650970458984 meters away.)"}
{"file_name": "images/scenario_68_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.6) m/s. Its current heading (yaw) is -1.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 20.9 meters away at (-14.4, -15.1). A unknown object with ID 7 is 21.7 meters away at (-15.7, -15.0). A unknown object with ID 5 is 22.6 meters away at (-15.2, -16.8). A vehicle with ID 58 is 43.9 meters away at (16.1, 40.8). A unknown object with ID 29 is 46.1 meters away at (-2.8, 46.0). A unknown object with ID 57 is 48.4 meters away at (2.8, 48.3). A unknown object with ID 55 is 49.5 meters away at (3.2, 49.4). A vehicle with ID 26 is 62.7 meters away at (1.3, 62.7). A vehicle with ID 21 is 63.8 meters away at (-32.4, 54.9). A unknown object with ID 42 is 68.7 meters away at (14.9, 67.0).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-2.357443 -4.657312] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.52095264 -0.86460024] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.615503311157227, -269.66400146484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-14.422153 -15.06879 ], 20.858259201049805 meters away.)"}
{"file_name": "images/scenario_69_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -2.5) m/s. Its current heading (yaw) is -1.00 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 15.0 meters away at (14.4, -4.1). A unknown object with ID 56 is 16.3 meters away at (15.9, -3.7). A unknown object with ID 32 is 16.3 meters away at (16.1, -2.5). A unknown object with ID 17 is 16.4 meters away at (15.7, -4.7). A unknown object with ID 30 is 17.0 meters away at (16.5, -4.2). A unknown object with ID 31 is 17.1 meters away at (16.8, -3.1). A unknown object with ID 36 is 19.0 meters away at (-8.2, -17.1). A vehicle with ID 60 is 20.0 meters away at (-9.0, 17.8). A vehicle with ID 52 is 23.6 meters away at (-5.5, 23.0). A pedestrian with ID 57 is 23.8 meters away at (-9.0, 22.0).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 1.8141569 -1.2537638] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.00910279 -0.00313574] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 71.78479  -36.83614 ]\n [ 70.86091  -40.090637]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [14.448986  -4.1318746], 15.028159141540527 meters away.)"}
{"file_name": "images/scenario_69_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -1.8) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 9.2 meters away at (9.2, 0.4). A unknown object with ID 17 is 10.4 meters away at (10.4, -0.2). A unknown object with ID 56 is 10.6 meters away at (10.6, 0.8). A unknown object with ID 32 is 11.0 meters away at (10.8, 2.1). A unknown object with ID 30 is 11.2 meters away at (11.2, 0.3). A unknown object with ID 31 is 11.6 meters away at (11.5, 1.4). A vehicle with ID 52 is 25.7 meters away at (-8.0, 24.5). A vehicle with ID 60 is 26.5 meters away at (-14.4, 22.2). A pedestrian with ID 57 is 30.1 meters away at (-14.4, 26.4). A vehicle with ID 63 is 32.1 meters away at (-20.6, 24.7).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 1.2591357 -1.5803459] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.00536436 -0.01135188] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 79.50917  -40.461636]\n [ 79.62625  -40.24075 ]\n [ 71.78479  -36.83614 ]\n [ 79.72932  -40.57277 ]\n [ 70.86091  -40.090637]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [9.186374  0.3510065], 9.193077087402344 meters away.)"}
{"file_name": "images/scenario_69_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -1.8) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 4.1 meters away at (1.7, 3.8). A unknown object with ID 17 is 4.3 meters away at (2.9, 3.2). A unknown object with ID 56 is 5.2 meters away at (3.1, 4.2). A unknown object with ID 30 is 5.3 meters away at (3.8, 3.7). A unknown object with ID 31 is 6.3 meters away at (4.0, 4.8). A unknown object with ID 32 is 6.5 meters away at (3.3, 5.5). A unknown object with ID 39 is 22.6 meters away at (6.7, -21.6). A vehicle with ID 52 is 27.4 meters away at (-13.4, 23.9). A unknown object with ID 4 is 32.7 meters away at (18.8, -26.7). A vehicle with ID 60 is 33.8 meters away at (-22.0, 25.7).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 0.72870326 -2.0434923 ] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 68.95265  -43.287693]\n [ 70.74627  -40.322147]\n [ 79.50917  -40.461636]\n [ 79.62625  -40.24075 ]\n [ 68.721375 -51.798004]\n [ 72.03765  -52.985275]\n [ 71.78479  -36.83614 ]\n [ 79.72932  -40.57277 ]\n [ 70.86091  -40.090637]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.7020168 3.7587318], 4.126127243041992 meters away.)"}
{"file_name": "images/scenario_69_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -1.8) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 8.8 meters away at (-4.7, 7.4). A unknown object with ID 17 is 8.8 meters away at (-5.6, 6.8). A unknown object with ID 31 is 9.6 meters away at (-4.5, 8.5). A unknown object with ID 29 is 10.0 meters away at (-6.8, 7.3). A unknown object with ID 32 is 10.5 meters away at (-5.1, 9.2). A unknown object with ID 39 is 18.0 meters away at (-1.8, -18.0). A unknown object with ID 9 is 19.6 meters away at (1.9, -19.5). A unknown object with ID 7 is 21.5 meters away at (5.2, -20.8). A unknown object with ID 5 is 23.5 meters away at (7.9, -22.1). A unknown object with ID 4 is 25.2 meters away at (10.2, -23.0).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 79.50917  -40.461636]\n [ 79.62625  -40.24075 ]\n [ 68.721375 -51.798004]\n [ 72.03765  -52.985275]\n [ 71.78479  -36.83614 ]\n [ 79.72932  -40.57277 ]\n [ 70.86091  -40.090637]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-4.736498  7.359973], 8.752348899841309 meters away.)"}
{"file_name": "images/scenario_70_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 2.3) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 91 is 6.0 meters away at (-4.4, -4.0). A unknown object with ID 88 is 6.4 meters away at (6.3, -1.5). A pedestrian with ID 92 is 8.7 meters away at (-0.3, 8.7). A unknown object with ID 89 is 9.2 meters away at (3.3, -8.6). A pedestrian with ID 94 is 11.0 meters away at (-10.0, -4.5). A vehicle with ID 19 is 11.3 meters away at (9.4, -6.3). A unknown object with ID 95 is 20.1 meters away at (18.3, -8.4). A vehicle with ID 96 is 20.9 meters away at (17.9, -10.8). A unknown object with ID 54 is 29.1 meters away at (26.1, -13.0). A vehicle with ID 40 is 29.3 meters away at (25.2, -14.9).", "velocity_description": "The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.759723   1.2066281] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 0.04492603 -0.02111685] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.3838537   0.22513047] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [-0.28337878  0.1553343 ] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-7.4851437  5.3274083]\n [-7.6506233  4.6075153]\n [-7.733141   4.956164 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-4.4181433 -4.021269 ], 5.974160671234131 meters away.)"}
{"file_name": "images/scenario_70_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 5.2) m/s. Its current heading (yaw) is 2.32 ", "actor_description": " The most relevant actors are: A pedestrian with ID 92 is 7.5 meters away at (6.5, 3.7). A vehicle with ID 112 is 10.1 meters away at (-9.8, 2.7). A pedestrian with ID 94 is 12.2 meters away at (-1.3, -12.1). A unknown object with ID 91 is 12.3 meters away at (4.2, -11.6). A unknown object with ID 71 is 12.6 meters away at (11.8, -4.2). A pedestrian with ID 83 is 17.9 meters away at (-3.5, 17.5). A vehicle with ID 19 is 18.7 meters away at (14.5, -11.8). A unknown object with ID 89 is 20.1 meters away at (12.0, -16.1). A unknown object with ID 55 is 21.8 meters away at (-5.1, 21.2). A pedestrian with ID 103 is 22.2 meters away at (-9.3, 20.2).", "velocity_description": "The pedestrian with ID 92 is traveling at a (x, y) velocity of [-1.0484043  1.2639214] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [ 5.282095 -5.533476] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.02707557 -0.00462861] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.78669107  0.9468828 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.1634383  1.907745 ] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.07723118  0.7660239 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [6.4844465 3.6888046], 7.460249900817871 meters away.)"}
{"file_name": "images/scenario_70_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 7.2) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A pedestrian with ID 83 is 8.4 meters away at (5.1, 6.6). A pedestrian with ID 103 is 9.4 meters away at (0.9, 9.4). A pedestrian with ID 60 is 11.5 meters away at (3.3, 11.0). A pedestrian with ID 107 is 15.7 meters away at (3.6, 15.2). A pedestrian with ID 109 is 15.9 meters away at (2.9, 15.6). A pedestrian with ID 92 is 16.3 meters away at (14.9, -6.6). A vehicle with ID 117 is 21.1 meters away at (-9.7, 18.7). A vehicle with ID 87 is 22.6 meters away at (-21.3, -7.5). A unknown object with ID 56 is 23.7 meters away at (-23.3, 4.1). A vehicle with ID 112 is 24.6 meters away at (13.0, -20.9).", "velocity_description": "The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.7482316  1.0015332] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.1688466  0.9969005] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.4197194 -1.1568241] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [0.3252831 0.5760374] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [0.15486695 0.38608938] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.81970996  1.1581758 ] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [ 7.046627  -5.1180816] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [5.1109333 6.6101894], 8.355610847473145 meters away.)"}
{"file_name": "images/scenario_70_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 7.8) m/s. Its current heading (yaw) is 2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 117 is 4.0 meters away at (1.6, 3.6). A vehicle with ID 43 is 7.9 meters away at (-1.3, 7.8). A pedestrian with ID 103 is 12.0 meters away at (11.3, -4.1). A pedestrian with ID 109 is 13.9 meters away at (13.9, -0.1). A pedestrian with ID 60 is 16.1 meters away at (14.6, -6.8). A pedestrian with ID 83 is 16.6 meters away at (15.3, -6.5). A vehicle with ID 66 is 17.9 meters away at (-7.7, 16.2). A vehicle with ID 118 is 20.2 meters away at (-16.3, -12.0). A vehicle with ID 57 is 23.5 meters away at (-10.9, 20.8). A vehicle with ID 87 is 24.8 meters away at (-10.2, -22.6).", "velocity_description": "The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.54915416  0.7290794 ] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-0.77525   -0.2605539] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.27447233 -1.1410863 ] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.64273363  1.0506011 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [-0.99141395 -2.6630843 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.075047    3.2334723]\n [-27.60541     2.9213686]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.638195 3.622799], 3.9759721755981445 meters away.)"}
{"file_name": "images/scenario_71_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 10.2) m/s. Its current heading (yaw) is 1.94 ", "actor_description": " The most relevant actors are: A pedestrian with ID 14 is 13.6 meters away at (8.0, -11.0). A pedestrian with ID 13 is 14.0 meters away at (7.3, -11.9). A pedestrian with ID 1 is 14.7 meters away at (6.9, -12.9). A pedestrian with ID 5 is 15.5 meters away at (7.2, -13.7). A pedestrian with ID 15 is 15.5 meters away at (10.7, -11.2). A pedestrian with ID 12 is 16.3 meters away at (9.9, -12.9). A vehicle with ID 11 is 19.3 meters away at (9.3, -16.9). A vehicle with ID 16 is 39.3 meters away at (15.6, -36.1). A pedestrian with ID 21 is 40.1 meters away at (-24.6, 31.6). A vehicle with ID 17 is 53.5 meters away at (20.3, -49.5).", "velocity_description": "The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.13871452 0.09050892] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.21707174 0.08935084] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.7912768  -0.37562937] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.07214759 -0.00787921] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.04488182  0.01157414] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.17592557  0.08047725] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.50935376 -1.2899523 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-114.1851577758789, 279.14764404296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  7.9684844 -11.033707 ], 13.610269546508789 meters away.)"}
{"file_name": "images/scenario_71_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 9.9) m/s. Its current heading (yaw) is 1.95 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 18.2 meters away at (-15.7, 9.1). A pedestrian with ID 14 is 34.8 meters away at (16.0, -30.9). A pedestrian with ID 13 is 35.5 meters away at (15.5, -32.0). A pedestrian with ID 3 is 35.6 meters away at (16.9, -31.3). A pedestrian with ID 15 is 36.2 meters away at (18.2, -31.3). A pedestrian with ID 5 is 36.7 meters away at (14.9, -33.6). A pedestrian with ID 12 is 37.1 meters away at (17.6, -32.7). A pedestrian with ID 1 is 38.1 meters away at (14.6, -35.2). A vehicle with ID 11 is 40.5 meters away at (17.1, -36.7).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.44894448 -1.3047212 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.09211837 0.01338456] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.22981825 -0.04627982] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.08752809 0.02906592] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.2110084  -0.05609594] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.00822694  0.02917116] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00406752  0.00283249] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.55419415 -1.1207528 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-114.1851577758789, 279.14764404296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-15.720918   9.144192], 18.186904907226562 meters away.)"}
{"file_name": "images/scenario_71_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 10.1) m/s. Its current heading (yaw) is 1.95 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 14.9 meters away at (-6.5, -13.4). A pedestrian with ID 14 is 56.1 meters away at (24.0, -50.7). A pedestrian with ID 13 is 56.8 meters away at (23.6, -51.7). A pedestrian with ID 15 is 57.7 meters away at (26.3, -51.3). A pedestrian with ID 5 is 58.2 meters away at (23.1, -53.4). A pedestrian with ID 12 is 58.5 meters away at (25.8, -52.5). A pedestrian with ID 2 is 59.3 meters away at (24.1, -54.2). A pedestrian with ID 8 is 59.8 meters away at (24.2, -54.7). A pedestrian with ID 1 is 61.6 meters away at (23.8, -56.8). A vehicle with ID 11 is 61.8 meters away at (25.2, -56.5).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.55843025 -1.1642975 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.32464373 -0.06538098] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.3579949  -0.05548527] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01930903 -0.03864763] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.00374692 -0.00112046] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.03469408  0.01530034] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.07732109 -0.04755171] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.0225004  -0.02660083] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.03352989 -0.15844655] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-114.1851577758789, 279.14764404296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ -6.4712734 -13.411076 ], 14.890746116638184 meters away.)"}
{"file_name": "images/scenario_71_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.1) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 36.5 meters away at (3.1, -36.4). A pedestrian with ID 13 is 78.3 meters away at (30.9, -72.0). A pedestrian with ID 14 is 78.4 meters away at (32.1, -71.5).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.51587737 -1.2154115 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.31519723  0.6549052 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.1188452   0.06048893] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-114.1851577758789, 279.14764404296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  3.0549736 -36.418316 ], 36.546226501464844 meters away.)"}
{"file_name": "images/scenario_72_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 1.0) m/s. Its current heading (yaw) is 0.46 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 28.4 meters away at (14.6, -24.4). A vehicle with ID 11 is 35.5 meters away at (-0.8, 35.5). A vehicle with ID 12 is 51.6 meters away at (0.3, -51.6). A unknown object with ID 3 is 62.1 meters away at (-0.9, 62.1).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.75082016 0.9138766 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.5605035 -3.4747205] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 14.615746 -24.374905], 28.421049118041992 meters away.)"}
{"file_name": "images/scenario_72_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -0.7) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 26.1 meters away at (12.3, -23.0). A vehicle with ID 11 is 35.6 meters away at (-4.6, 35.3). A unknown object with ID 4 is 37.7 meters away at (-16.1, 34.1). A vehicle with ID 12 is 59.3 meters away at (-8.1, -58.7). A unknown object with ID 3 is 62.1 meters away at (-4.7, 61.9).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.8342318 0.8063171] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.5501435 -2.8429432] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 12.255426 -23.028511], 26.086544036865234 meters away.)"}
{"file_name": "images/scenario_72_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -1.5) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 21.8 meters away at (10.2, -19.3). A vehicle with ID 11 is 38.4 meters away at (-8.2, 37.5). A cyclist with ID 8 is 62.3 meters away at (2.2, -62.2). A vehicle with ID 5 is 74.1 meters away at (-4.1, 73.9).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.63290924 0.78738874] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [7.3321743 3.1151593] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-4.49169   -1.4485471] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 10.156563 -19.283716], 21.79489517211914 meters away.)"}
{"file_name": "images/scenario_72_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -2.4) m/s. Its current heading (yaw) is -1.05 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 15.9 meters away at (8.2, -13.6). A vehicle with ID 11 is 43.1 meters away at (-11.8, 41.5). A vehicle with ID 2 is 66.3 meters away at (-37.6, -54.5). A vehicle with ID 1 is 71.0 meters away at (-14.1, 69.6).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.7418706 0.8245696] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.646196   1.5155158] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.4326051 -5.9309006] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  8.2188635 -13.580954 ], 15.87425708770752 meters away.)"}
{"file_name": "images/scenario_73_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -2.1) m/s. Its current heading (yaw) is -2.03 ", "actor_description": " The most relevant actors are: A unknown object with ID 60 is 8.9 meters away at (8.9, 0.7). A unknown object with ID 59 is 9.0 meters away at (8.7, 2.2). A vehicle with ID 63 is 9.8 meters away at (6.3, 7.5). A pedestrian with ID 62 is 14.8 meters away at (0.4, 14.8). A vehicle with ID 66 is 19.5 meters away at (9.7, 16.9). A vehicle with ID 58 is 22.4 meters away at (8.4, -20.8). A vehicle with ID 68 is 23.1 meters away at (-23.1, 0.8). A vehicle with ID 70 is 25.4 meters away at (13.5, 21.5). A vehicle with ID 56 is 26.9 meters away at (14.3, -22.8). A unknown object with ID 39 is 27.2 meters away at (9.9, 25.4).", "velocity_description": "The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-1.1991822 -1.3777208] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.9962386  0.75897354] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.097604751586914, 10.954154014587402)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [8.897802  0.6660508], 8.922696113586426 meters away.)"}
{"file_name": "images/scenario_73_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -4.6) m/s. Its current heading (yaw) is -1.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 12.2 meters away at (4.4, 11.4). A vehicle with ID 58 is 16.5 meters away at (9.3, -13.7). A vehicle with ID 90 is 20.1 meters away at (17.8, -9.2). A vehicle with ID 88 is 20.7 meters away at (-15.7, -13.4). A vehicle with ID 56 is 21.9 meters away at (15.2, -15.8). A vehicle with ID 68 is 23.5 meters away at (-22.2, 7.8). A pedestrian with ID 62 is 23.6 meters away at (3.2, 23.4). A vehicle with ID 66 is 26.2 meters away at (10.7, 23.9). A vehicle with ID 55 is 27.4 meters away at (21.0, -17.7). A vehicle with ID 78 is 28.8 meters away at (-17.1, -23.1).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [-1.9121468 -2.1293564] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-4.3790283  1.6459528] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0.39604303 4.0099    ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.8815248  0.82259727] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.097604751586914, 10.954154014587402)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.3741446 11.381241 ], 12.19285774230957 meters away.)"}
{"file_name": "images/scenario_73_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -2.8) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 6.6 meters away at (3.4, -5.7). A vehicle with ID 90 is 7.0 meters away at (7.0, 0.7). A vehicle with ID 56 is 12.1 meters away at (9.3, -7.7). A pedestrian with ID 29 is 13.2 meters away at (-5.7, -12.0). A vehicle with ID 63 is 16.1 meters away at (-5.5, 15.2). A vehicle with ID 55 is 17.9 meters away at (15.1, -9.6). A vehicle with ID 54 is 23.3 meters away at (20.1, -11.8). A vehicle with ID 88 is 24.7 meters away at (-24.3, 4.0). A vehicle with ID 78 is 27.5 meters away at (-22.8, -15.3). A vehicle with ID 53 is 29.0 meters away at (25.2, -14.3).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-1.1018524  0.4133736] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.04193489 -0.01999349] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-2.1786573 -2.371454 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [-3.4495163  5.003865 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.097604751586914, 10.954154014587402)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.3753428 -5.7126617], 6.635317802429199 meters away.)"}
{"file_name": "images/scenario_73_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.2) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 3.6 meters away at (-1.7, -3.1). A vehicle with ID 55 is 6.4 meters away at (4.0, -5.0). A vehicle with ID 58 is 7.6 meters away at (-7.5, -1.1). A vehicle with ID 90 is 8.1 meters away at (-5.5, 5.9). A vehicle with ID 54 is 11.5 meters away at (9.1, -7.1). A vehicle with ID 53 is 17.1 meters away at (14.1, -9.7). A vehicle with ID 16 is 22.7 meters away at (19.1, -12.3). A vehicle with ID 63 is 26.0 meters away at (-22.5, 13.1). A vehicle with ID 100 is 33.1 meters away at (-32.9, -3.8). A vehicle with ID 78 is 35.5 meters away at (-33.9, -10.8).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-3.9092696 -4.6041083] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0.9301094 1.0845491] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.097604751586914, 10.954154014587402)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.7301502 -3.106907 ], 3.556162118911743 meters away.)"}
{"file_name": "images/scenario_74_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, 10.2) m/s. Its current heading (yaw) is 1.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 14.5 meters away at (-13.1, -6.1). A vehicle with ID 26 is 15.5 meters away at (10.8, 11.1). A vehicle with ID 9 is 53.0 meters away at (-22.1, -48.2). A vehicle with ID 18 is 55.5 meters away at (45.0, 32.4). A vehicle with ID 29 is 57.0 meters away at (-26.6, -50.4). A pedestrian with ID 30 is 73.5 meters away at (-48.3, -55.5).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.0274017 -1.3203219] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 9.049539 13.906146] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 4.8380775 10.870103 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -9.935601 -14.011807] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [3.48278   7.7964287] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.26522905  1.2939719 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(138.39002990722656, 260.67327880859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-13.144253   -6.1357946], 14.505838394165039 meters away.)"}
{"file_name": "images/scenario_74_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, 10.3) m/s. Its current heading (yaw) is 0.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 20.6 meters away at (11.7, -16.9). A vehicle with ID 26 is 24.7 meters away at (15.9, 18.9). A pedestrian with ID 27 is 41.4 meters away at (-28.7, -29.8). A vehicle with ID 9 is 52.2 meters away at (-25.0, -45.8). A cyclist with ID 20 is 53.9 meters away at (45.2, 29.4). A vehicle with ID 29 is 63.8 meters away at (-33.1, -54.6). A vehicle with ID 10 is 67.6 meters away at (49.2, 46.4).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [ -9.237199 -14.097083] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 9.847107 14.573088] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.9334713 -1.3637537] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.2029204 12.024973 ] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ -7.720466 -11.220837] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [3.7140427 8.642965 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ -9.522299 -12.568863] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(138.39002990722656, 260.67327880859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 11.717381 -16.908062], 20.57132911682129 meters away.)"}
{"file_name": "images/scenario_74_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, 10.5) m/s. Its current heading (yaw) is 0.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 15.3 meters away at (15.3, 0.1). A cyclist with ID 20 is 20.1 meters away at (13.7, -14.8). A vehicle with ID 21 is 29.6 meters away at (27.8, 10.2). A vehicle with ID 26 is 34.8 meters away at (21.3, 27.6). A vehicle with ID 11 is 45.9 meters away at (38.4, 25.2). A vehicle with ID 9 is 50.2 meters away at (-26.3, -42.7). A vehicle with ID 13 is 55.0 meters away at (46.2, 29.7). A vehicle with ID 18 is 68.1 meters away at (-19.8, -65.1). A pedestrian with ID 27 is 70.0 meters away at (-45.3, -53.3). A vehicle with ID 29 is 70.4 meters away at (-40.5, -57.6).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [ -9.420498 -12.658856] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ -8.481882 -12.226339] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ -9.2221775 -12.242355 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [10.423261 14.770393] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ -8.404775 -11.461   ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.600366 12.087802] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ -7.4708467 -10.176916 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -7.485945 -13.550162] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.88142145 -1.2956903 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [3.8957243 8.7912855] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(138.39002990722656, 260.67327880859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [15.262623    0.09434891], 15.262914657592773 meters away.)"}
{"file_name": "images/scenario_74_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, 10.2) m/s. Its current heading (yaw) is 0.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 19.4 meters away at (15.6, -11.5). A vehicle with ID 11 is 20.0 meters away at (5.5, -19.3). A vehicle with ID 21 is 36.0 meters away at (-6.3, -35.4). A vehicle with ID 16 is 40.9 meters away at (33.5, 23.5). A vehicle with ID 26 is 45.5 meters away at (26.7, 36.8). A vehicle with ID 9 is 46.5 meters away at (-25.3, -39.0). A vehicle with ID 10 is 50.3 meters away at (-19.2, -46.5). A cyclist with ID 22 is 62.3 meters away at (-18.0, -59.7). A cyclist with ID 20 is 62.6 meters away at (-18.5, -59.8). A vehicle with ID 29 is 76.9 meters away at (-46.6, -61.1).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [ -7.8990345 -10.566427 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ -9.245626 -12.414959] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ -9.615696 -12.839181] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.8939457 -9.497971 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [10.116557 15.095738] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 8.639101 12.272458] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ -9.898906 -13.466355] m/s.The cyclist with ID 22 is traveling at a (x, y) velocity of [ -7.6110373 -12.179074 ] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ -8.234676 -12.42254 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [5.190727 8.461237] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(138.39002990722656, 260.67327880859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 15.591263 -11.523956], 19.38785743713379 meters away.)"}
{"file_name": "images/scenario_75_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -3.7) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 3.7 meters away at (-2.9, 2.3). A pedestrian with ID 69 is 5.3 meters away at (-0.4, 5.3). A vehicle with ID 72 is 6.3 meters away at (4.5, -4.4). A vehicle with ID 73 is 6.9 meters away at (-6.6, -2.1). A vehicle with ID 67 is 9.4 meters away at (0.1, -9.4). A vehicle with ID 68 is 10.6 meters away at (10.2, 2.9). A vehicle with ID 25 is 13.8 meters away at (-11.4, -7.8). A vehicle with ID 66 is 15.7 meters away at (-4.7, -14.9). A vehicle with ID 28 is 20.0 meters away at (-15.6, -12.5). A vehicle with ID 75 is 31.5 meters away at (19.9, 24.4).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.01696899 -0.16563274] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-161.63299560546875, -247.30099487304688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.8793607  2.294993 ], 3.682079553604126 meters away.)"}
{"file_name": "images/scenario_75_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -4.4) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 4.2 meters away at (-4.2, 0.3). A vehicle with ID 73 is 5.9 meters away at (0.6, 5.9). A vehicle with ID 66 is 7.4 meters away at (2.5, -6.9). A vehicle with ID 67 is 7.5 meters away at (7.4, -1.3). A vehicle with ID 28 is 9.5 meters away at (-8.4, -4.4). A vehicle with ID 70 is 11.2 meters away at (4.4, 10.3). A vehicle with ID 72 is 12.2 meters away at (11.7, 3.6). A pedestrian with ID 69 is 15.0 meters away at (6.9, 13.3). A vehicle with ID 68 is 20.5 meters away at (17.4, 10.9). A unknown object with ID 26 is 20.9 meters away at (-15.4, -14.2).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.00348059 -0.04489205] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-161.63299560546875, -247.30099487304688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.1562815   0.26679993], 4.1648359298706055 meters away.)"}
{"file_name": "images/scenario_75_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -5.1) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 4.8 meters away at (-0.2, 4.8). A unknown object with ID 26 is 8.6 meters away at (-7.1, -4.9). A unknown object with ID 79 is 9.0 meters away at (-7.9, -4.2). A vehicle with ID 25 is 10.4 meters away at (4.1, 9.5). A vehicle with ID 66 is 11.0 meters away at (10.8, 2.3). A pedestrian with ID 74 is 11.8 meters away at (0.6, -11.8). A pedestrian with ID 76 is 13.1 meters away at (-12.4, -4.1). A unknown object with ID 27 is 13.3 meters away at (-10.2, -8.5). A unknown object with ID 80 is 13.6 meters away at (-11.1, -7.8). A vehicle with ID 65 is 16.2 meters away at (-4.6, -15.5).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.5170196 1.3941274] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.9803583 1.1369983] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-161.63299560546875, -247.30099487304688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.17324448  4.841078  ], 4.844176769256592 meters away.)"}
{"file_name": "images/scenario_75_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.8) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A unknown object with ID 27 is 2.3 meters away at (-2.0, 1.1). A unknown object with ID 80 is 3.4 meters away at (-2.9, 1.8). A unknown object with ID 26 is 4.9 meters away at (1.1, 4.8). A unknown object with ID 79 is 5.5 meters away at (0.3, 5.5). A vehicle with ID 24 is 5.7 meters away at (-5.6, -1.1). A vehicle with ID 65 is 6.8 meters away at (3.5, -5.9). A pedestrian with ID 74 is 8.0 meters away at (8.0, 0.7). A pedestrian with ID 76 is 8.3 meters away at (-2.0, 8.0). A vehicle with ID 64 is 9.9 meters away at (-0.2, -9.9). A pedestrian with ID 59 is 13.3 meters away at (5.8, -11.9).", "velocity_description": "The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.7465243  1.2167543] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.96083915 1.3685551 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.02195565 -0.00572467] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-161.63299560546875, -247.30099487304688)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.0298672  1.1408844], 2.3285140991210938 meters away.)"}
{"file_name": "images/scenario_76_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.0) m/s. Its current heading (yaw) is -2.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 27.4 meters away at (-10.4, 25.3). A unknown object with ID 25 is 31.1 meters away at (10.8, 29.2). A pedestrian with ID 24 is 48.3 meters away at (-44.6, -18.5). A pedestrian with ID 4 is 49.1 meters away at (-45.5, -18.4).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01080109 -0.00037708] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00753153  0.00204516] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-47.05059814453125, -41.14072799682617)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.406488  25.31832 ], 27.37356948852539 meters away.)"}
{"file_name": "images/scenario_76_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.4) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 35.0 meters away at (12.3, 32.7). A pedestrian with ID 17 is 41.1 meters away at (24.7, -32.8). A pedestrian with ID 24 is 45.5 meters away at (-42.9, -15.0). A pedestrian with ID 4 is 46.4 meters away at (-43.7, -15.5).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.89976764 0.3316099 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.02092511 -0.02202847] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.12332284 -0.15826687] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-47.05059814453125, -41.14072799682617)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [12.323609 32.723015], 34.96665573120117 meters away.)"}
{"file_name": "images/scenario_76_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.5) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 31.5 meters away at (-28.9, -12.5). A unknown object with ID 25 is 35.5 meters away at (12.6, 33.2). A pedestrian with ID 17 is 42.5 meters away at (27.3, -32.6). A pedestrian with ID 10 is 42.8 meters away at (27.0, -33.3). A pedestrian with ID 24 is 45.1 meters away at (-42.6, -14.6). A pedestrian with ID 4 is 45.6 meters away at (-42.9, -15.6).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [4.15188  4.742869] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.2072333  -0.40661705] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.96084833 0.07579006] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.05136915 0.00879118] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.67262965 -0.14799455] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-47.05059814453125, -41.14072799682617)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-28.94004  -12.519875], 31.5320987701416 meters away.)"}
{"file_name": "images/scenario_76_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -2.0) m/s. Its current heading (yaw) is -2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 18.9 meters away at (-18.4, -4.4). A vehicle with ID 5 is 33.9 meters away at (-30.5, -14.7). A unknown object with ID 25 is 39.3 meters away at (14.6, 36.5). A pedestrian with ID 24 is 41.3 meters away at (-39.4, -12.4). A pedestrian with ID 4 is 41.9 meters away at (-39.8, -13.3). A pedestrian with ID 2 is 42.4 meters away at (-40.8, -11.8). A pedestrian with ID 7 is 43.6 meters away at (31.9, -29.7).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [3.283173   0.71328694] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [2.884125  5.0276494] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.60222244 -0.7503318 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.51890624 -0.58521414] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.41520947 -0.82241035] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.9750007  -0.66368574] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-47.05059814453125, -41.14072799682617)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-18.388088   -4.3907614], 18.905040740966797 meters away.)"}
{"file_name": "images/scenario_77_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -5.2) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 7.0 meters away at (2.2, 6.6). A vehicle with ID 42 is 8.5 meters away at (8.2, 2.2). A vehicle with ID 36 is 13.2 meters away at (-4.7, 12.3). A vehicle with ID 45 is 14.9 meters away at (14.6, -3.1). A vehicle with ID 40 is 16.3 meters away at (-15.0, -6.4). A vehicle with ID 38 is 16.3 meters away at (-2.9, 16.1). A vehicle with ID 41 is 18.7 meters away at (-16.4, -9.0). A vehicle with ID 37 is 20.0 meters away at (-10.7, 16.9). A vehicle with ID 46 is 21.5 meters away at (-7.2, -20.2). A vehicle with ID 30 is 24.0 meters away at (-20.3, -12.8).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.205326   14.9192095]\n [-19.257847   12.30046  ]\n [ -7.817817   15.689926 ]\n [ -5.2351108  17.7219   ]]", "nav_goal": "(226.98890686035156, -192.39511108398438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.2251816 6.598051 ], 6.963168144226074 meters away.)"}
{"file_name": "images/scenario_77_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -5.7) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 7.8 meters away at (1.4, 7.7). A vehicle with ID 42 is 13.8 meters away at (-5.0, 12.9). A vehicle with ID 64 is 18.9 meters away at (18.8, -1.3). A vehicle with ID 39 is 20.5 meters away at (-11.0, 17.3). A vehicle with ID 46 is 22.5 meters away at (-20.4, -9.5). A vehicle with ID 50 is 27.1 meters away at (-23.7, -13.2). A vehicle with ID 40 is 28.6 meters away at (-28.3, 4.5). A pedestrian with ID 23 is 29.1 meters away at (7.9, -28.0). A vehicle with ID 36 is 29.3 meters away at (-18.0, 23.0). A vehicle with ID 53 is 29.5 meters away at (-25.1, -15.4).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.00804861 -0.04207361] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 86.38643   -67.72871  ]\n [-17.205326   14.9192095]\n [-19.257847   12.30046  ]\n [ 86.00945   -68.28994  ]]", "nav_goal": "(226.98890686035156, -192.39511108398438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.3610191 7.700574 ], 7.819924354553223 meters away.)"}
{"file_name": "images/scenario_77_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -5.8) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 11.2 meters away at (5.4, 9.8). A vehicle with ID 72 is 16.9 meters away at (-2.1, -16.8). A vehicle with ID 45 is 22.3 meters away at (-12.1, 18.7). A vehicle with ID 19 is 24.0 meters away at (20.5, -12.5). A vehicle with ID 77 is 25.8 meters away at (25.1, -6.1). A vehicle with ID 42 is 30.3 meters away at (-18.5, 24.0). A vehicle with ID 13 is 31.9 meters away at (30.2, -10.2). A vehicle with ID 46 is 34.0 meters away at (-34.0, 1.7). A vehicle with ID 50 is 37.2 meters away at (-37.2, -2.1). A vehicle with ID 39 is 37.6 meters away at (-24.6, 28.4).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 2.1056972 -1.9415151] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 86.38643 -67.72871]\n [ 86.00945 -68.28994]]", "nav_goal": "(226.98890686035156, -192.39511108398438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.3946075 9.790243 ], 11.178133010864258 meters away.)"}
{"file_name": "images/scenario_77_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -6.1) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 9.8 meters away at (9.2, -3.4). A vehicle with ID 77 is 12.2 meters away at (10.9, 5.4). A vehicle with ID 13 is 16.2 meters away at (16.1, 1.2). A vehicle with ID 18 is 17.1 meters away at (-16.2, -5.5). A vehicle with ID 34 is 20.0 meters away at (17.7, -9.3). A vehicle with ID 64 is 22.9 meters away at (-8.7, 21.2). A vehicle with ID 7 is 29.8 meters away at (25.3, -15.8). A vehicle with ID 45 is 40.0 meters away at (-26.2, 30.2). A vehicle with ID 42 is 48.2 meters away at (-32.7, 35.5). A vehicle with ID 46 is 49.9 meters away at (-48.1, 13.2).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.6348849 -0.8880316] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 86.38643 -67.72871]\n [ 86.00945 -68.28994]]", "nav_goal": "(226.98890686035156, -192.39511108398438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 9.201839  -3.4248161], 9.818513870239258 meters away.)"}
{"file_name": "images/scenario_78_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.1) m/s. Its current heading (yaw) is 1.30 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 5.1 meters away at (-2.0, 4.7). A vehicle with ID 28 is 10.1 meters away at (2.1, 9.9). A vehicle with ID 29 is 19.0 meters away at (9.6, -16.4). A vehicle with ID 36 is 23.7 meters away at (10.0, -21.5). A vehicle with ID 41 is 28.4 meters away at (7.1, -27.5). A pedestrian with ID 10 is 35.8 meters away at (-19.3, 30.1). A vehicle with ID 40 is 41.1 meters away at (17.9, 37.0). A unknown object with ID 45 is 46.7 meters away at (14.2, 44.5). A vehicle with ID 44 is 50.8 meters away at (17.9, 47.6). A pedestrian with ID 46 is 51.8 meters away at (1.6, 51.8).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-1.5558219 -2.03045  ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.46740657 0.9836293 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.03175351 -1.4539429 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 4.115702  23.667557 ]\n [ 5.1849566 23.619564 ]\n [19.34877   34.72296  ]\n [16.250792  35.628994 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-1.9701976  4.7478294], 5.140385150909424 meters away.)"}
{"file_name": "images/scenario_78_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 9.3 meters away at (1.9, 9.1). A vehicle with ID 29 is 23.5 meters away at (5.5, -22.8). A vehicle with ID 36 is 24.3 meters away at (9.8, -22.2). A vehicle with ID 41 is 29.1 meters away at (7.0, -28.2). A pedestrian with ID 24 is 36.3 meters away at (-17.4, 31.9). A vehicle with ID 40 is 40.2 meters away at (17.7, 36.2). A vehicle with ID 23 is 40.6 meters away at (38.7, 12.2). A unknown object with ID 45 is 45.8 meters away at (14.0, 43.6). A pedestrian with ID 46 is 48.0 meters away at (1.3, 48.0). A vehicle with ID 44 is 49.9 meters away at (17.6, 46.7).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-2.0967433 -3.8849251] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.17163481 0.9308141 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-3.0339634   0.92262554] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.06830382 -1.5010016 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[30.04888   22.375341 ]\n [ 4.115702  23.667557 ]\n [30.026274  22.313082 ]\n [29.691122  20.053694 ]\n [ 5.1849566 23.619564 ]\n [19.34877   34.72296  ]\n [16.250792  35.628994 ]\n [30.00825   22.260237 ]\n [30.119867  22.557867 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [1.8643512 9.064365 ], 9.254108428955078 meters away.)"}
{"file_name": "images/scenario_78_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 9.2 meters away at (1.8, 9.0). A vehicle with ID 36 is 24.3 meters away at (9.7, -22.3). A vehicle with ID 41 is 29.2 meters away at (6.9, -28.3). A vehicle with ID 29 is 32.2 meters away at (1.2, -32.2). A pedestrian with ID 21 is 36.2 meters away at (-17.1, 32.0). A vehicle with ID 23 is 36.7 meters away at (34.2, 13.2). A pedestrian with ID 22 is 36.7 meters away at (-17.8, 32.1). A pedestrian with ID 24 is 38.0 meters away at (-16.9, 34.1). A vehicle with ID 40 is 40.1 meters away at (17.6, 36.1). A unknown object with ID 45 is 45.7 meters away at (13.9, 43.5).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-2.440585  -5.4301395] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.17460385 1.0255857 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.9682765   0.14852162] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.19432355 1.0178591 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.15376455 1.1561174 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[30.04888   22.375341 ]\n [ 4.115702  23.667557 ]\n [30.026274  22.313082 ]\n [29.691122  20.053694 ]\n [ 5.1849566 23.619564 ]\n [19.34877   34.72296  ]\n [16.250792  35.628994 ]\n [30.00825   22.260237 ]\n [30.119867  22.557867 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [1.8284225 8.966209 ], 9.150740623474121 meters away.)"}
{"file_name": "images/scenario_78_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 9.1 meters away at (1.8, 9.0). A vehicle with ID 36 is 24.4 meters away at (9.7, -22.3). A vehicle with ID 41 is 29.2 meters away at (6.9, -28.4). A vehicle with ID 23 is 36.3 meters away at (33.8, 13.3). A pedestrian with ID 21 is 38.0 meters away at (-16.6, 34.2). A pedestrian with ID 22 is 38.4 meters away at (-17.4, 34.2). A pedestrian with ID 24 is 40.1 meters away at (-16.6, 36.5). A vehicle with ID 40 is 40.1 meters away at (17.6, 36.0). A vehicle with ID 29 is 44.6 meters away at (-4.6, -44.4). A unknown object with ID 45 is 45.6 meters away at (13.9, 43.5).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0.10921022 0.48696446] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.0816666 1.0674944] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.08421708 1.0561547 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.10532531  1.1869434 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.362335 -6.245981] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[30.04888   22.375341 ]\n [ 4.115702  23.667557 ]\n [30.026274  22.313082 ]\n [29.691122  20.053694 ]\n [ 5.1849566 23.619564 ]\n [19.34877   34.72296  ]\n [16.250792  35.628994 ]\n [30.00825   22.260237 ]\n [30.119867  22.557867 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [1.8144063 8.951845 ], 9.133871078491211 meters away.)"}
{"file_name": "images/scenario_79_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -1.3) m/s. Its current heading (yaw) is -0.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 12.5 meters away at (-10.6, 6.5). A vehicle with ID 27 is 17.7 meters away at (-12.3, -12.7). A vehicle with ID 28 is 18.4 meters away at (-17.4, 6.1). A pedestrian with ID 30 is 20.6 meters away at (20.6, -0.5). A vehicle with ID 32 is 57.3 meters away at (46.3, -33.7). A pedestrian with ID 2 is 59.7 meters away at (52.4, -28.6). A pedestrian with ID 31 is 59.8 meters away at (52.1, -29.3).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 0.8198508 -2.618341 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 2.6548622 -1.5255628] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.49686682 -0.3484793 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1863326  0.3579405] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.1566348   0.38071793] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 59.514416 -29.005157]\n [ 57.310505 -28.13674 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-10.599678   6.547867], 12.4590425491333 meters away.)"}
{"file_name": "images/scenario_79_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -1.6) m/s. Its current heading (yaw) is -0.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 6.8 meters away at (1.5, 6.6). A pedestrian with ID 30 is 9.5 meters away at (9.3, 2.1). A vehicle with ID 26 is 23.3 meters away at (-21.4, 9.4). A vehicle with ID 24 is 23.7 meters away at (-21.7, 9.6). A vehicle with ID 28 is 24.4 meters away at (-23.9, 5.2). A pedestrian with ID 2 is 46.8 meters away at (39.6, -24.9). A pedestrian with ID 31 is 46.9 meters away at (39.3, -25.7). A vehicle with ID 32 is 47.3 meters away at (35.6, -31.1). A pedestrian with ID 1 is 55.1 meters away at (54.2, -10.0). A unknown object with ID 15 is 66.8 meters away at (-11.9, 65.8).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.01286374  0.01034619] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.4788709 -2.0028958] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0388911  0.4271541] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.0616847   0.43936014] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.1218896  -0.22856176] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 59.514416 -29.005157]\n [ 57.310505 -28.13674 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.4992619 6.6141086], 6.7819037437438965 meters away.)"}
{"file_name": "images/scenario_79_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -1.6) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 5.2 meters away at (-0.4, 5.2). A pedestrian with ID 6 is 11.1 meters away at (-0.4, 11.1). A vehicle with ID 28 is 32.7 meters away at (-32.3, 4.8). A vehicle with ID 26 is 33.9 meters away at (-31.4, 12.8). A vehicle with ID 24 is 34.3 meters away at (-31.8, 12.9). A pedestrian with ID 2 is 34.4 meters away at (27.4, -20.8). A pedestrian with ID 31 is 34.6 meters away at (27.1, -21.6). A vehicle with ID 32 is 37.6 meters away at (25.6, -27.6). A pedestrian with ID 1 is 41.4 meters away at (41.1, -5.4). A unknown object with ID 21 is 42.0 meters away at (-36.8, 20.2).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.2597188  -0.31375486] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.02872873  0.00377301] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 0.14315277 -1.4177631 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1255263   0.31020004] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.1214713   0.30252776] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.4642469  0.8870696] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 46.540604  -14.2802   ]\n [ 46.89957   -11.608164 ]\n [ 46.54342   -14.272565 ]\n [ 59.514416  -29.005157 ]\n [ 57.310505  -28.13674  ]\n [ 46.475487  -14.443277 ]\n [ 46.361374  -14.7141695]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-0.43362808  5.2172394 ], 5.235229015350342 meters away.)"}
{"file_name": "images/scenario_79_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -0.7) m/s. Its current heading (yaw) is -0.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 9.5 meters away at (-6.8, 6.7). A pedestrian with ID 6 is 15.7 meters away at (-7.9, 13.5). A pedestrian with ID 7 is 15.8 meters away at (-8.8, 13.2). A pedestrian with ID 2 is 25.1 meters away at (17.7, -17.8). A pedestrian with ID 31 is 25.3 meters away at (17.4, -18.4). A unknown object with ID 3 is 27.3 meters away at (25.9, 8.5). A pedestrian with ID 1 is 30.6 meters away at (30.5, -1.6). A vehicle with ID 32 is 31.0 meters away at (18.0, -25.2). A vehicle with ID 28 is 40.2 meters away at (-39.9, 5.1). A vehicle with ID 26 is 41.8 meters away at (-38.8, 15.4).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.71562725 -0.54499453] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.01139996 -0.00700663] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.00054125 -0.00239995] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0357875  0.4638023] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.0211358   0.45325372] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.5480924   0.48676035] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.05820802 -0.7638677 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 46.540604  -14.2802   ]\n [ 46.89957   -11.608164 ]\n [ 46.54342   -14.272565 ]\n [ 59.514416  -29.005157 ]\n [ 57.310505  -28.13674  ]\n [ 46.475487  -14.443277 ]\n [ 46.361374  -14.7141695]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-6.752369  6.723004], 9.528550148010254 meters away.)"}
{"file_name": "images/scenario_80_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 1.9) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 53 is 11.7 meters away at (10.8, 4.5). A pedestrian with ID 56 is 12.6 meters away at (11.4, 5.2). A pedestrian with ID 54 is 12.9 meters away at (12.1, 4.4). A vehicle with ID 55 is 15.1 meters away at (13.0, 7.7). A pedestrian with ID 62 is 23.5 meters away at (23.5, 0.1). A pedestrian with ID 64 is 24.3 meters away at (23.4, 6.7). A unknown object with ID 33 is 26.2 meters away at (-12.4, -23.1). A vehicle with ID 57 is 30.7 meters away at (-17.0, -25.5). A pedestrian with ID 58 is 32.1 meters away at (-12.0, -29.8). A vehicle with ID 60 is 32.2 meters away at (-25.2, -20.1).", "velocity_description": "The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.00755801 -0.00385353] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.00556739 0.0066788 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00334703 0.00189746] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 1.5711427 -1.246351 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.2867826  -0.73212373] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-1.1599034   0.60138553] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00780094  0.00822268] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-199.4795684814453, 51.445884704589844)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [10.785422   4.4619675], 11.671953201293945 meters away.)"}
{"file_name": "images/scenario_80_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 53 is 8.8 meters away at (8.6, 2.0). A pedestrian with ID 56 is 9.7 meters away at (9.3, 2.8). A pedestrian with ID 54 is 10.0 meters away at (9.8, 1.8). A vehicle with ID 55 is 13.5 meters away at (13.2, 3.1). A pedestrian with ID 62 is 19.1 meters away at (18.7, -4.0). A pedestrian with ID 64 is 19.7 meters away at (19.0, 5.2). A unknown object with ID 16 is 20.0 meters away at (3.2, -19.8). A pedestrian with ID 15 is 25.9 meters away at (24.5, 8.4). A vehicle with ID 57 is 33.9 meters away at (-19.2, -28.0). A vehicle with ID 51 is 34.8 meters away at (-13.9, 31.9).", "velocity_description": "The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.00837738 0.00116184] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.00334208 0.00041609] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02668759 -0.00490954] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 1.0529239 -1.0715687] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.2981663  -0.95373297] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-1.0372127   0.58689904] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01454291  0.0075682 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-199.4795684814453, 51.445884704589844)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [8.625896 1.953032], 8.844230651855469 meters away.)"}
{"file_name": "images/scenario_80_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.4) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 53 is 8.4 meters away at (8.3, 1.2). A pedestrian with ID 56 is 8.9 meters away at (8.6, 2.0). A pedestrian with ID 54 is 9.1 meters away at (9.0, 1.0). A vehicle with ID 55 is 15.0 meters away at (15.0, 0.0). A pedestrian with ID 62 is 16.3 meters away at (15.5, -5.1). A pedestrian with ID 64 is 16.9 meters away at (16.2, 4.6). A unknown object with ID 16 is 20.6 meters away at (2.5, -20.4). A unknown object with ID 35 is 28.2 meters away at (-13.8, -24.6). A vehicle with ID 51 is 34.4 meters away at (-14.6, 31.2). A vehicle with ID 57 is 34.9 meters away at (-19.9, -28.7).", "velocity_description": "The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.02254462 -0.03500061] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.02733757 -0.00575019] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.0114002   0.00748912] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 1.8721768 -1.8393396] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.3900691   0.34526128] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-1.4386274  -0.52019453] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-199.4795684814453, 51.445884704589844)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [8.279869  1.2085743], 8.367609024047852 meters away.)"}
{"file_name": "images/scenario_80_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 2.8) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A pedestrian with ID 53 is 6.6 meters away at (6.2, -2.0). A pedestrian with ID 56 is 6.7 meters away at (6.6, -1.2). A pedestrian with ID 54 is 7.3 meters away at (7.0, -2.2). A pedestrian with ID 64 is 12.0 meters away at (12.0, 0.1). A pedestrian with ID 62 is 13.1 meters away at (11.3, -6.5). A vehicle with ID 55 is 20.1 meters away at (18.4, -8.2). A unknown object with ID 26 is 22.5 meters away at (18.5, 12.7). A unknown object with ID 35 is 32.4 meters away at (-16.0, -28.1). A vehicle with ID 51 is 32.5 meters away at (-16.5, 28.1). A unknown object with ID 22 is 34.1 meters away at (-17.3, -29.3).", "velocity_description": "The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.01433694  0.0126774 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.00702332 -0.00516559] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00793641 0.00231716] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.80495954 -0.7959572 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.018425   1.0072364] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 3.6191328 -3.1872945] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-199.4795684814453, 51.445884704589844)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 6.2380733 -2.0369692], 6.562225341796875 meters away.)"}
{"file_name": "images/scenario_81_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 2.3) m/s. Its current heading (yaw) is 0.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 69 is 3.2 meters away at (-1.7, 2.7). A unknown object with ID 49 is 3.5 meters away at (3.4, -0.5). A pedestrian with ID 72 is 9.6 meters away at (1.8, 9.4). A pedestrian with ID 74 is 12.7 meters away at (-9.2, -8.8). A unknown object with ID 76 is 40.0 meters away at (30.3, 26.2). A unknown object with ID 79 is 59.9 meters away at (11.6, 58.8). A pedestrian with ID 77 is 66.3 meters away at (15.9, 64.4). A pedestrian with ID 78 is 67.1 meters away at (16.3, 65.1). A vehicle with ID 81 is 67.7 meters away at (-25.0, 62.9). A pedestrian with ID 82 is 69.9 meters away at (40.0, 57.3).", "velocity_description": "The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.5761032  -0.75982374] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.53228956 -0.67491025] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.42601037  0.29127312] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.46162897  0.34151328] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.01208315  0.01759736] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-31.33993911743164, 265.0957336425781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.7312664  2.66649  ], 3.1792218685150146 meters away.)"}
{"file_name": "images/scenario_81_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 2.6) m/s. Its current heading (yaw) is 0.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 72 is 3.8 meters away at (-2.3, 3.0). A unknown object with ID 69 is 5.3 meters away at (-4.8, -2.1). A unknown object with ID 22 is 5.7 meters away at (-4.4, 3.5). A unknown object with ID 21 is 18.9 meters away at (-12.8, 13.9). A pedestrian with ID 74 is 20.1 meters away at (-13.2, -15.1). A unknown object with ID 76 is 34.3 meters away at (26.7, 21.6). A unknown object with ID 34 is 43.8 meters away at (-27.1, -34.4). A unknown object with ID 53 is 52.1 meters away at (-36.5, 37.2). A unknown object with ID 31 is 53.3 meters away at (-37.6, 37.9). A unknown object with ID 79 is 54.6 meters away at (8.3, 54.0).", "velocity_description": "The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.34744683 -0.96947056] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.50606716 -0.74934137] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-31.33993911743164, 265.0957336425781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-2.262864  3.014844], 3.7695939540863037 meters away.)"}
{"file_name": "images/scenario_81_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 3.1) m/s. Its current heading (yaw) is 1.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 72 is 8.2 meters away at (-6.7, -4.8). A unknown object with ID 22 is 8.6 meters away at (-8.2, -2.5). A unknown object with ID 69 is 11.9 meters away at (-8.7, -8.0). A unknown object with ID 21 is 18.5 meters away at (-16.8, 7.7). A unknown object with ID 76 is 27.6 meters away at (22.9, 15.5). A pedestrian with ID 74 is 28.9 meters away at (-18.1, -22.5). A unknown object with ID 79 is 48.2 meters away at (4.5, 48.0). A unknown object with ID 53 is 51.0 meters away at (-40.3, 31.2). A unknown object with ID 31 is 52.6 meters away at (-41.5, 32.3). A pedestrian with ID 77 is 54.0 meters away at (9.5, 53.2).", "velocity_description": "The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.1987735  -0.84994674] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.51956683 -0.60953015] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.63392735 -0.2639381 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-31.33993911743164, 265.0957336425781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.65386   -4.8022537], 8.20582103729248 meters away.)"}
{"file_name": "images/scenario_81_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 3.0) m/s. Its current heading (yaw) is 1.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 72 is 16.9 meters away at (-11.1, -12.7). A unknown object with ID 69 is 18.7 meters away at (-12.5, -14.0). A unknown object with ID 42 is 20.3 meters away at (-20.2, 2.1). A unknown object with ID 21 is 20.5 meters away at (-20.5, 1.8). A unknown object with ID 56 is 21.8 meters away at (19.7, 9.3). A unknown object with ID 38 is 31.6 meters away at (-2.2, 31.6). A pedestrian with ID 74 is 37.7 meters away at (-23.0, -29.9). A unknown object with ID 79 is 42.1 meters away at (0.8, 42.1). A unknown object with ID 40 is 43.7 meters away at (-42.9, 8.5). A pedestrian with ID 77 is 47.8 meters away at (5.5, 47.5).", "velocity_description": "The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.46619818 -0.98561   ] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.6849712  -0.80140203] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.02350326  0.00447015] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-31.33993911743164, 265.0957336425781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.117133 -12.696718], 16.875938415527344 meters away.)"}
{"file_name": "images/scenario_82_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 1.0) m/s. Its current heading (yaw) is 0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 12.9 meters away at (-8.8, -9.4). A unknown object with ID 16 is 19.6 meters away at (0.9, 19.5). A vehicle with ID 20 is 36.3 meters away at (-31.1, -18.8). A vehicle with ID 19 is 51.9 meters away at (25.1, -45.5). A pedestrian with ID 21 is 67.7 meters away at (38.3, -55.8).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.3538138 -3.6492128] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-6.236699  -0.9254587] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.0337834   0.60622096] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(241.5568084716797, -157.84519958496094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.824396  -9.4359665], 12.919265747070312 meters away.)"}
{"file_name": "images/scenario_82_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -1.2) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 22.7 meters away at (-17.2, -14.8). A vehicle with ID 19 is 49.2 meters away at (19.1, -45.3). A vehicle with ID 20 is 54.2 meters away at (-48.4, -24.5). A pedestrian with ID 21 is 62.0 meters away at (29.7, -54.5).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.5751148 -2.5122056] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-4.7168803 -5.363632 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.3742177  0.5212409] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(241.5568084716797, -157.84519958496094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-17.237389 -14.826648], 22.7366886138916 meters away.)"}
{"file_name": "images/scenario_82_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -2.4) m/s. Its current heading (yaw) is -0.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 34.7 meters away at (-31.2, -15.2). A vehicle with ID 19 is 43.2 meters away at (10.9, -41.9). A pedestrian with ID 21 is 53.1 meters away at (18.7, -49.7).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.0833454 -1.0004035] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.1241738  0.5827643] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(241.5568084716797, -157.84519958496094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-31.174044 -15.209544], 34.68647003173828 meters away.)"}
{"file_name": "images/scenario_82_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -3.1) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 36.5 meters away at (-0.3, -36.5). A vehicle with ID 9 is 39.2 meters away at (36.0, -15.5). A pedestrian with ID 10 is 40.0 meters away at (-4.7, -39.7). A pedestrian with ID 21 is 43.5 meters away at (4.9, -43.2). A vehicle with ID 18 is 52.6 meters away at (-51.7, -9.6). A vehicle with ID 1 is 73.4 meters away at (46.0, -57.2). A vehicle with ID 4 is 76.3 meters away at (37.1, -66.7).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-12.708028   6.997715] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00043862 0.00021737] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.2396716   0.48878062] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-5.4002967   0.24014454] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.8275654   0.26109478] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(241.5568084716797, -157.84519958496094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -0.32834625 -36.486927  ], 36.4884033203125 meters away.)"}
{"file_name": "images/scenario_83_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, 0.1) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 10.6 meters away at (2.9, -10.2). A vehicle with ID 54 is 12.5 meters away at (-8.2, -9.4). A vehicle with ID 63 is 12.6 meters away at (8.1, -9.7). A vehicle with ID 64 is 14.4 meters away at (10.9, -9.5). A vehicle with ID 68 is 16.9 meters away at (13.7, -9.9). A vehicle with ID 73 is 19.2 meters away at (16.4, -9.9). A vehicle with ID 60 is 22.7 meters away at (-5.2, -22.1). A vehicle with ID 62 is 22.8 meters away at (-2.7, -22.6). A vehicle with ID 65 is 22.8 meters away at (2.8, -22.7). A vehicle with ID 67 is 23.6 meters away at (5.6, -22.9).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-9.832341194152832, -14.003450393676758)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.859232 -10.207694], 10.600577354431152 meters away.)"}
{"file_name": "images/scenario_83_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, 0.1) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 10.4 meters away at (-3.1, -10.0). A vehicle with ID 68 is 11.6 meters away at (-5.9, -10.0). A vehicle with ID 64 is 13.0 meters away at (-8.7, -9.7). A vehicle with ID 63 is 15.1 meters away at (-11.5, -9.8). A vehicle with ID 59 is 19.6 meters away at (-16.7, -10.2). A vehicle with ID 75 is 22.8 meters away at (-0.0, -22.8). A vehicle with ID 69 is 25.7 meters away at (-11.3, -23.1). A vehicle with ID 67 is 27.0 meters away at (-14.1, -23.1). A vehicle with ID 65 is 28.4 meters away at (-16.8, -22.9). A vehicle with ID 54 is 29.5 meters away at (-27.9, -9.6).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-9.832341194152832, -14.003450393676758)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.064289 -9.96458 ], 10.425100326538086 meters away.)"}
{"file_name": "images/scenario_83_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.0, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 21.8 meters away at (19.1, -10.7). A vehicle with ID 40 is 24.1 meters away at (21.8, -10.1). A vehicle with ID 73 is 24.9 meters away at (-22.8, -10.0). A vehicle with ID 32 is 26.6 meters away at (24.6, -10.2). A vehicle with ID 68 is 27.5 meters away at (-25.7, -10.0). A vehicle with ID 31 is 29.1 meters away at (27.3, -9.9). A vehicle with ID 64 is 30.2 meters away at (-28.6, -9.7). A vehicle with ID 75 is 30.4 meters away at (-19.8, -23.0). A vehicle with ID 38 is 31.8 meters away at (22.0, -23.1). A vehicle with ID 63 is 32.9 meters away at (-31.3, -9.9).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-9.832341194152832, -14.003450393676758)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 19.064697 -10.656304], 21.840776443481445 meters away.)"}
{"file_name": "images/scenario_83_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -0.1) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 10.3 meters away at (2.1, -10.1). A vehicle with ID 48 is 10.5 meters away at (-0.7, -10.5). A vehicle with ID 32 is 11.2 meters away at (4.8, -10.1). A vehicle with ID 31 is 12.5 meters away at (7.6, -9.9). A vehicle with ID 38 is 23.2 meters away at (2.2, -23.1). A vehicle with ID 43 is 23.5 meters away at (5.0, -23.0). A vehicle with ID 50 is 24.4 meters away at (7.9, -23.1). A vehicle with ID 25 is 26.1 meters away at (23.9, -10.6). A vehicle with ID 29 is 33.7 meters away at (24.4, -23.2). A vehicle with ID 20 is 33.9 meters away at (32.3, -10.3).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-9.832341194152832, -14.003450393676758)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.0611115 -10.087819 ], 10.296225547790527 meters away.)"}
{"file_name": "images/scenario_84_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -2.3) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 22.9 meters away at (18.4, -13.6). A pedestrian with ID 44 is 26.0 meters away at (-8.1, -24.7). A pedestrian with ID 39 is 45.9 meters away at (10.7, -44.6).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.4735147   0.25132874] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.6436466  -0.74624395] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0055364  -0.27819526] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(243.046875, -167.04798889160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 18.39392  -13.597365], 22.87410545349121 meters away.)"}
{"file_name": "images/scenario_84_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -3.9) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 7.3 meters away at (3.2, -6.5). A pedestrian with ID 44 is 27.5 meters away at (-18.8, -20.1).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1831853  0.5282868] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.90367454 -0.8857726 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(243.046875, -167.04798889160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 3.1708508 -6.5414824], 7.269476413726807 meters away.)"}
{"file_name": "images/scenario_84_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -4.4) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 14.6 meters away at (-14.3, 2.8). A pedestrian with ID 44 is 34.5 meters away at (-31.8, -13.5). A unknown object with ID 34 is 66.0 meters away at (60.1, -27.3). A vehicle with ID 9 is 66.0 meters away at (24.8, -61.2). A vehicle with ID 10 is 68.7 meters away at (24.2, -64.2). A vehicle with ID 33 is 71.1 meters away at (24.2, -66.9). A vehicle with ID 43 is 73.6 meters away at (23.9, -69.6). A vehicle with ID 22 is 75.7 meters away at (22.3, -72.3). A vehicle with ID 7 is 76.7 meters away at (38.6, -66.3).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1045173  0.5416694] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 1.0393535  -0.76731974] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(243.046875, -167.04798889160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-14.324596   2.761528], 14.58835506439209 meters away.)"}
{"file_name": "images/scenario_84_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -4.5) m/s. Its current heading (yaw) is -0.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 9.6 meters away at (7.2, 6.3). A vehicle with ID 30 is 11.8 meters away at (-0.9, 11.8). A pedestrian with ID 45 is 34.7 meters away at (-32.3, 12.6). A vehicle with ID 5 is 43.9 meters away at (41.7, -13.5). A pedestrian with ID 44 is 45.5 meters away at (-45.1, -5.9). A vehicle with ID 9 is 53.4 meters away at (9.0, -52.6). A vehicle with ID 10 is 56.4 meters away at (8.5, -55.7). A vehicle with ID 7 is 62.1 meters away at (22.8, -57.7). A vehicle with ID 22 is 63.9 meters away at (6.5, -63.6). A vehicle with ID 31 is 69.1 meters away at (6.3, -68.8).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.134593   0.3839925] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 1.085304   -0.69370747] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.09412698 -0.32481408] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(243.046875, -167.04798889160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [7.195034 6.346655], 9.594193458557129 meters away.)"}
{"file_name": "images/scenario_85_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 10.6) m/s. Its current heading (yaw) is 1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 60.3 meters away at (-16.5, 58.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-104.42486572265625, 282.68365478515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-16.516212  57.95163 ], 60.259246826171875 meters away.)"}
{"file_name": "images/scenario_85_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 10.6) m/s. Its current heading (yaw) is 1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 38.1 meters away at (-9.0, 37.1). A unknown object with ID 6 is 54.8 meters away at (6.1, -54.5).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-104.42486572265625, 282.68365478515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.039339 37.058094], 38.14461898803711 meters away.)"}
{"file_name": "images/scenario_85_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 10.3) m/s. Its current heading (yaw) is 1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 16.2 meters away at (-2.0, 16.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-104.42486572265625, 282.68365478515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.0223064 16.033627 ], 16.160659790039062 meters away.)"}
{"file_name": "images/scenario_85_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 9.9) m/s. Its current heading (yaw) is 1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 6.2 meters away at (4.7, -4.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-104.42486572265625, 282.68365478515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.7399197 -4.022087 ], 6.216431617736816 meters away.)"}
{"file_name": "images/scenario_86_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 2.1) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 15.5 meters away at (-5.8, 14.4). A vehicle with ID 3 is 18.4 meters away at (-14.8, 11.0). A unknown object with ID 32 is 30.3 meters away at (28.7, -9.8). A vehicle with ID 34 is 33.0 meters away at (0.6, 33.0). A vehicle with ID 33 is 33.4 meters away at (5.4, 33.0). A vehicle with ID 40 is 47.5 meters away at (11.8, 46.0). A pedestrian with ID 5 is 50.4 meters away at (-43.3, 25.7). A vehicle with ID 6 is 52.4 meters away at (-45.5, 26.1). A unknown object with ID 35 is 55.4 meters away at (55.4, 0.3). A vehicle with ID 36 is 57.0 meters away at (56.9, 3.1).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.05410343  5.7874794 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.945266  2.90659 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-2.5413053 -2.9372237] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [5.6512537 7.027881 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-3.9812436 -4.832978 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.5527924  0.7449631] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.302603  20.787949]\n [-18.625587  21.001965]]", "nav_goal": "(-34.43769073486328, 180.54640197753906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.842637 14.396171], 15.536606788635254 meters away.)"}
{"file_name": "images/scenario_86_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 3.0) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 20.1 meters away at (-16.0, 12.3). A vehicle with ID 30 is 22.0 meters away at (6.2, 21.1). A vehicle with ID 34 is 23.6 meters away at (3.5, 23.3). A vehicle with ID 40 is 35.8 meters away at (12.6, 33.5). A vehicle with ID 23 is 38.2 meters away at (-30.5, -23.0). A unknown object with ID 32 is 38.3 meters away at (35.4, -14.8). A vehicle with ID 26 is 41.5 meters away at (13.0, 39.5). A pedestrian with ID 5 is 43.7 meters away at (-37.6, 22.2). A vehicle with ID 6 is 44.1 meters away at (-38.6, 21.3). A vehicle with ID 33 is 49.6 meters away at (24.8, 43.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.2347198  3.4870608] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [5.131596  6.4066772] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.3341417 -1.5879153] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.3160686 -2.7587802] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [4.8937235 5.9459558] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-5.005823  -6.0323515] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.5021952   0.38722306] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [6.42174  7.594729] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.302603  20.787949]\n [-18.625587  21.001965]]", "nav_goal": "(-34.43769073486328, 180.54640197753906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-15.958244  12.290955], 20.142818450927734 meters away.)"}
{"file_name": "images/scenario_86_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 3.8) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 17.7 meters away at (10.5, 14.2). A vehicle with ID 3 is 20.2 meters away at (-16.0, 12.3). A vehicle with ID 23 is 24.4 meters away at (-13.7, -20.2). A vehicle with ID 26 is 25.5 meters away at (13.0, 22.0). A vehicle with ID 40 is 28.7 meters away at (17.8, 22.5). A vehicle with ID 6 is 33.0 meters away at (-29.7, 14.3). A pedestrian with ID 5 is 33.3 meters away at (-29.4, 15.6). A vehicle with ID 4 is 39.1 meters away at (-34.5, 18.3). A vehicle with ID 30 is 39.9 meters away at (27.4, 28.9). A pedestrian with ID 41 is 50.1 meters away at (25.2, 43.3).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.5945972 -0.6322208] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.898494   3.7052226] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [2.975031  3.8455973] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-3.9028015 -4.345543 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-1.1255996 -1.1786273] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.06803093  0.03067685] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [6.9714365 8.211344 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.2671854 -0.7581954] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.26579   11.089588]\n [-23.349678  20.477434]\n [-18.302603  20.787949]\n [-23.402388  10.188211]\n [-23.674286  20.821238]\n [-18.625587  21.001965]]", "nav_goal": "(-34.43769073486328, 180.54640197753906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.469548 14.23933 ], 17.67399024963379 meters away.)"}
{"file_name": "images/scenario_86_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.1) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 18.3 meters away at (16.7, 7.5). A vehicle with ID 3 is 19.5 meters away at (-15.9, 11.3). A vehicle with ID 34 is 20.5 meters away at (19.6, 6.1). A vehicle with ID 6 is 21.1 meters away at (-20.0, 6.7). A pedestrian with ID 5 is 21.1 meters away at (-19.6, 7.8). A vehicle with ID 23 is 22.6 meters away at (0.2, -22.6). A pedestrian with ID 12 is 24.3 meters away at (-24.1, 3.3). A pedestrian with ID 25 is 25.2 meters away at (-24.8, 4.2). A vehicle with ID 4 is 26.9 meters away at (-24.7, 10.6). A vehicle with ID 40 is 29.8 meters away at (26.4, 13.7).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.0673115 -2.3406906] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.94685    3.0912294] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.188733   -0.18339157] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [1.2119448 1.573277 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00535125  0.02628104] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.01197537 -0.00378165] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.26579   11.089588]\n [-23.349678  20.477434]\n [-18.302603  20.787949]\n [-23.402388  10.188211]\n [-23.674286  20.821238]\n [-18.625587  21.001965]]", "nav_goal": "(-34.43769073486328, 180.54640197753906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.671545   7.4786263], 18.27211570739746 meters away.)"}
{"file_name": "images/scenario_87_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 5.9) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 12.7 meters away at (7.4, 10.4). A vehicle with ID 25 is 16.9 meters away at (-11.1, -12.8). A vehicle with ID 31 is 18.0 meters away at (2.5, -17.8). A pedestrian with ID 30 is 19.3 meters away at (-19.2, -1.7). A pedestrian with ID 32 is 19.9 meters away at (-19.8, -1.9). A pedestrian with ID 33 is 20.3 meters away at (-20.1, -2.4). A vehicle with ID 35 is 22.9 meters away at (-8.6, -21.2). A vehicle with ID 29 is 26.2 meters away at (18.5, -18.6). A vehicle with ID 34 is 33.2 meters away at (-27.4, -18.8). A vehicle with ID 39 is 35.8 meters away at (24.9, -25.8).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-8.329634   2.9596796] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-8.650421   3.1704025] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.1832085  -0.51803786] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.1497965 -0.527125 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 1.092032   -0.59521794] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 9.922852  -3.3794997] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-8.81671    3.3970008] m/s.", "light_description": "There are active red lights at the following coordinates: [[-0.5723972 -2.485754 ]]", "nav_goal": "(139.04434204101562, 187.5863800048828)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.3533607 10.383637 ], 12.723672866821289 meters away.)"}
{"file_name": "images/scenario_87_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 6.3) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 3.6 meters away at (3.0, -1.9). A vehicle with ID 23 is 18.8 meters away at (16.8, 8.4). A vehicle with ID 31 is 30.6 meters away at (-19.0, -24.0). A vehicle with ID 39 is 32.1 meters away at (3.4, -31.9). A vehicle with ID 34 is 44.6 meters away at (-31.8, -31.3). A vehicle with ID 37 is 70.2 meters away at (-19.9, -67.3). A vehicle with ID 38 is 72.1 meters away at (-28.9, -66.0). A vehicle with ID 43 is 77.8 meters away at (-30.6, -71.6).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-8.649152   3.1211274] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-8.201059  2.919127] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(139.04434204101562, 187.5863800048828)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.9925094 -1.9477215], 3.5705366134643555 meters away.)"}
{"file_name": "images/scenario_87_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 5.8) m/s. Its current heading (yaw) is 1.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 11.4 meters away at (10.8, -3.8). A vehicle with ID 10 is 14.2 meters away at (-2.9, -13.9). A pedestrian with ID 6 is 36.6 meters away at (-24.2, -27.4). A pedestrian with ID 7 is 37.4 meters away at (-24.9, -27.9). A vehicle with ID 39 is 42.4 meters away at (-19.2, -37.7). A vehicle with ID 12 is 53.7 meters away at (-37.4, -38.6). A vehicle with ID 34 is 57.3 meters away at (-37.6, -43.3).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.99316484 -0.3713764 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.8599683  -0.44720986] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-8.4108925  2.9267182] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 9.670221  -3.5101209] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.573242  -8.665333]\n [-12.752126 -10.534937]]", "nav_goal": "(139.04434204101562, 187.5863800048828)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [10.777541  -3.8074207], 11.430304527282715 meters away.)"}
{"file_name": "images/scenario_87_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 5.5) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 16.2 meters away at (5.5, -15.2). A vehicle with ID 10 is 26.6 meters away at (-8.3, -25.3). A pedestrian with ID 6 is 47.9 meters away at (-27.0, -39.6). A pedestrian with ID 7 is 48.6 meters away at (-27.6, -40.0). A pedestrian with ID 9 is 49.5 meters away at (-28.2, -40.6). A vehicle with ID 14 is 53.8 meters away at (38.3, 37.7). A vehicle with ID 21 is 55.3 meters away at (-27.8, -47.8). A vehicle with ID 12 is 61.8 meters away at (-26.7, -55.7). A vehicle with ID 19 is 62.9 meters away at (-33.5, -53.3). A vehicle with ID 8 is 75.7 meters away at (16.5, 73.9).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.2122679  -0.46933454] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.1865406  -0.45359805] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.2409633  -0.53307045] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-9.428541   3.3273487] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 9.128532  -3.1899395] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 7.039872  -2.5471153] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(139.04434204101562, 187.5863800048828)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  5.528307 -15.226763], 16.19927406311035 meters away.)"}
{"file_name": "images/scenario_88_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 6.8) m/s. Its current heading (yaw) is 1.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 7.1 meters away at (-0.1, -7.1). A vehicle with ID 12 is 13.0 meters away at (-2.1, -12.8). A vehicle with ID 1 is 14.1 meters away at (13.8, 2.9). A vehicle with ID 15 is 16.6 meters away at (-6.6, -15.3). A pedestrian with ID 14 is 18.3 meters away at (-1.2, -18.3). A vehicle with ID 11 is 25.6 meters away at (-12.4, -22.4). A vehicle with ID 16 is 34.7 meters away at (2.0, -34.7). A vehicle with ID 23 is 40.4 meters away at (-13.7, -38.0). A pedestrian with ID 25 is 43.4 meters away at (-23.5, -36.5). A vehicle with ID 28 is 44.7 meters away at (-29.3, -33.7).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.6988149 7.984694 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.01769637 -0.0298983 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.9113235 -2.5454168] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [2.3619113 7.5603504] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.46942523 1.5570579 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -3.7944548 -17.025738 ]\n [-13.495346  -22.788244 ]\n [-14.67423   -24.657848 ]\n [ -4.2767334 -19.253918 ]]", "nav_goal": "(151.1723175048828, 165.4806365966797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.13876247 -7.1063204 ], 7.107675075531006 meters away.)"}
{"file_name": "images/scenario_88_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 4.2) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 11.6 meters away at (7.8, -8.6). A vehicle with ID 15 is 13.0 meters away at (-7.2, -10.8). A vehicle with ID 9 is 19.5 meters away at (-6.1, -18.5). A vehicle with ID 12 is 25.9 meters away at (-8.2, -24.6). A pedestrian with ID 14 is 30.8 meters away at (-7.5, -29.9). A vehicle with ID 23 is 37.3 meters away at (-15.1, -34.1). A vehicle with ID 11 is 42.6 meters away at (-19.8, -37.7). A pedestrian with ID 25 is 53.2 meters away at (-28.8, -44.7). A vehicle with ID 27 is 56.7 meters away at (-20.7, -52.8). A vehicle with ID 28 is 57.4 meters away at (-35.5, -45.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.7374518 7.898665 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00826737  0.02652786] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [2.3469687 7.970322 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.718365  -2.0272179] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.5449597 1.3993163] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.4458072 8.448101 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.495346 -22.788244]\n [-14.67423  -24.657848]]", "nav_goal": "(151.1723175048828, 165.4806365966797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.826092 -8.572065], 11.607239723205566 meters away.)"}
{"file_name": "images/scenario_88_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.6) m/s. Its current heading (yaw) is 1.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 3.5 meters away at (-3.5, -0.0). A vehicle with ID 1 is 14.4 meters away at (6.1, -13.1). A vehicle with ID 9 is 24.3 meters away at (-7.9, -23.0). A vehicle with ID 23 is 25.4 meters away at (-11.8, -22.4). A unknown object with ID 2 is 26.4 meters away at (14.0, 22.4). A vehicle with ID 12 is 30.8 meters away at (-10.0, -29.1). A pedestrian with ID 14 is 35.5 meters away at (-9.4, -34.3). A vehicle with ID 27 is 44.6 meters away at (-17.5, -41.0). A vehicle with ID 3 is 53.1 meters away at (-22.2, -48.2). A pedestrian with ID 25 is 55.0 meters away at (-29.4, -46.5).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [2.5956023 7.4063373] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [2.7548707 8.177932 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.02625632 -0.0037294 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.3335528 8.113668 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.0636702 -4.956683 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.41338143 1.3613824 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.495346 -22.788244]\n [-14.67423  -24.657848]]", "nav_goal": "(151.1723175048828, 165.4806365966797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.4985123 -0.0076561], 3.498520612716675 meters away.)"}
{"file_name": "images/scenario_88_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 9.0 meters away at (-6.1, -6.5). A vehicle with ID 1 is 14.6 meters away at (5.9, -13.3). A vehicle with ID 15 is 14.6 meters away at (2.0, 14.5). A vehicle with ID 9 is 24.7 meters away at (-8.0, -23.3). A unknown object with ID 2 is 26.1 meters away at (13.9, 22.1). A vehicle with ID 27 is 28.1 meters away at (-12.7, -25.1). A vehicle with ID 12 is 31.0 meters away at (-10.0, -29.4). A pedestrian with ID 14 is 35.8 meters away at (-9.5, -34.5). A pedestrian with ID 25 is 52.5 meters away at (-28.5, -44.0). A vehicle with ID 3 is 58.9 meters away at (-14.0, -57.2).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [2.9574585 7.859007 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.887868 7.072893] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.6628401 8.155392 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00026602 -0.00659621] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.2548821 1.3286881] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.2634263 -3.8766007] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.495346 -22.788244]\n [-14.67423  -24.657848]]", "nav_goal": "(151.1723175048828, 165.4806365966797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.124446 -6.539131], 8.959300994873047 meters away.)"}
{"file_name": "images/scenario_89_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -5.2) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 14.6 meters away at (-14.3, 2.7). A unknown object with ID 38 is 22.8 meters away at (-4.7, 22.3). A unknown object with ID 39 is 23.5 meters away at (-4.8, 23.0). A unknown object with ID 40 is 23.6 meters away at (-4.8, 23.1). A unknown object with ID 41 is 23.8 meters away at (-5.1, 23.3). A pedestrian with ID 18 is 24.4 meters away at (-4.3, -24.0). A vehicle with ID 45 is 31.8 meters away at (-30.1, -10.3). A vehicle with ID 36 is 36.9 meters away at (-25.7, -26.4). A pedestrian with ID 48 is 37.7 meters away at (-27.9, -25.4). A vehicle with ID 37 is 41.1 meters away at (-23.4, -33.7).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.5733449 -1.2641925] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.67246276 -1.6163117 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.03448962 -0.01495892] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.910568  40.238514]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-14.323408   2.659957], 14.568300247192383 meters away.)"}
{"file_name": "images/scenario_89_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -4.7) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 15.0 meters away at (-10.9, 10.3). A pedestrian with ID 18 is 17.2 meters away at (-1.4, -17.2). A vehicle with ID 45 is 25.8 meters away at (-25.8, -0.3). A vehicle with ID 26 is 26.8 meters away at (-21.9, 15.5). A vehicle with ID 36 is 27.0 meters away at (-21.4, -16.4). A vehicle with ID 37 is 29.8 meters away at (-19.2, -22.8). A unknown object with ID 38 is 32.2 meters away at (-0.4, 32.2). A unknown object with ID 39 is 32.8 meters away at (-0.5, 32.8). A unknown object with ID 40 is 33.0 meters away at (-0.5, 33.0). A unknown object with ID 41 is 33.2 meters away at (-0.9, 33.2).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.47031024 -1.1817541 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6689899 -1.541487 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.7353463 -2.504436 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0.02209037 0.601954  ] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-10.873417  10.269464], 14.956372261047363 meters away.)"}
{"file_name": "images/scenario_89_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -4.7) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 10.7 meters away at (1.3, -10.7). A vehicle with ID 36 is 18.7 meters away at (-17.3, -7.0). A vehicle with ID 27 is 18.7 meters away at (-11.8, -14.5). A pedestrian with ID 23 is 19.1 meters away at (-8.0, 17.3). A vehicle with ID 37 is 19.6 meters away at (-14.9, -12.7). A vehicle with ID 45 is 23.5 meters away at (-21.7, 9.1). A vehicle with ID 26 is 26.9 meters away at (-17.9, 20.1). A pedestrian with ID 2 is 28.8 meters away at (-20.2, -20.4). A pedestrian with ID 29 is 29.6 meters away at (-28.6, -7.6). A unknown object with ID 35 is 32.3 meters away at (-7.4, -31.5).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.58170563 -1.3583659 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [4.26437  9.857475] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.51984906 -1.3209339 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 0.6091676 -1.7288398] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.04284239 -0.04921814] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.00296938 -0.00665687] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  1.2516613 -10.671701 ], 10.744853019714355 meters away.)"}
{"file_name": "images/scenario_89_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -4.9) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 5.9 meters away at (3.9, -4.3). A vehicle with ID 37 is 11.0 meters away at (-10.7, -2.9). A vehicle with ID 27 is 12.4 meters away at (-0.3, 12.4). A vehicle with ID 36 is 13.4 meters away at (-13.2, 2.3). A pedestrian with ID 4 is 16.8 meters away at (-14.6, -8.4). A pedestrian with ID 2 is 19.6 meters away at (-16.2, -11.1). A pedestrian with ID 23 is 24.3 meters away at (-4.6, 23.8). A vehicle with ID 45 is 25.4 meters away at (-17.6, 18.3). A vehicle with ID 22 is 26.7 meters away at (10.5, 24.5). A vehicle with ID 26 is 30.2 meters away at (-12.5, 27.5).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6767485 -1.4740617] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [3.459335 7.973345] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.04052452 0.1141522 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.0016969   0.00364321] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.51706225 -1.3065981 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.1340938 -6.8759437] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 0.6174985  -0.51544195] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 3.9422493 -4.3338394], 5.858625411987305 meters away.)"}
{"file_name": "images/scenario_90_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 4.3) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 10.9 meters away at (-0.6, -10.9). A pedestrian with ID 31 is 11.5 meters away at (0.1, -11.5). A vehicle with ID 33 is 27.0 meters away at (11.0, -24.6). A vehicle with ID 43 is 36.4 meters away at (18.3, 31.5). A vehicle with ID 36 is 36.9 meters away at (13.6, 34.3). A vehicle with ID 41 is 36.9 meters away at (23.2, 28.7). A vehicle with ID 30 is 39.4 meters away at (-37.1, 13.2). A vehicle with ID 48 is 51.5 meters away at (-4.4, 51.4). A cyclist with ID 44 is 51.9 meters away at (-17.2, 48.9). A vehicle with ID 3 is 53.0 meters away at (-50.7, 15.7).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.06656961 -0.00800786] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.13970558  0.2423369 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [-8.407558   5.0260606] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-52.99837875366211, 36.85022735595703)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ -0.55755615 -10.931291  ], 10.945500373840332 meters away.)"}
{"file_name": "images/scenario_90_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.0) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 4.5 meters away at (3.0, 3.3). A pedestrian with ID 32 is 22.3 meters away at (11.3, -19.2). A pedestrian with ID 31 is 23.0 meters away at (11.9, -19.7). A vehicle with ID 30 is 25.7 meters away at (-25.2, 4.9). A vehicle with ID 36 is 36.4 meters away at (25.3, 26.1). A vehicle with ID 43 is 38.0 meters away at (30.1, 23.3). A vehicle with ID 3 is 39.2 meters away at (-38.5, 7.2). A vehicle with ID 2 is 39.6 meters away at (-38.2, 10.7). A vehicle with ID 4 is 40.1 meters away at (-40.0, 2.2). A vehicle with ID 33 is 40.1 meters away at (22.9, -32.9).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00519512  0.01301884] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.02268442  0.00811296] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-52.99837875366211, 36.85022735595703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [3.0450974 3.2689304], 4.467496395111084 meters away.)"}
{"file_name": "images/scenario_90_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 3.7) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 10.4 meters away at (-8.0, -6.7). A vehicle with ID 30 is 14.3 meters away at (-14.0, -2.7). A vehicle with ID 2 is 27.2 meters away at (-27.1, 3.0). A vehicle with ID 3 is 27.8 meters away at (-27.8, -0.2). A vehicle with ID 4 is 29.3 meters away at (-28.8, -5.4). A pedestrian with ID 8 is 31.7 meters away at (-3.7, 31.5). A pedestrian with ID 32 is 35.0 meters away at (22.4, -26.8). A pedestrian with ID 31 is 35.8 meters away at (23.1, -27.3). A vehicle with ID 48 is 39.9 meters away at (18.7, 35.2). A vehicle with ID 36 is 40.9 meters away at (36.5, 18.4).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.02142727 -0.03379142] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.8717301 -0.5769194] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.01546852 -0.02520171] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00841664 -0.01622966] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-52.99837875366211, 36.85022735595703)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-7.9812202 -6.670065 ], 10.401424407958984 meters away.)"}
{"file_name": "images/scenario_90_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 2.6) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 10.0 meters away at (-4.3, -9.1). A pedestrian with ID 13 is 14.8 meters away at (-7.4, -12.9). A vehicle with ID 2 is 17.6 meters away at (-17.2, -3.4). A vehicle with ID 3 is 19.3 meters away at (-18.2, -6.5). A vehicle with ID 4 is 22.4 meters away at (-19.0, -11.9). A pedestrian with ID 8 is 25.2 meters away at (8.1, 23.8). A pedestrian with ID 32 is 46.2 meters away at (32.1, -33.2). A pedestrian with ID 31 is 46.9 meters away at (32.7, -33.5). A vehicle with ID 36 is 47.9 meters away at (46.4, 12.0). A vehicle with ID 43 is 51.8 meters away at (51.0, 9.2).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.08190444  0.00512996] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.8959429 -0.7437921] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.03646615 0.02091488] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.03987246  0.039204  ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-52.99837875366211, 36.85022735595703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.259411 -9.085102], 10.034025192260742 meters away.)"}
{"file_name": "images/scenario_91_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.6) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 16.2 meters away at (14.6, -7.2). A vehicle with ID 17 is 21.6 meters away at (-2.3, 21.5). A vehicle with ID 32 is 23.0 meters away at (19.9, -11.7). A vehicle with ID 33 is 34.0 meters away at (-14.3, -30.9). A unknown object with ID 36 is 34.4 meters away at (-24.0, 24.5). A unknown object with ID 35 is 55.2 meters away at (10.1, -54.3). A pedestrian with ID 4 is 72.5 meters away at (-53.3, 49.2). A pedestrian with ID 3 is 73.5 meters away at (-53.2, 50.6).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.223068   0.37649757] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.16058932 0.1572804 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [14.583132  -7.1536093], 16.243209838867188 meters away.)"}
{"file_name": "images/scenario_91_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 5.4) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 32.7 meters away at (27.3, -18.1). A vehicle with ID 32 is 39.7 meters away at (32.7, -22.7). A vehicle with ID 33 is 41.7 meters away at (-1.8, -41.7). A pedestrian with ID 4 is 55.4 meters away at (-40.3, 38.1). A pedestrian with ID 3 is 56.7 meters away at (-40.5, 39.6).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.4350693  -0.33880714] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.02070034 -0.05063878] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 27.31234  -18.060202], 32.74346923828125 meters away.)"}
{"file_name": "images/scenario_91_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.9) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 27 is 3.4 meters away at (0.4, 3.4). A unknown object with ID 25 is 4.6 meters away at (-0.9, 4.5). A unknown object with ID 28 is 35.3 meters away at (-19.6, -29.4). A pedestrian with ID 4 is 39.8 meters away at (-28.4, 28.0). A pedestrian with ID 3 is 40.8 meters away at (-28.7, 29.0). A vehicle with ID 31 is 48.3 meters away at (39.2, -28.2). A vehicle with ID 33 is 52.6 meters away at (10.3, -51.6). A vehicle with ID 32 is 55.3 meters away at (44.5, -32.9).", "velocity_description": "The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.01972683  0.01246757] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.17669849 -0.263105  ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [0.44691467 3.355442  ], 3.385073661804199 meters away.)"}
{"file_name": "images/scenario_91_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.3) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 10.6 meters away at (9.6, -4.5). A unknown object with ID 27 is 12.3 meters away at (11.0, -5.7). A pedestrian with ID 4 is 25.8 meters away at (-17.6, 18.9). A pedestrian with ID 3 is 27.0 meters away at (-18.2, 19.9). A unknown object with ID 28 is 39.6 meters away at (-9.1, -38.5). A vehicle with ID 2 is 49.4 meters away at (-29.9, 39.3). A vehicle with ID 31 is 62.1 meters away at (49.7, -37.3). A vehicle with ID 9 is 65.8 meters away at (-64.9, -10.6).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.07479418 0.01100871] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.06385044 -0.0145053 ] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 9.645962 -4.491379], 10.640350341796875 meters away.)"}
{"file_name": "images/scenario_92_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -4.8) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 9.0 meters away at (-7.8, -4.7). A vehicle with ID 50 is 14.1 meters away at (-2.9, 13.8). A unknown object with ID 52 is 21.4 meters away at (9.9, 19.0). A unknown object with ID 51 is 21.4 meters away at (4.4, 21.0). A unknown object with ID 56 is 25.4 meters away at (25.3, -1.6). A unknown object with ID 53 is 25.8 meters away at (-4.4, 25.4). A unknown object with ID 57 is 26.3 meters away at (26.3, -0.5). A unknown object with ID 18 is 26.3 meters away at (14.0, 22.3). A vehicle with ID 54 is 26.6 meters away at (-15.9, 21.4). A unknown object with ID 55 is 32.6 meters away at (-10.7, 30.9).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 2.1463025 -1.8926356] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(62.2531623840332, -212.5789337158203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.755003 -4.655052], 9.044865608215332 meters away.)"}
{"file_name": "images/scenario_92_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -5.0) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.9 meters away at (-0.6, 4.8). A vehicle with ID 50 is 20.9 meters away at (10.4, 18.2). A vehicle with ID 15 is 25.3 meters away at (-19.2, -16.5). A unknown object with ID 44 is 28.8 meters away at (24.8, -14.7). A vehicle with ID 10 is 30.3 meters away at (-20.3, -22.5). A vehicle with ID 54 is 32.1 meters away at (-8.5, 31.0). A unknown object with ID 51 is 32.8 meters away at (11.7, 30.6). A pedestrian with ID 29 is 33.3 meters away at (22.6, 24.4). A unknown object with ID 56 is 33.6 meters away at (32.6, 8.0). A unknown object with ID 57 is 34.8 meters away at (33.6, 9.1).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 3.7404008 -3.5101924] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.2392035 -2.5756233] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01817032 -0.00277152] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-67.649956 -88.60395 ]\n [-69.03679  -86.89124 ]\n [-67.71858  -88.23974 ]]", "nav_goal": "(62.2531623840332, -212.5789337158203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.5942025  4.838401 ], 4.874751091003418 meters away.)"}
{"file_name": "images/scenario_92_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -4.8) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 7.8 meters away at (-0.5, -7.8). A vehicle with ID 15 is 12.2 meters away at (-10.2, -6.6). A vehicle with ID 16 is 17.0 meters away at (8.4, 14.8). A vehicle with ID 10 is 21.2 meters away at (-14.2, -15.7). A pedestrian with ID 14 is 28.9 meters away at (-23.4, -17.0). A vehicle with ID 50 is 34.5 meters away at (28.3, 19.6). A vehicle with ID 54 is 40.9 meters away at (0.4, 40.9). A unknown object with ID 53 is 46.5 meters away at (12.0, 44.9). A pedestrian with ID 29 is 46.6 meters away at (31.5, 34.3). A unknown object with ID 55 is 50.7 meters away at (5.9, 50.4).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [7.0359583 7.9750233] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.0570809 -1.1878422] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0068735 -1.2674127] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 5.374791 -5.157772] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.02375063 -0.01141148] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-67.649956 -88.60395 ]\n [-69.03679  -86.89124 ]\n [-67.71858  -88.23974 ]]", "nav_goal": "(62.2531623840332, -212.5789337158203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.47938538 -7.8271008 ], 7.841767311096191 meters away.)"}
{"file_name": "images/scenario_92_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -2.9) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 3.5 meters away at (-3.4, 1.0). A vehicle with ID 10 is 14.1 meters away at (-9.9, -10.1). A pedestrian with ID 14 is 21.9 meters away at (-18.6, -11.5). A vehicle with ID 33 is 24.0 meters away at (19.0, 14.6). A vehicle with ID 16 is 27.3 meters away at (15.4, 22.5). A vehicle with ID 13 is 38.7 meters away at (-22.0, -31.8). A vehicle with ID 1 is 44.0 meters away at (-31.1, -31.1). A vehicle with ID 54 is 49.1 meters away at (7.3, 48.5). A vehicle with ID 3 is 50.9 meters away at (-35.6, -36.4). A vehicle with ID 25 is 54.0 meters away at (6.6, 53.6).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.9099103  -0.95524746] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0031896 -1.114357 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [5.091718  6.0216513] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [6.284795  7.4714227] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 5.2391987 -4.625446 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-67.649956 -88.60395 ]\n [-69.03679  -86.89124 ]\n [-67.71858  -88.23974 ]]", "nav_goal": "(62.2531623840332, -212.5789337158203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.3609467  1.0279236], 3.514625072479248 meters away.)"}
{"file_name": "images/scenario_93_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.8) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 10.8 meters away at (10.1, 3.8). A pedestrian with ID 19 is 21.5 meters away at (9.0, 19.5). A vehicle with ID 16 is 23.3 meters away at (15.8, -17.1). A unknown object with ID 25 is 27.8 meters away at (12.6, -24.8). A pedestrian with ID 20 is 27.8 meters away at (16.0, -22.7). A pedestrian with ID 22 is 31.1 meters away at (27.1, 15.3). A vehicle with ID 26 is 31.1 meters away at (12.0, -28.7). A unknown object with ID 13 is 31.8 meters away at (31.5, 4.7). A pedestrian with ID 18 is 32.6 meters away at (15.0, -28.9). A pedestrian with ID 21 is 36.1 meters away at (-14.4, 33.1).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.0381904  5.163547 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.92072666  0.56359243] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [3.591899  6.1566777] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.1292436   0.04704577] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.5099245   0.12045603] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.79255205 -1.1158113 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.1049583 -0.8094559] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.843011  -7.263445]\n [ 13.619926 -10.018132]\n [ 37.97854  -11.571664]\n [ 14.436235  -8.391807]\n [ 40.057774  -9.363168]\n [ 37.645817 -12.22822 ]\n [ 12.697281 -11.000876]]", "nav_goal": "(224.88232421875, -23.871631622314453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.091792  3.804623], 10.785148620605469 meters away.)"}
{"file_name": "images/scenario_93_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 14.4 meters away at (-3.2, 14.0). A pedestrian with ID 19 is 21.8 meters away at (7.6, 20.4). A vehicle with ID 16 is 23.2 meters away at (23.1, -2.4). A pedestrian with ID 20 is 26.3 meters away at (14.7, -21.8). A unknown object with ID 25 is 27.2 meters away at (12.0, -24.4). A pedestrian with ID 22 is 28.4 meters away at (23.7, 15.7). A vehicle with ID 26 is 30.4 meters away at (11.4, -28.2). A unknown object with ID 13 is 31.4 meters away at (31.0, 5.1). A pedestrian with ID 21 is 34.2 meters away at (-12.4, 31.8). A vehicle with ID 15 is 36.7 meters away at (6.5, -36.1).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-7.250858   4.4686174] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.584486    0.32284626] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [4.1068554 7.6064906] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.5124791  0.2697976] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.4828746  0.0508869] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.178294   -0.77994275] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.843011  -7.263445]\n [ 13.619926 -10.018132]\n [ 37.97854  -11.571664]\n [ 14.436235  -8.391807]\n [ 40.057774  -9.363168]\n [ 37.645817 -12.22822 ]\n [ 12.697281 -11.000876]]", "nav_goal": "(224.88232421875, -23.871631622314453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.1964788 14.036214 ], 14.39558219909668 meters away.)"}
{"file_name": "images/scenario_93_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 22.0 meters away at (6.6, 21.0). A pedestrian with ID 20 is 25.4 meters away at (13.9, -21.2). A pedestrian with ID 22 is 26.1 meters away at (20.7, 15.8). A unknown object with ID 25 is 27.1 meters away at (12.0, -24.3). A vehicle with ID 10 is 30.1 meters away at (-18.6, 23.7). A vehicle with ID 26 is 30.4 meters away at (11.4, -28.2). A unknown object with ID 13 is 31.4 meters away at (30.9, 5.1). A pedestrian with ID 21 is 31.8 meters away at (-9.9, 30.3). A vehicle with ID 16 is 33.7 meters away at (31.3, 12.5). A vehicle with ID 15 is 36.7 meters away at (6.5, -36.1).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7328745   0.43304428] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.6130672  0.3979578] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.5794629   0.17333643] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-8.140186   5.2644176] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.1267649 -0.8371423] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [4.326745 7.298886] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.843011  -7.263445]\n [ 13.619926 -10.018132]\n [ 37.97854  -11.571664]\n [ 14.436235  -8.391807]\n [ 40.057774  -9.363168]\n [ 37.645817 -12.22822 ]\n [ 12.697281 -11.000876]]", "nav_goal": "(224.88232421875, -23.871631622314453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 6.588843 21.005966], 22.015073776245117 meters away.)"}
{"file_name": "images/scenario_93_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 22.4 meters away at (5.7, 21.7). A pedestrian with ID 20 is 23.2 meters away at (11.6, -20.1). A pedestrian with ID 22 is 24.1 meters away at (17.8, 16.2). A unknown object with ID 25 is 27.1 meters away at (11.9, -24.3). A pedestrian with ID 21 is 29.5 meters away at (-7.4, 28.5). A vehicle with ID 26 is 30.4 meters away at (11.3, -28.3). A unknown object with ID 13 is 31.4 meters away at (30.9, 5.1). A vehicle with ID 15 is 36.7 meters away at (6.4, -36.1). A vehicle with ID 29 is 44.0 meters away at (41.7, -14.1). A vehicle with ID 16 is 48.8 meters away at (40.5, 27.4).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.4617985  0.313387 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.2176791  0.570383 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.5891489  0.3670602] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.126102  -0.8649771] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [4.63221  7.499092] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.843011  -7.263445]\n [ 13.619926 -10.018132]\n [ 37.97854  -11.571664]\n [ 14.436235  -8.391807]\n [ 40.057774  -9.363168]\n [ 37.645817 -12.22822 ]\n [ 12.697281 -11.000876]]", "nav_goal": "(224.88232421875, -23.871631622314453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 5.7439632 21.657413 ], 22.406173706054688 meters away.)"}
{"file_name": "images/scenario_94_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.7) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 12.4 meters away at (-7.2, 10.1). A pedestrian with ID 42 is 23.6 meters away at (-14.4, 18.7). A unknown object with ID 41 is 41.6 meters away at (-41.3, -4.4). A vehicle with ID 43 is 45.7 meters away at (45.5, 4.5). A unknown object with ID 12 is 46.6 meters away at (-45.3, -11.2). A vehicle with ID 45 is 52.3 meters away at (40.8, -32.7). A unknown object with ID 23 is 53.0 meters away at (-41.9, -32.5). A unknown object with ID 31 is 56.4 meters away at (-27.4, -49.4). A vehicle with ID 46 is 59.4 meters away at (-52.8, -27.2). A pedestrian with ID 47 is 68.7 meters away at (24.4, -64.2).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.2976506  -0.51889163] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-7.506682   5.2509828] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.16589242 0.03000088] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.1924024 10.1088295], 12.406413078308105 meters away.)"}
{"file_name": "images/scenario_94_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.50 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 20.9 meters away at (-11.4, 17.6). A vehicle with ID 45 is 35.3 meters away at (27.5, -22.2). A unknown object with ID 10 is 38.4 meters away at (-30.6, -23.2). A pedestrian with ID 4 is 39.4 meters away at (-39.1, 4.8). A unknown object with ID 41 is 41.2 meters away at (-40.9, -4.8). A vehicle with ID 43 is 46.3 meters away at (46.1, 4.0). A unknown object with ID 12 is 46.4 meters away at (-44.9, -11.5). A unknown object with ID 5 is 46.8 meters away at (-15.6, -44.2). A vehicle with ID 14 is 51.6 meters away at (-42.5, -29.3). A unknown object with ID 23 is 52.9 meters away at (-41.5, -32.8).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.3254454  -0.46881837] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-6.082789   5.0038295] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00346841  0.0015037 ] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.386039  17.557646], 20.926366806030273 meters away.)"}
{"file_name": "images/scenario_94_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.6) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 15.3 meters away at (-6.4, 13.9). A vehicle with ID 45 is 25.2 meters away at (19.6, -15.8). A unknown object with ID 40 is 38.6 meters away at (-37.5, -9.3). A unknown object with ID 41 is 38.7 meters away at (-38.0, -7.2). A unknown object with ID 24 is 42.4 meters away at (-33.9, -25.6). A vehicle with ID 43 is 49.0 meters away at (49.0, 1.7). A vehicle with ID 46 is 57.7 meters away at (-49.5, -29.6). A pedestrian with ID 47 is 72.5 meters away at (27.8, -67.0). A vehicle with ID 48 is 73.4 meters away at (27.1, -68.2).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.0000468 -0.6869822] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.5635056  3.8596032] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.08445228 -0.01974765] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.4367075 13.895485 ], 15.313905715942383 meters away.)"}
{"file_name": "images/scenario_94_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 4.0) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 6.7 meters away at (2.9, 6.0). A vehicle with ID 45 is 24.6 meters away at (19.1, -15.5). A unknown object with ID 41 is 33.0 meters away at (-29.8, -14.1). A unknown object with ID 40 is 33.5 meters away at (-29.3, -16.3). A unknown object with ID 19 is 39.7 meters away at (-33.8, -20.8). A unknown object with ID 22 is 41.1 meters away at (-33.1, -24.4). A pedestrian with ID 6 is 42.4 meters away at (-25.7, -33.8). A vehicle with ID 18 is 49.0 meters away at (-30.9, -37.9). A pedestrian with ID 29 is 53.0 meters away at (-40.2, -34.5). A vehicle with ID 20 is 54.6 meters away at (-40.3, -36.8).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.47430605 -0.20217392] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.0363936  3.5656488] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.0671519   0.11380704] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.02541477  0.01331262] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [2.9223337 6.03697  ], 6.707088947296143 meters away.)"}
{"file_name": "images/scenario_95_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.7) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 16.3 meters away at (-11.9, 11.1). A unknown object with ID 21 is 17.7 meters away at (-13.8, 11.1). A unknown object with ID 9 is 19.1 meters away at (-13.4, 13.6). A unknown object with ID 25 is 19.5 meters away at (-15.8, 11.4). A unknown object with ID 10 is 21.3 meters away at (-17.6, 12.0). A unknown object with ID 13 is 23.2 meters away at (-19.3, 13.0). A unknown object with ID 14 is 23.9 meters away at (-19.9, 13.3). A unknown object with ID 17 is 25.2 meters away at (-21.0, 13.8). A unknown object with ID 19 is 27.0 meters away at (-22.7, 14.7). A unknown object with ID 20 is 28.9 meters away at (-24.3, 15.5).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.99735  -8.10802 ]\n [15.272939 -3.004614]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-11.876772  11.141402], 16.284610748291016 meters away.)"}
{"file_name": "images/scenario_95_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 17.1 meters away at (-12.6, 11.5). A unknown object with ID 21 is 18.5 meters away at (-14.6, 11.5). A unknown object with ID 9 is 20.0 meters away at (-14.3, 14.0). A unknown object with ID 25 is 20.3 meters away at (-16.5, 11.8). A unknown object with ID 10 is 22.3 meters away at (-18.5, 12.5). A vehicle with ID 36 is 32.9 meters away at (-25.8, 20.5). A unknown object with ID 28 is 39.4 meters away at (-32.4, 22.3). A unknown object with ID 30 is 50.4 meters away at (-46.9, 18.5). A unknown object with ID 38 is 50.4 meters away at (-45.9, 21.0). A unknown object with ID 39 is 51.7 meters away at (-46.2, 23.2).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.99735  -8.10802 ]\n [15.272939 -3.004614]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-12.6441145  11.534817 ], 17.115070343017578 meters away.)"}
{"file_name": "images/scenario_95_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 17.3 meters away at (-12.8, 11.6). A unknown object with ID 21 is 18.7 meters away at (-14.7, 11.5). A unknown object with ID 9 is 20.1 meters away at (-14.5, 14.0). A unknown object with ID 25 is 20.4 meters away at (-16.6, 11.8). A unknown object with ID 10 is 22.5 meters away at (-18.6, 12.5). A vehicle with ID 36 is 32.9 meters away at (-25.8, 20.5). A unknown object with ID 28 is 39.5 meters away at (-32.6, 22.4). A unknown object with ID 30 is 50.6 meters away at (-47.0, 18.6). A unknown object with ID 38 is 50.6 meters away at (-46.0, 21.0). A unknown object with ID 39 is 51.8 meters away at (-46.3, 23.2).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.99735  -8.10802 ]\n [15.272939 -3.004614]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-12.792313  11.59387 ], 17.264446258544922 meters away.)"}
{"file_name": "images/scenario_95_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 17.3 meters away at (-12.8, 11.6). A unknown object with ID 21 is 18.8 meters away at (-14.8, 11.5). A unknown object with ID 9 is 20.2 meters away at (-14.5, 14.0). A unknown object with ID 25 is 20.4 meters away at (-16.7, 11.8). A vehicle with ID 36 is 32.9 meters away at (-25.8, 20.5). A unknown object with ID 28 is 39.6 meters away at (-32.6, 22.4). A pedestrian with ID 3 is 49.2 meters away at (38.5, -30.7). A unknown object with ID 30 is 50.6 meters away at (-47.0, 18.7). A unknown object with ID 38 is 50.6 meters away at (-46.1, 21.1). A unknown object with ID 39 is 51.9 meters away at (-46.4, 23.3).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.5031362 -1.3298589] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.99735  -8.10802 ]\n [15.272939 -3.004614]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-12.837076  11.600285], 17.301939010620117 meters away.)"}
{"file_name": "images/scenario_96_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -6.2) m/s. Its current heading (yaw) is -0.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 4.2 meters away at (-1.9, -3.8). A vehicle with ID 52 is 5.5 meters away at (-5.5, -0.1). A vehicle with ID 56 is 7.7 meters away at (1.8, -7.5). A vehicle with ID 50 is 9.9 meters away at (-9.1, 3.8). A vehicle with ID 58 is 12.6 meters away at (5.7, -11.3). A vehicle with ID 48 is 14.5 meters away at (-12.2, 7.8). A vehicle with ID 59 is 17.9 meters away at (9.7, -15.1). A vehicle with ID 47 is 20.5 meters away at (-15.2, 13.8). A vehicle with ID 61 is 22.9 meters away at (13.2, -18.7). A vehicle with ID 60 is 23.1 meters away at (22.7, -4.2).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.8663573 -3.7664099], 4.203466892242432 meters away.)"}
{"file_name": "images/scenario_96_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -6.2) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 3.8 meters away at (-2.5, -2.9). A vehicle with ID 61 is 6.4 meters away at (0.9, -6.3). A vehicle with ID 58 is 6.6 meters away at (-6.5, 1.0). A vehicle with ID 63 is 11.0 meters away at (4.5, -10.0). A vehicle with ID 56 is 11.3 meters away at (-10.3, 4.7). A vehicle with ID 60 is 13.4 meters away at (10.5, 8.3). A vehicle with ID 62 is 14.0 meters away at (12.5, 6.2). A vehicle with ID 64 is 15.7 meters away at (8.1, -13.5). A vehicle with ID 54 is 16.5 meters away at (-14.1, 8.6). A vehicle with ID 44 is 20.6 meters away at (11.7, -16.9).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.5205536 -2.8773766], 3.8252432346343994 meters away.)"}
{"file_name": "images/scenario_96_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -6.4) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 4.5 meters away at (-0.9, -4.4). A vehicle with ID 64 is 4.6 meters away at (-4.5, -1.0). A vehicle with ID 63 is 8.3 meters away at (-8.0, 2.5). A vehicle with ID 31 is 8.5 meters away at (2.7, -8.0). A vehicle with ID 61 is 13.2 meters away at (-11.7, 6.2). A vehicle with ID 59 is 18.1 meters away at (-15.2, 9.8). A vehicle with ID 62 is 18.8 meters away at (-0.1, 18.8). A pedestrian with ID 45 is 19.4 meters away at (18.7, -5.5). A pedestrian with ID 46 is 20.4 meters away at (19.7, -5.2). A vehicle with ID 60 is 20.8 meters away at (-2.2, 20.7).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.05341439 -0.03568602] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.01376949 0.00399342] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.9184189 -4.3916054], 4.486612319946289 meters away.)"}
{"file_name": "images/scenario_96_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -6.7) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 9.3 meters away at (5.5, 7.5). A pedestrian with ID 46 is 10.2 meters away at (6.6, 7.8). A vehicle with ID 31 is 11.5 meters away at (-10.4, 5.0). A vehicle with ID 35 is 11.8 meters away at (-8.6, -8.0). A vehicle with ID 44 is 16.5 meters away at (-14.0, 8.7). A vehicle with ID 26 is 18.8 meters away at (10.5, -15.6). A vehicle with ID 43 is 19.1 meters away at (-12.6, -14.3). A vehicle with ID 64 is 21.4 meters away at (-17.6, 12.2). A vehicle with ID 25 is 23.6 meters away at (14.0, -18.9). A vehicle with ID 63 is 26.4 meters away at (-21.2, 15.7).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.01747855 -0.00852169] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.00501682 -0.02495664] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [5.511078  7.5111923], 9.31611442565918 meters away.)"}
{"file_name": "images/scenario_97_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 11.9 meters away at (-4.4, 11.0). A pedestrian with ID 25 is 14.9 meters away at (-4.6, 14.2). A pedestrian with ID 37 is 15.3 meters away at (-3.5, 14.9). A vehicle with ID 38 is 17.1 meters away at (-7.7, 15.3). A pedestrian with ID 39 is 17.9 meters away at (-6.7, 16.6). A vehicle with ID 41 is 18.7 meters away at (15.7, -10.1). A vehicle with ID 42 is 21.9 meters away at (-11.9, 18.4). A pedestrian with ID 17 is 25.8 meters away at (-15.4, 20.7). A vehicle with ID 45 is 30.9 meters away at (-26.1, -16.6). A vehicle with ID 47 is 32.5 meters away at (-16.4, -28.0).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.0023118  -0.00497044] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00617607 -0.00896265] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.04842339 -0.05844978] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.7773132   0.79842347] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00142161  0.04220384] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(24.07794761657715, -205.7195281982422)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.3920064 11.008134 ], 11.851950645446777 meters away.)"}
{"file_name": "images/scenario_97_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -1.1) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 11.5 meters away at (9.9, -5.8). A vehicle with ID 43 is 13.7 meters away at (-6.0, 12.3). A pedestrian with ID 25 is 16.5 meters away at (-6.0, 15.3). A pedestrian with ID 37 is 17.1 meters away at (-5.1, 16.3). A vehicle with ID 38 is 18.9 meters away at (-9.2, 16.6). A vehicle with ID 42 is 23.8 meters away at (-13.3, 19.7). A unknown object with ID 5 is 28.8 meters away at (-8.0, -27.6). A vehicle with ID 45 is 32.0 meters away at (-28.0, -15.4). A vehicle with ID 33 is 32.1 meters away at (-22.0, -23.4). A vehicle with ID 47 is 32.2 meters away at (-18.0, -26.7).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [-2.4357264  2.3568902] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.1358413 -0.6340025] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00958297 -0.02669977] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(24.07794761657715, -205.7195281982422)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.912365 -5.83163 ], 11.500560760498047 meters away.)"}
{"file_name": "images/scenario_97_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -2.7) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 4.0 meters away at (-0.4, 4.0). A vehicle with ID 43 is 19.2 meters away at (-10.4, 16.1). A pedestrian with ID 25 is 20.8 meters away at (-10.5, 18.0). A pedestrian with ID 37 is 22.3 meters away at (-9.6, 20.1). A vehicle with ID 38 is 24.5 meters away at (-13.6, 20.4). A unknown object with ID 5 is 26.9 meters away at (-12.5, -23.8). A vehicle with ID 42 is 29.4 meters away at (-17.8, 23.4). A vehicle with ID 47 is 32.1 meters away at (-22.4, -23.0). A vehicle with ID 33 is 32.7 meters away at (-25.9, -20.1). A vehicle with ID 45 is 35.4 meters away at (-33.2, -12.1).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [-3.5307996  3.1482275] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.03062366 -0.5284207 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.21150537  0.0204251 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-0.49222997 -0.26017413] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(24.07794761657715, -205.7195281982422)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.44843006  3.9649577 ], 3.9902355670928955 meters away.)"}
{"file_name": "images/scenario_97_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -2.7) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 22.0 meters away at (-15.2, 15.9). A unknown object with ID 5 is 26.3 meters away at (-18.8, -18.4). A vehicle with ID 43 is 27.2 meters away at (-16.6, 21.5). A pedestrian with ID 25 is 27.9 meters away at (-15.9, 22.9). A pedestrian with ID 35 is 28.3 meters away at (-14.2, 24.4). A pedestrian with ID 1 is 29.8 meters away at (24.2, -17.4). A pedestrian with ID 37 is 30.3 meters away at (-16.4, 25.5). A pedestrian with ID 30 is 32.8 meters away at (-19.1, 26.7). A vehicle with ID 47 is 33.7 meters away at (-28.7, -17.5). A vehicle with ID 33 is 35.5 meters away at (-32.4, -14.5).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [-4.749122  3.63468 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.3900536  -0.02829719] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00322914 -0.00074365] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.01101456 -1.4202731 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.02347203 -0.30370542] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.02329293  0.02111374] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(24.07794761657715, -205.7195281982422)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-15.170379  15.940047], 22.005125045776367 meters away.)"}
{"file_name": "images/scenario_98_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.0) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 7.4 meters away at (-7.4, 0.1). A vehicle with ID 16 is 15.5 meters away at (4.3, -14.9). A vehicle with ID 18 is 15.5 meters away at (-9.0, -12.7). A pedestrian with ID 10 is 17.5 meters away at (-5.1, -16.7). A vehicle with ID 19 is 20.3 meters away at (-9.6, -17.9). A vehicle with ID 8 is 22.9 meters away at (-9.7, -20.7). A vehicle with ID 21 is 28.4 meters away at (-11.2, -26.1). A vehicle with ID 22 is 31.5 meters away at (-21.1, -23.3). A vehicle with ID 4 is 33.5 meters away at (-11.4, -31.5). A vehicle with ID 25 is 42.6 meters away at (36.4, 22.1).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [ 3.3095555 -2.8010545] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.03909947 -0.01483442] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.96531677246094, 45.11579513549805)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.428352    0.09311831], 7.428935527801514 meters away.)"}
{"file_name": "images/scenario_98_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 2.6) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 10.1 meters away at (6.2, -7.9). A vehicle with ID 18 is 16.5 meters away at (-3.3, -16.1). A unknown object with ID 11 is 20.3 meters away at (0.8, -20.2). A vehicle with ID 16 is 21.0 meters away at (10.0, -18.4). A vehicle with ID 19 is 21.8 meters away at (-4.0, -21.4). A vehicle with ID 8 is 24.4 meters away at (-4.0, -24.1). A vehicle with ID 21 is 30.3 meters away at (-5.4, -29.8). A vehicle with ID 22 is 30.9 meters away at (-15.3, -26.9). A pedestrian with ID 20 is 34.5 meters away at (-33.1, 9.6). A vehicle with ID 4 is 35.4 meters away at (-5.7, -34.9).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.842829  -2.4060836] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.235039  -0.6168835] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.96531677246094, 45.11579513549805)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.2046432 -7.9355497], 10.073259353637695 meters away.)"}
{"file_name": "images/scenario_98_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 3.7) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 20.1 meters away at (-20.0, 2.1). A vehicle with ID 18 is 23.4 meters away at (7.4, -22.2). A vehicle with ID 19 is 28.2 meters away at (6.3, -27.5). A unknown object with ID 11 is 28.9 meters away at (11.4, -26.6). A vehicle with ID 8 is 30.9 meters away at (6.6, -30.2). A vehicle with ID 16 is 32.2 meters away at (20.7, -24.6). A vehicle with ID 22 is 33.4 meters away at (-4.7, -33.1). A vehicle with ID 17 is 35.5 meters away at (28.7, -20.8). A vehicle with ID 21 is 36.0 meters away at (4.9, -35.6). A unknown object with ID 26 is 39.9 meters away at (5.9, 39.5).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.3260871 -0.5482108] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 6.9572177 -4.051163 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.96531677246094, 45.11579513549805)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-20.01158     2.0804586], 20.119434356689453 meters away.)"}
{"file_name": "images/scenario_98_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.1) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 7.6 meters away at (-3.7, -6.7). A pedestrian with ID 9 is 27.0 meters away at (-26.1, 6.8). A vehicle with ID 15 is 27.5 meters away at (-26.1, 8.8). A vehicle with ID 18 is 36.5 meters away at (21.1, -29.8). A unknown object with ID 26 is 37.5 meters away at (19.6, 31.9). A vehicle with ID 19 is 40.4 meters away at (20.2, -35.0). A vehicle with ID 8 is 43.0 meters away at (20.3, -37.8). A vehicle with ID 21 is 47.1 meters away at (18.8, -43.2). A vehicle with ID 16 is 47.2 meters away at (34.6, -32.1). A vehicle with ID 4 is 52.0 meters away at (18.6, -48.6).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.2917058 -0.3649334] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.05334997  0.09463837] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.96531677246094, 45.11579513549805)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-3.6647701 -6.702548 ], 7.639024257659912 meters away.)"}
{"file_name": "images/scenario_99_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.6 meters away at (4.0, 2.4). A vehicle with ID 25 is 8.3 meters away at (6.3, -5.4). A vehicle with ID 26 is 11.3 meters away at (-5.1, 10.1). A vehicle with ID 29 is 11.4 meters away at (10.9, -3.4). A vehicle with ID 28 is 11.6 meters away at (-8.9, 7.5). A vehicle with ID 33 is 16.1 meters away at (12.4, -10.3). A pedestrian with ID 36 is 16.5 meters away at (16.5, -1.5). A pedestrian with ID 37 is 16.7 meters away at (16.6, -2.2). A vehicle with ID 32 is 17.0 meters away at (-9.7, 14.0). A pedestrian with ID 31 is 17.1 meters away at (16.5, -4.5).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.00136618 -0.00295473] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.00113424 -0.00198595] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.0416857  0.8179818] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.347345 -34.097324]\n [ 31.556404 -22.069439]\n [ 28.004349 -36.3418  ]\n [ 30.169567 -20.356733]\n [ 31.487774 -21.705229]\n [ 28.00986  -37.377716]]", "nav_goal": "(-213.34750366210938, -0.6902875900268555)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.9731832 2.4126854], 4.648358345031738 meters away.)"}
{"file_name": "images/scenario_99_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.4) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 5.0 meters away at (4.6, 1.8). A vehicle with ID 25 is 9.2 meters away at (7.0, -6.0). A vehicle with ID 26 is 10.6 meters away at (-4.5, 9.6). A vehicle with ID 28 is 10.8 meters away at (-8.3, 6.9). A vehicle with ID 29 is 12.2 meters away at (11.6, -4.0). A pedestrian with ID 31 is 15.5 meters away at (15.2, -3.0). A vehicle with ID 32 is 16.2 meters away at (-9.0, 13.5). A vehicle with ID 33 is 16.9 meters away at (13.0, -10.8). A pedestrian with ID 36 is 17.4 meters away at (17.2, -2.2). A pedestrian with ID 37 is 17.5 meters away at (17.2, -2.8).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.07029     0.99253136] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.00729572  0.00978454] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00774949 -0.007454  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.347345 -34.097324]\n [ 31.556404 -22.069439]\n [ 28.004349 -36.3418  ]\n [ 30.169567 -20.356733]\n [ 31.487774 -21.705229]\n [ 28.00986  -37.377716]]", "nav_goal": "(-213.34750366210938, -0.6902875900268555)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.6152825 1.8497136], 4.972149848937988 meters away.)"}
{"file_name": "images/scenario_99_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.3) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 5.5 meters away at (5.4, 1.2). A vehicle with ID 26 is 9.6 meters away at (-3.7, 8.9). A vehicle with ID 28 is 9.8 meters away at (-7.5, 6.2). A vehicle with ID 25 is 9.8 meters away at (7.5, -6.4). A unknown object with ID 20 is 11.4 meters away at (-3.4, 10.9). A vehicle with ID 29 is 13.2 meters away at (12.3, -4.6). A pedestrian with ID 31 is 14.1 meters away at (14.0, -1.5). A vehicle with ID 32 is 15.2 meters away at (-8.3, 12.8). A vehicle with ID 38 is 16.6 meters away at (-12.8, 10.6). A vehicle with ID 33 is 17.9 meters away at (13.8, -11.4).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.53005475  0.45093793] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.0083013  0.9814665] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.347345 -34.097324]\n [ 31.556404 -22.069439]\n [ 28.004349 -36.3418  ]\n [ 33.137066 -28.050234]\n [ 30.169567 -20.356733]\n [ 35.719772 -26.018257]\n [ 31.487774 -21.705229]\n [ 28.00986  -37.377716]]", "nav_goal": "(-213.34750366210938, -0.6902875900268555)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.3645873 1.1693149], 5.490546226501465 meters away.)"}
{"file_name": "images/scenario_99_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.2) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 5.9 meters away at (5.8, 0.8). A vehicle with ID 25 is 8.5 meters away at (6.5, -5.6). A vehicle with ID 26 is 9.1 meters away at (-3.3, 8.5). A vehicle with ID 28 is 9.2 meters away at (-7.1, 5.8). A pedestrian with ID 31 is 12.4 meters away at (12.4, -0.1). A vehicle with ID 29 is 13.7 meters away at (12.8, -5.0). A vehicle with ID 32 is 14.7 meters away at (-7.8, 12.4). A vehicle with ID 38 is 16.0 meters away at (-12.3, 10.2). A vehicle with ID 33 is 17.6 meters away at (13.6, -11.3). A pedestrian with ID 36 is 18.6 meters away at (18.3, -3.3).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.49794438  0.42252386] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.8760379  0.8201043] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-0.7204203   0.57672065] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.02782368 -0.00495415] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.347345 -34.097324]\n [ 31.556404 -22.069439]\n [ 28.004349 -36.3418  ]\n [ 33.137066 -28.050234]\n [ 30.169567 -20.356733]\n [ 35.719772 -26.018257]\n [ 31.487774 -21.705229]\n [ 28.00986  -37.377716]]", "nav_goal": "(-213.34750366210938, -0.6902875900268555)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.809503   0.76905847], 5.860185623168945 meters away.)"}
{"file_name": "images/scenario_100_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -2.9) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 7.0 meters away at (-6.5, -2.5). A vehicle with ID 92 is 8.7 meters away at (7.7, 4.1). A vehicle with ID 84 is 10.6 meters away at (3.8, 9.9). A vehicle with ID 81 is 12.6 meters away at (-2.7, 12.3). A pedestrian with ID 89 is 13.1 meters away at (10.4, -8.0). A vehicle with ID 88 is 13.7 meters away at (11.7, 7.2). A vehicle with ID 90 is 16.0 meters away at (12.9, -9.4). A vehicle with ID 93 is 21.1 meters away at (18.0, -11.1). A vehicle with ID 77 is 21.7 meters away at (-17.6, 12.8). A vehicle with ID 95 is 26.5 meters away at (23.3, -12.7).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [-5.464679   1.9071732] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-1.0256089 -0.6731883] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 65.020515 -11.645238]\n [ 70.79306  -14.415041]\n [-45.123314  25.770374]\n [ 66.000656 -12.125497]\n [ 63.535213 -10.481074]\n [-46.905544  23.125124]\n [ 64.672356 -11.4804  ]\n [ 68.46452  -16.831482]]", "nav_goal": "(135.25247192382812, -205.55824279785156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.545866  -2.4725842], 6.997287750244141 meters away.)"}
{"file_name": "images/scenario_100_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -2.6) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 90 is 4.9 meters away at (-3.0, -3.9). A vehicle with ID 93 is 5.8 meters away at (1.8, -5.5). A vehicle with ID 99 is 7.5 meters away at (5.7, 4.8). A pedestrian with ID 89 is 8.9 meters away at (-8.1, -3.7). A vehicle with ID 95 is 10.1 meters away at (7.2, -7.2). A vehicle with ID 88 is 13.4 meters away at (-4.2, 12.8). A pedestrian with ID 57 is 19.7 meters away at (13.9, -13.9). A vehicle with ID 84 is 19.7 meters away at (-12.3, 15.4). A pedestrian with ID 58 is 20.0 meters away at (13.7, -14.6). A vehicle with ID 92 is 22.6 meters away at (-18.4, 13.1).", "velocity_description": "The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [-6.6223326  2.2436872] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-1.0003557  -0.41347405] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.7624366   0.81730133] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.48067126  0.84199595] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [-4.0760727  1.4205062] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 65.020515 -11.645238]\n [ 70.79306  -14.415041]\n [-45.123314  25.770374]\n [ 66.000656 -12.125497]\n [ 56.958645 -22.885605]\n [ 63.535213 -10.481074]\n [-46.905544  23.125124]\n [ 64.672356 -11.4804  ]\n [ 58.542118 -20.136356]]", "nav_goal": "(135.25247192382812, -205.55824279785156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.9854717 -3.860402 ], 4.880137920379639 meters away.)"}
{"file_name": "images/scenario_100_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -1.9) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 95 is 5.8 meters away at (-5.0, -3.0). A vehicle with ID 59 is 6.7 meters away at (0.8, 6.7). A pedestrian with ID 57 is 8.0 meters away at (0.1, -8.0). A pedestrian with ID 58 is 8.7 meters away at (0.3, -8.7). A vehicle with ID 93 is 10.5 meters away at (-10.4, -1.4). A vehicle with ID 90 is 15.3 meters away at (-15.3, 0.3). A vehicle with ID 99 is 22.0 meters away at (-17.9, 12.8). A pedestrian with ID 89 is 22.1 meters away at (-22.1, 0.2). A vehicle with ID 88 is 23.7 meters away at (-16.5, 16.9). A vehicle with ID 76 is 27.5 meters away at (6.8, -26.7).", "velocity_description": "The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-7.1838703  2.500358 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.9524243   0.65349495] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.8454816   0.70938826] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [-4.5469804  1.4076799] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.46993858  0.14713188] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-1.9984396 -7.0419316] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 65.020515 -11.645238]\n [ 70.79306  -14.415041]\n [ 66.000656 -12.125497]\n [ 63.535213 -10.481074]\n [ 64.672356 -11.4804  ]]", "nav_goal": "(135.25247192382812, -205.55824279785156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.0099945 -2.9655933], 5.821922779083252 meters away.)"}
{"file_name": "images/scenario_100_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -4.1) m/s. Its current heading (yaw) is -1.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 9.3 meters away at (5.3, 7.6). A pedestrian with ID 58 is 10.1 meters away at (-9.8, -2.4). A pedestrian with ID 57 is 10.4 meters away at (-10.3, -1.7). A vehicle with ID 95 is 13.4 meters away at (-13.1, 2.6). A pedestrian with ID 25 is 15.5 meters away at (6.1, -14.2). A vehicle with ID 93 is 19.2 meters away at (-18.7, 4.3). A vehicle with ID 59 is 24.0 meters away at (-18.0, 15.8). A pedestrian with ID 49 is 24.0 meters away at (22.3, 8.9). A vehicle with ID 12 is 24.2 meters away at (-5.4, -23.5). A vehicle with ID 90 is 24.3 meters away at (-23.5, 6.0).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [-7.298441  2.832048] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.1749601   0.21655604] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.2085454   0.23846404] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.14244892 -0.3440721 ] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-3.932672  1.240297] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.0534889  -0.01094574] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 65.020515 -11.645238]\n [ 70.79306  -14.415041]\n [ 66.000656 -12.125497]\n [ 63.535213 -10.481074]\n [ 64.672356 -11.4804  ]]", "nav_goal": "(135.25247192382812, -205.55824279785156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.3065224 7.6453714], 9.306496620178223 meters away.)"}
{"file_name": "images/scenario_101_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -2.8) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 4.9 meters away at (2.5, -4.2). A vehicle with ID 57 is 9.7 meters away at (7.7, -6.0). A unknown object with ID 56 is 10.3 meters away at (9.6, 3.8). A vehicle with ID 62 is 14.7 meters away at (12.5, -7.7). A vehicle with ID 47 is 15.7 meters away at (15.7, 0.5). A vehicle with ID 67 is 20.1 meters away at (17.7, -9.5). A vehicle with ID 70 is 25.2 meters away at (22.6, -11.2). A vehicle with ID 49 is 28.8 meters away at (28.6, -3.7). A vehicle with ID 53 is 33.6 meters away at (-33.5, -1.4). A vehicle with ID 58 is 39.2 meters away at (-39.2, 0.3).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.55209350585938, 89.23204803466797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.4953585 -4.184853 ], 4.87235164642334 meters away.)"}
{"file_name": "images/scenario_101_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -2.8) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 4.2 meters away at (-3.6, -2.2). A vehicle with ID 67 is 4.2 meters away at (1.4, -4.0). A vehicle with ID 47 is 6.1 meters away at (-0.4, 6.0). A vehicle with ID 70 is 8.4 meters away at (6.2, -5.6). A vehicle with ID 57 is 8.6 meters away at (-8.5, -0.4). A vehicle with ID 49 is 12.4 meters away at (12.3, 1.9). A vehicle with ID 52 is 13.7 meters away at (-13.6, 1.4). A vehicle with ID 42 is 14.3 meters away at (7.5, 12.2). A vehicle with ID 28 is 19.3 meters away at (-19.3, 1.1). A vehicle with ID 30 is 20.4 meters away at (12.0, 16.5).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.55209350585938, 89.23204803466797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.5945816 -2.1936731], 4.211082935333252 meters away.)"}
{"file_name": "images/scenario_101_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -2.7) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 8.4 meters away at (-4.0, 7.4). A vehicle with ID 80 is 9.1 meters away at (6.9, -5.9). A vehicle with ID 70 is 10.0 meters away at (-10.0, -0.2). A vehicle with ID 48 is 10.1 meters away at (9.8, 2.5). A vehicle with ID 67 is 14.8 meters away at (-14.8, 1.5). A vehicle with ID 42 is 19.8 meters away at (-8.8, 17.7). A vehicle with ID 50 is 19.8 meters away at (19.8, -0.8). A vehicle with ID 62 is 20.2 meters away at (-20.0, 3.4). A vehicle with ID 47 is 20.3 meters away at (-16.7, 11.5). A unknown object with ID 35 is 23.5 meters away at (16.6, -16.6).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.55209350585938, 89.23204803466797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.9897423  7.355753 ], 8.36810302734375 meters away.)"}
{"file_name": "images/scenario_101_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -2.4) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 6.3 meters away at (4.5, 4.4). A vehicle with ID 80 is 8.2 meters away at (-8.2, -0.7). A vehicle with ID 48 is 9.3 meters away at (-5.4, 7.7). A unknown object with ID 9 is 11.1 meters away at (2.0, -10.9). A unknown object with ID 35 is 11.6 meters away at (1.5, -11.5). A unknown object with ID 40 is 12.0 meters away at (1.9, -11.8). A vehicle with ID 51 is 12.0 meters away at (11.8, 2.0). A vehicle with ID 4 is 13.6 meters away at (11.5, -7.3). A vehicle with ID 3 is 18.0 meters away at (18.0, 0.1). A unknown object with ID 45 is 22.5 meters away at (-1.6, -22.4).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.55209350585938, 89.23204803466797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.5120316 4.3796005], 6.288030624389648 meters away.)"}
{"file_name": "images/scenario_102_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -1.1) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 6.1 meters away at (1.7, 5.9). A unknown object with ID 13 is 8.2 meters away at (-3.5, 7.4). A unknown object with ID 15 is 9.0 meters away at (-5.4, 7.1). A unknown object with ID 17 is 10.6 meters away at (-7.4, 7.5). A unknown object with ID 14 is 12.6 meters away at (-9.5, 8.4). A unknown object with ID 16 is 14.4 meters away at (-11.2, 9.1). A unknown object with ID 18 is 16.3 meters away at (-13.0, 9.9). A unknown object with ID 19 is 18.2 meters away at (-14.7, 10.7). A vehicle with ID 7 is 19.6 meters away at (17.4, -9.0). A unknown object with ID 20 is 20.1 meters away at (-16.4, 11.5).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0.01609894 7.4376335 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.056005  -8.624928 ]\n [16.331593  -3.5215225]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.6752701 5.8549023], 6.0898613929748535 meters away.)"}
{"file_name": "images/scenario_102_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.1) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 6.9 meters away at (-0.4, 6.9). A unknown object with ID 13 is 10.1 meters away at (-5.6, 8.4). A unknown object with ID 15 is 11.1 meters away at (-7.6, 8.1). A unknown object with ID 17 is 12.8 meters away at (-9.5, 8.6). A unknown object with ID 14 is 14.8 meters away at (-11.5, 9.3). A unknown object with ID 16 is 16.8 meters away at (-13.4, 10.1). A vehicle with ID 7 is 17.3 meters away at (15.4, 7.9). A unknown object with ID 18 is 18.7 meters away at (-15.2, 10.9). A unknown object with ID 19 is 20.7 meters away at (-17.0, 11.8). A unknown object with ID 20 is 22.8 meters away at (-18.9, 12.7).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0.09676042 8.312022  ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.056005  -8.624928 ]\n [16.331593  -3.5215225]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-0.37442827  6.9005394 ], 6.9106903076171875 meters away.)"}
{"file_name": "images/scenario_102_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 7.0 meters away at (-0.5, 7.0). A unknown object with ID 13 is 10.2 meters away at (-5.7, 8.5). A unknown object with ID 15 is 11.3 meters away at (-7.7, 8.2). A unknown object with ID 17 is 13.0 meters away at (-9.7, 8.6). A vehicle with ID 9 is 27.5 meters away at (27.4, -1.6). A vehicle with ID 7 is 29.7 meters away at (15.3, 25.5). A pedestrian with ID 35 is 35.3 meters away at (-32.6, 13.5). A unknown object with ID 44 is 37.7 meters away at (-29.0, 24.1). A unknown object with ID 45 is 38.9 meters away at (-30.7, 23.9). A unknown object with ID 47 is 48.0 meters away at (-44.4, 18.3).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.10580708 -6.079598  ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0.08089019 8.7923975 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.74158245  1.1038857 ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.056005  -8.624928 ]\n [16.331593  -3.5215225]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-0.545938   6.9500666], 6.971475601196289 meters away.)"}
{"file_name": "images/scenario_102_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 7.0 meters away at (-0.6, 6.9). A unknown object with ID 13 is 10.2 meters away at (-5.7, 8.5). A unknown object with ID 15 is 11.3 meters away at (-7.8, 8.2). A unknown object with ID 17 is 13.0 meters away at (-9.7, 8.7). A vehicle with ID 9 is 30.9 meters away at (27.2, -14.7). A pedestrian with ID 35 is 37.5 meters away at (-33.7, 16.4). A unknown object with ID 44 is 37.7 meters away at (-29.0, 24.1). A unknown object with ID 45 is 39.0 meters away at (-30.7, 24.0). A unknown object with ID 47 is 48.1 meters away at (-44.4, 18.3). A unknown object with ID 48 is 48.6 meters away at (-41.9, 24.5).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.9246143e-03 -6.9257970e+00] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.10088198  1.5699378 ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.056005  -8.624928 ]\n [16.331593  -3.5215225]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-0.58181334  6.9468966 ], 6.971218109130859 meters away.)"}
{"file_name": "images/scenario_103_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -5.5) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 3.6 meters away at (-0.9, -3.5). A vehicle with ID 71 is 5.3 meters away at (-5.2, 0.6). A vehicle with ID 72 is 6.6 meters away at (6.2, 2.1). A vehicle with ID 86 is 6.6 meters away at (0.9, 6.5). A pedestrian with ID 90 is 9.7 meters away at (9.4, 2.3). A vehicle with ID 80 is 11.6 meters away at (-10.5, 5.0). A vehicle with ID 75 is 12.3 meters away at (7.0, -10.1). A vehicle with ID 70 is 16.1 meters away at (15.2, -5.4). A vehicle with ID 79 is 16.9 meters away at (-8.4, 14.6). A vehicle with ID 69 is 21.2 meters away at (19.2, -9.0).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.42764467 0.42436042] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(34.98732376098633, 100.28157806396484)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.86698055 -3.4772444 ], 3.5836970806121826 meters away.)"}
{"file_name": "images/scenario_103_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -5.0) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 5.2 meters away at (-5.2, 0.3). A vehicle with ID 70 is 5.8 meters away at (3.0, 5.0). A vehicle with ID 69 is 7.1 meters away at (6.9, 1.4). A vehicle with ID 74 is 7.8 meters away at (3.7, -6.9). A pedestrian with ID 90 is 12.9 meters away at (-2.1, 12.8). A vehicle with ID 20 is 13.3 meters away at (7.7, -10.8). A vehicle with ID 72 is 13.8 meters away at (-5.9, 12.5). A vehicle with ID 73 is 14.8 meters away at (-13.1, 7.0). A vehicle with ID 76 is 18.7 meters away at (12.0, -14.4). A vehicle with ID 86 is 20.4 meters away at (-11.4, 17.0).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.47500262 -0.31554875] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(34.98732376098633, 100.28157806396484)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.154812    0.25504684], 5.1611175537109375 meters away.)"}
{"file_name": "images/scenario_103_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -4.7) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 3.9 meters away at (-3.7, -1.1). A vehicle with ID 76 is 4.6 meters away at (0.5, -4.6). A vehicle with ID 74 is 8.1 meters away at (-7.6, 2.7). A vehicle with ID 42 is 11.3 meters away at (11.1, -2.2). A vehicle with ID 69 is 12.1 meters away at (-4.6, 11.2). A unknown object with ID 56 is 14.3 meters away at (7.5, -12.2). A unknown object with ID 9 is 15.3 meters away at (15.2, 2.2). A unknown object with ID 10 is 15.5 meters away at (15.4, 2.0). A unknown object with ID 8 is 15.7 meters away at (15.6, 1.9). A unknown object with ID 53 is 16.1 meters away at (16.1, 0.2).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(34.98732376098633, 100.28157806396484)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.6927261 -1.1243916], 3.860114336013794 meters away.)"}
{"file_name": "images/scenario_103_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -3.8) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 4.1 meters away at (0.1, -4.1). A vehicle with ID 42 is 6.6 meters away at (0.9, 6.5). A vehicle with ID 78 is 8.1 meters away at (3.7, -7.2). A vehicle with ID 68 is 8.8 meters away at (8.8, -0.2). A vehicle with ID 76 is 10.4 meters away at (-9.6, 4.0). A unknown object with ID 53 is 10.7 meters away at (5.9, 9.0). A unknown object with ID 50 is 11.0 meters away at (9.6, 5.5). A unknown object with ID 54 is 11.1 meters away at (9.7, 5.3). A unknown object with ID 5 is 11.4 meters away at (6.3, 9.5). A unknown object with ID 8 is 11.8 meters away at (5.2, 10.6).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(34.98732376098633, 100.28157806396484)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.05038452 -4.147461  ], 4.147767066955566 meters away.)"}
{"file_name": "images/scenario_104_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -4.5) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(28.61753273010254, 127.16378784179688)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_104_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.5) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(28.61753273010254, 127.16378784179688)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_104_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -3.6) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(28.61753273010254, 127.16378784179688)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_104_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -1.9) m/s. Its current heading (yaw) is -0.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 45.8 meters away at (45.0, -8.4). A unknown object with ID 4 is 56.2 meters away at (56.0, 4.8). A vehicle with ID 11 is 72.5 meters away at (68.8, 23.0).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.3032255 -5.906996 ] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(28.61753273010254, 127.16378784179688)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [44.979603 -8.366592], 45.75111389160156 meters away.)"}
{"file_name": "images/scenario_105_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.8) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 23.4 meters away at (18.1, 14.9). A vehicle with ID 10 is 35.1 meters away at (24.0, 25.6). A pedestrian with ID 11 is 50.2 meters away at (33.6, 37.4).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [-0.01580808 -0.00388072] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.72487706 -0.8112693 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-194.85508728027344, -82.61858367919922)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [18.081976 14.855125], 23.401552200317383 meters away.)"}
{"file_name": "images/scenario_105_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.35 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 23.8 meters away at (18.3, 15.2). A vehicle with ID 10 is 35.6 meters away at (24.4, 25.9). A pedestrian with ID 11 is 49.0 meters away at (32.7, 36.4).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [0.00509218 0.02296816] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.6104777  -0.61985177] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-194.85508728027344, -82.61858367919922)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [18.349058 15.176949], 23.81234359741211 meters away.)"}
{"file_name": "images/scenario_105_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.2) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 27.0 meters away at (20.5, 17.6). A vehicle with ID 10 is 38.7 meters away at (26.4, 28.3). A pedestrian with ID 11 is 50.5 meters away at (34.1, 37.2).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [-0.01832829 -0.02767728] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.4844217  -0.58553827] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-194.85508728027344, -82.61858367919922)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [20.465992 17.606789], 26.997329711914062 meters away.)"}
{"file_name": "images/scenario_105_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -3.1) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 35.4 meters away at (26.3, 23.6). A vehicle with ID 10 is 47.0 meters away at (32.2, 34.2). A unknown object with ID 4 is 66.7 meters away at (59.0, -31.2). A unknown object with ID 3 is 73.5 meters away at (64.6, -34.9).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [-0.03995225  0.01944609] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-194.85508728027344, -82.61858367919922)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [26.343582 23.647991], 35.40073013305664 meters away.)"}
{"file_name": "images/scenario_106_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.2) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 7.6 meters away at (-3.2, 6.8). A vehicle with ID 69 is 19.8 meters away at (1.6, -19.8). A vehicle with ID 73 is 36.0 meters away at (-4.1, -35.8). A pedestrian with ID 79 is 39.2 meters away at (-35.3, 17.0). A vehicle with ID 71 is 40.3 meters away at (25.8, -30.9). A unknown object with ID 68 is 40.7 meters away at (-29.1, 28.5). A unknown object with ID 6 is 40.9 meters away at (-28.1, 29.7). A vehicle with ID 72 is 43.0 meters away at (30.2, -30.6). A vehicle with ID 74 is 47.3 meters away at (31.3, -35.4). A vehicle with ID 75 is 48.0 meters away at (40.8, -25.3).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 1.2922506 -1.1404043] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 41.253693 -41.032352]\n [ 42.39248  -39.92445 ]\n [ 42.64053  -39.301163]\n [ 38.904324 -42.27948 ]\n [ 42.56974  -39.398746]]", "nav_goal": "(-231.1892547607422, 71.5102767944336)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.197174   6.8478928], 7.557483196258545 meters away.)"}
{"file_name": "images/scenario_106_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.0) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 8.8 meters away at (8.2, -3.2). A unknown object with ID 49 is 15.3 meters away at (-13.6, -6.8). A unknown object with ID 56 is 20.9 meters away at (5.3, -20.2). A pedestrian with ID 79 is 21.5 meters away at (-21.0, 4.5). A unknown object with ID 68 is 25.3 meters away at (-17.5, 18.3). A unknown object with ID 6 is 25.5 meters away at (-16.6, 19.5). A vehicle with ID 69 is 32.9 meters away at (13.1, -30.2). A pedestrian with ID 81 is 44.3 meters away at (-27.5, 34.8). A vehicle with ID 64 is 51.0 meters away at (-41.2, 30.0). A pedestrian with ID 2 is 53.5 meters away at (-47.2, 25.2).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 1.2538546 -1.1750379] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.11177102  0.05266682] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 4.048546  -3.4621122] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.7209106 -1.0852073] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-231.1892547607422, 71.5102767944336)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.208582 -3.226099], 8.819780349731445 meters away.)"}
{"file_name": "images/scenario_106_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.2) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A pedestrian with ID 79 is 11.1 meters away at (-8.2, -7.5). A unknown object with ID 68 is 11.2 meters away at (-6.8, 8.9). A unknown object with ID 6 is 11.6 meters away at (-5.9, 10.0). A unknown object with ID 40 is 13.9 meters away at (-7.0, 12.0). A unknown object with ID 49 is 16.4 meters away at (-3.0, -16.1). A unknown object with ID 44 is 17.7 meters away at (-7.8, -15.9). A vehicle with ID 67 is 22.7 meters away at (18.9, -12.7). A vehicle with ID 64 is 24.3 meters away at (-20.9, 12.3). A unknown object with ID 42 is 35.6 meters away at (-34.0, -10.6). A pedestrian with ID 2 is 37.3 meters away at (-34.8, 13.5).", "velocity_description": "The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.8851676 -1.5083435] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 5.4993615 -4.8221745] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0874563 -1.1476468] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-231.1892547607422, 71.5102767944336)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-8.156891  -7.5045643], 11.08392333984375 meters away.)"}
{"file_name": "images/scenario_106_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.5) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 68 is 2.2 meters away at (1.0, 2.0). A unknown object with ID 6 is 3.7 meters away at (2.0, 3.1). A vehicle with ID 64 is 5.1 meters away at (-0.9, -5.1). A pedestrian with ID 2 is 24.7 meters away at (-24.3, 4.5). A unknown object with ID 1 is 29.8 meters away at (-18.7, 23.2). A unknown object with ID 50 is 30.5 meters away at (-10.4, 28.7). A vehicle with ID 5 is 31.1 meters away at (-31.1, 0.4). A unknown object with ID 66 is 33.0 meters away at (-29.9, 14.0). A vehicle with ID 67 is 33.2 meters away at (26.8, -19.5). A vehicle with ID 12 is 34.5 meters away at (-34.4, -3.2).", "velocity_description": "The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 6.486351 -5.52189 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.1748456 -1.0102003] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-231.1892547607422, 71.5102767944336)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [1.008503  1.9919014], 2.2326552867889404 meters away.)"}
{"file_name": "images/scenario_107_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 4.7) m/s. Its current heading (yaw) is 1.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 10.4 meters away at (-1.6, -10.3). A vehicle with ID 31 is 16.1 meters away at (10.7, -12.1). A vehicle with ID 36 is 18.9 meters away at (13.9, 12.9). A unknown object with ID 32 is 23.4 meters away at (6.6, 22.5). A unknown object with ID 33 is 25.2 meters away at (7.3, 24.2). A unknown object with ID 35 is 25.5 meters away at (7.4, 24.4). A vehicle with ID 34 is 25.7 meters away at (-2.6, 25.5). A vehicle with ID 30 is 26.5 meters away at (-9.4, -24.8). A pedestrian with ID 37 is 27.8 meters away at (-5.0, 27.4). A vehicle with ID 38 is 33.5 meters away at (13.8, 30.5).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0.80601865 4.452216  ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-2.0930135 -9.277924 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.52439475 -5.133165  ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.01323759 -0.01139267] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.05583583 -6.5203404 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.801266 13.650258]]", "nav_goal": "(-18.418964385986328, 294.273681640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -1.5807037 -10.306083 ], 10.42659854888916 meters away.)"}
{"file_name": "images/scenario_107_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 5.5) m/s. Its current heading (yaw) is 1.50 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 10.5 meters away at (-1.2, -10.4). A unknown object with ID 32 is 13.5 meters away at (5.5, 12.3). A vehicle with ID 38 is 14.7 meters away at (12.5, 7.7). A unknown object with ID 33 is 15.3 meters away at (6.3, 13.9). A unknown object with ID 35 is 15.4 meters away at (6.3, 14.1). A vehicle with ID 34 is 15.7 meters away at (-3.7, 15.3). A vehicle with ID 36 is 17.2 meters away at (16.0, -6.5). A pedestrian with ID 37 is 18.1 meters away at (-6.1, 17.1). A vehicle with ID 30 is 36.4 meters away at (-10.5, -34.9). A vehicle with ID 11 is 40.4 meters away at (-2.9, 40.3).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0.64032  5.484158] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.0341043 -5.8096657] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 2.7124774 -3.8529599] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00758782  0.020151  ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.801266 13.650258]]", "nav_goal": "(-18.418964385986328, 294.273681640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -1.1512699 -10.40045  ], 10.463974952697754 meters away.)"}
{"file_name": "images/scenario_107_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 6.2) m/s. Its current heading (yaw) is 1.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 5.0 meters away at (5.0, 0.8). A vehicle with ID 34 is 5.7 meters away at (-4.3, 3.7). A unknown object with ID 35 is 6.2 meters away at (5.7, 2.6). A vehicle with ID 5 is 11.5 meters away at (-0.8, -11.5). A vehicle with ID 38 is 19.3 meters away at (13.0, -14.3). A vehicle with ID 11 is 28.8 meters away at (-3.5, 28.6). A vehicle with ID 36 is 32.8 meters away at (22.2, -24.1). A vehicle with ID 30 is 47.8 meters away at (-11.0, -46.5). A unknown object with ID 25 is 61.0 meters away at (44.1, -42.2). A pedestrian with ID 14 is 62.2 meters away at (44.3, -43.6).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0.31630313 5.443964  ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 1.5980315 -4.7029257] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 3.8543992 -2.310942 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.00743778 0.03038142] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-18.418964385986328, 294.273681640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [4.973289  0.8428707], 5.04420804977417 meters away.)"}
{"file_name": "images/scenario_107_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 6.7) m/s. Its current heading (yaw) is 1.58 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 9.8 meters away at (-6.7, -7.1). A vehicle with ID 34 is 10.0 meters away at (-4.4, -9.0). A unknown object with ID 35 is 11.5 meters away at (5.6, -10.1). A unknown object with ID 32 is 12.7 meters away at (4.9, -11.7). A vehicle with ID 5 is 12.7 meters away at (-0.4, -12.7). A vehicle with ID 11 is 16.5 meters away at (-3.6, 16.1). A vehicle with ID 38 is 39.2 meters away at (18.1, -34.7). A vehicle with ID 36 is 50.3 meters away at (30.4, -40.1). A vehicle with ID 30 is 60.3 meters away at (-11.1, -59.2).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01821783 -0.00265172] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0.18526345 6.2115173 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0.00774458 0.6179315 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 3.3254032 -2.7207973] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 4.250365  -0.8927208] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-18.418964385986328, 294.273681640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-6.6850557 -7.1356354], 9.777896881103516 meters away.)"}
{"file_name": "images/scenario_108_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -3.2) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A cyclist with ID 78 is 6.6 meters away at (-2.8, 6.0). A pedestrian with ID 79 is 7.8 meters away at (-7.0, -3.4). A cyclist with ID 85 is 9.9 meters away at (4.7, 8.7). A pedestrian with ID 41 is 11.1 meters away at (-0.5, 11.1). A vehicle with ID 13 is 11.7 meters away at (-11.6, 1.6). A unknown object with ID 74 is 20.3 meters away at (-14.5, 14.2). A unknown object with ID 75 is 22.2 meters away at (-16.4, 14.9). A pedestrian with ID 87 is 23.1 meters away at (-19.0, -13.1). A unknown object with ID 81 is 23.3 meters away at (-13.4, 19.1). A unknown object with ID 76 is 24.3 meters away at (-18.4, 15.9).", "velocity_description": "The cyclist with ID 78 is traveling at a (x, y) velocity of [ 0.01050457 -0.02871352] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.03343969 -0.03312811] m/s.The cyclist with ID 85 is traveling at a (x, y) velocity of [ 1.5982472 -0.6616962] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.4292314 -1.051005 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 9.589239 -4.197439] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [1.4717637 1.0970049] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-2.7965899  5.956548 ], 6.580378532409668 meters away.)"}
{"file_name": "images/scenario_108_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -3.2) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 7.7 meters away at (-7.7, -0.4). A cyclist with ID 85 is 13.4 meters away at (-4.8, 12.5). A vehicle with ID 93 is 15.2 meters away at (9.7, 11.6). A vehicle with ID 73 is 18.5 meters away at (16.0, 9.4). A cyclist with ID 78 is 21.4 meters away at (-17.6, 12.1). A pedestrian with ID 79 is 22.0 meters away at (-21.8, 2.9). A pedestrian with ID 41 is 22.4 meters away at (-16.2, 15.5). A vehicle with ID 72 is 22.9 meters away at (14.0, 18.2). A unknown object with ID 46 is 23.2 meters away at (-22.9, 3.7). A cyclist with ID 42 is 24.6 meters away at (-18.3, 16.4).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [ 9.480079 -4.238021] m/s.The cyclist with ID 85 is traveling at a (x, y) velocity of [ 3.2773886 -1.4940997] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 78 is traveling at a (x, y) velocity of [ 0.0119224  -0.03347627] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.00012583 0.00907246] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.5289445 -0.8934539] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 0.9057575  -0.18266307] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 42 is traveling at a (x, y) velocity of [ 0.02798962 -0.01689141] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.6827297 -0.3985548], 7.693060874938965 meters away.)"}
{"file_name": "images/scenario_108_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, -3.1) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 4.2 meters away at (-3.5, -2.3). A vehicle with ID 73 is 15.6 meters away at (1.1, 15.6). A vehicle with ID 93 is 18.6 meters away at (-5.1, 17.9). A cyclist with ID 85 is 19.0 meters away at (-10.3, 15.9). A vehicle with ID 94 is 20.4 meters away at (8.0, 18.8). A vehicle with ID 25 is 21.5 meters away at (-20.8, 5.2). A vehicle with ID 72 is 23.8 meters away at (1.0, 23.8). A unknown object with ID 22 is 26.0 meters away at (25.2, -6.4). A unknown object with ID 21 is 27.2 meters away at (26.8, -4.6). A unknown object with ID 20 is 27.3 meters away at (26.4, -6.9).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [ 9.1892395 -3.935602 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 85 is traveling at a (x, y) velocity of [ 5.5248713 -1.8735356] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [ 1.3586771 -1.32541  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 9.442845  -4.0253353] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 0.9600317 -0.4182951] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.4917717 -2.3295975], 4.1975579261779785 meters away.)"}
{"file_name": "images/scenario_108_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -3.3) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 3.9 meters away at (-0.3, -3.9). A unknown object with ID 22 is 10.6 meters away at (10.6, -0.2). A unknown object with ID 20 is 11.9 meters away at (11.8, -0.7). A unknown object with ID 48 is 12.0 meters away at (12.0, 0.3). A unknown object with ID 21 is 12.3 meters away at (12.2, 1.5). A unknown object with ID 18 is 12.6 meters away at (12.6, -0.2). A unknown object with ID 19 is 13.0 meters away at (13.0, 0.9). A vehicle with ID 25 is 17.4 meters away at (-17.1, 3.5). A cyclist with ID 85 is 21.4 meters away at (-13.0, 17.1). A vehicle with ID 94 is 22.2 meters away at (-4.3, 21.8).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [ 8.481646  -3.8968291] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 9.007601  -4.0041294] m/s.The cyclist with ID 85 is traveling at a (x, y) velocity of [ 5.687234  -2.8456278] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [ 1.201925  -2.0103166] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.3492813 -3.8628483], 3.8786072731018066 meters away.)"}
{"file_name": "images/scenario_109_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.2, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 91 is 9.4 meters away at (4.2, 8.4). A vehicle with ID 83 is 11.8 meters away at (-6.3, -10.0). A vehicle with ID 82 is 15.2 meters away at (-11.4, -10.0). A vehicle with ID 81 is 17.5 meters away at (-14.2, -10.1). A vehicle with ID 102 is 18.7 meters away at (15.4, 10.5). A vehicle with ID 75 is 21.2 meters away at (18.2, 10.9). A vehicle with ID 95 is 22.5 meters away at (-0.5, -22.5). A vehicle with ID 105 is 23.6 meters away at (21.1, 10.4). A vehicle with ID 106 is 26.0 meters away at (23.9, 10.2). A vehicle with ID 88 is 27.0 meters away at (-14.0, -23.1).", "velocity_description": "The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.5016358   0.02558726] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [4.219845 8.419315], 9.417640686035156 meters away.)"}
{"file_name": "images/scenario_109_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.7, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 105 is 10.6 meters away at (1.2, 10.5). A vehicle with ID 106 is 11.0 meters away at (3.8, 10.4). A vehicle with ID 75 is 11.2 meters away at (-1.7, 11.0). A vehicle with ID 102 is 11.5 meters away at (-4.6, 10.6). A vehicle with ID 108 is 12.0 meters away at (6.6, 10.0). A vehicle with ID 110 is 14.3 meters away at (9.6, 10.6). A vehicle with ID 111 is 15.9 meters away at (12.3, 10.2). A vehicle with ID 112 is 20.5 meters away at (18.0, 9.8). A pedestrian with ID 91 is 20.5 meters away at (-18.6, 8.7). A vehicle with ID 66 is 23.0 meters away at (20.8, 10.0).", "velocity_description": "The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.3148036   0.10712958] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.1526337 10.514734 ], 10.577722549438477 meters away.)"}
{"file_name": "images/scenario_109_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.3, -0.1) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 113 is 9.8 meters away at (0.3, -9.8). A vehicle with ID 66 is 10.0 meters away at (-0.3, 10.0). A vehicle with ID 112 is 10.3 meters away at (-3.0, 9.8). A vehicle with ID 114 is 10.4 meters away at (2.3, 10.2). A vehicle with ID 115 is 10.5 meters away at (3.0, -10.1). A vehicle with ID 58 is 11.3 meters away at (5.2, 10.1). A vehicle with ID 116 is 11.6 meters away at (5.8, -10.1). A vehicle with ID 117 is 12.8 meters away at (8.1, 9.9). A vehicle with ID 118 is 13.4 meters away at (8.7, -10.2). A vehicle with ID 111 is 13.5 meters away at (-8.7, 10.2).", "velocity_description": "The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.25309372 -9.784316  ], 9.787589073181152 meters away.)"}
{"file_name": "images/scenario_109_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.1, -0.2) m/s. Its current heading (yaw) is -0.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 9.7 meters away at (-0.9, -9.7). A vehicle with ID 47 is 10.0 meters away at (1.7, 9.9). A vehicle with ID 62 is 10.0 meters away at (-0.9, 10.0). A vehicle with ID 80 is 10.2 meters away at (-3.6, 9.5). A vehicle with ID 55 is 10.3 meters away at (-3.6, -9.7). A vehicle with ID 43 is 10.7 meters away at (4.7, -9.6). A vehicle with ID 119 is 11.3 meters away at (-6.3, -9.4). A vehicle with ID 44 is 11.3 meters away at (4.4, 10.5). A vehicle with ID 79 is 12.0 meters away at (-6.5, 10.1). A vehicle with ID 41 is 12.4 meters away at (7.0, 10.2).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.8801193 -9.655763 ], 9.695791244506836 meters away.)"}
{"file_name": "images/scenario_110_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 4.7) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 7.9 meters away at (-7.8, -1.4). A vehicle with ID 38 is 11.5 meters away at (-2.2, -11.2). A vehicle with ID 34 is 22.5 meters away at (9.1, -20.6). A vehicle with ID 33 is 22.9 meters away at (12.7, -19.1). A vehicle with ID 26 is 25.7 meters away at (-24.5, 7.6). A vehicle with ID 42 is 26.1 meters away at (-23.4, 11.6). A vehicle with ID 31 is 34.5 meters away at (19.0, -28.8). A vehicle with ID 11 is 37.1 meters away at (-33.6, -15.8). A vehicle with ID 32 is 48.8 meters away at (-37.3, 31.6). A vehicle with ID 22 is 50.0 meters away at (-43.9, 23.9).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [ 8.627081 -7.357129] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [10.908791 -9.139944] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 9.915518 -8.423689] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 8.396441  -7.0706563] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [10.306406 -8.783054] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 9.438559 -8.002763] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 9.740312 -8.31788 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-56.983734  48.957355]\n [-60.23761   57.076256]\n [-58.809994  56.1873  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.7867994 -1.4189157], 7.9150214195251465 meters away.)"}
{"file_name": "images/scenario_110_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.4) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 13.4 meters away at (5.0, -12.4). A vehicle with ID 26 is 20.2 meters away at (6.9, -19.0). A vehicle with ID 16 is 26.8 meters away at (-24.0, 11.9). A vehicle with ID 39 is 32.0 meters away at (20.1, -24.9). A vehicle with ID 11 is 33.8 meters away at (-22.8, -25.0). A vehicle with ID 32 is 34.6 meters away at (-26.3, 22.4). A vehicle with ID 38 is 47.1 meters away at (28.9, -37.2). A unknown object with ID 27 is 52.4 meters away at (29.3, -43.4). A vehicle with ID 5 is 56.1 meters away at (-29.9, 47.4). A vehicle with ID 33 is 58.1 meters away at (40.1, -42.1).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [ 8.370377 -7.039413] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 9.901443 -8.374028] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 11.975556 -10.210122] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 8.276761 -7.025933] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 9.525019  -7.9065547] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 8.1736355 -6.9234576] m/s.", "light_description": "There are active red lights at the following coordinates: [[-56.983734  48.957355]\n [-60.23761   57.076256]\n [-58.809994  56.1873  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  5.0494556 -12.4324665], 13.418764114379883 meters away.)"}
{"file_name": "images/scenario_110_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 3.4) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 17.3 meters away at (8.1, -15.3). A vehicle with ID 32 is 22.4 meters away at (-17.0, 14.5). A vehicle with ID 11 is 35.5 meters away at (-13.6, -32.8). A vehicle with ID 5 is 44.7 meters away at (-20.5, 39.7). A vehicle with ID 42 is 46.0 meters away at (30.9, -34.1). A vehicle with ID 1 is 47.1 meters away at (-16.6, 44.1). A vehicle with ID 26 is 55.4 meters away at (35.2, -42.7). A pedestrian with ID 9 is 55.8 meters away at (-37.4, 41.3). A vehicle with ID 39 is 64.9 meters away at (45.4, -46.4). A pedestrian with ID 8 is 71.7 meters away at (-62.5, 35.2).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [10.392126 -8.747544] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 8.052172 -6.720739] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 9.277105  -7.6618304] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.41710752 -1.2198399 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 7.791917 -6.583696] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 1.2749708  -0.94774604] m/s.", "light_description": "There are active red lights at the following coordinates: [[-56.983734  48.957355]\n [-60.23761   57.076256]\n [-58.809994  56.1873  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  8.057402 -15.303336], 17.29490852355957 meters away.)"}
{"file_name": "images/scenario_110_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 2.1) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 14.1 meters away at (-10.7, 9.2). A vehicle with ID 5 is 37.2 meters away at (-14.3, 34.3). A vehicle with ID 25 is 38.2 meters away at (-7.1, 37.5). A vehicle with ID 11 is 38.7 meters away at (-7.4, -38.0). A vehicle with ID 1 is 40.1 meters away at (-10.4, 38.8). A pedestrian with ID 9 is 45.5 meters away at (-30.8, 33.5). A vehicle with ID 16 is 48.6 meters away at (32.7, -36.0). A pedestrian with ID 8 is 60.3 meters away at (-53.6, 27.7). A vehicle with ID 13 is 65.4 meters away at (-53.6, 37.5). A vehicle with ID 42 is 74.8 meters away at (53.0, -52.8).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.02952132 -1.2520214 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 8.061874  -6.7654896] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 1.3269157 -1.0495404] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 5.215994 -4.397212] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 7.885782  -6.7391315] m/s.", "light_description": "There are active red lights at the following coordinates: [[-56.983734  48.957355]\n [-73.18482   53.692383]\n [-60.23761   57.076256]\n [-58.809994  56.1873  ]\n [-75.43798   51.06163 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.714767   9.207336], 14.127324104309082 meters away.)"}
{"file_name": "images/scenario_111_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 7.2) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 12.4 meters away at (4.6, -11.5). A vehicle with ID 13 is 16.0 meters away at (-12.2, 10.3). A vehicle with ID 6 is 74.3 meters away at (-51.5, 53.6).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0.24078019 0.17976077] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 3.456235  -4.1853476] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 7.115816  -7.1089187] m/s.", "light_description": "There are active red lights at the following coordinates: [[-1.9006393  -8.137109  ]\n [ 0.72900957 -6.199095  ]]", "nav_goal": "(-186.63526916503906, 234.29550170898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  4.588808 -11.539255], 12.418194770812988 meters away.)"}
{"file_name": "images/scenario_111_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 8.1) m/s. Its current heading (yaw) is 2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 13.2 meters away at (5.2, -12.1). A vehicle with ID 11 is 31.4 meters away at (16.6, -26.6). A vehicle with ID 6 is 35.1 meters away at (-25.7, 23.9). A vehicle with ID 9 is 67.4 meters away at (-47.6, 47.7).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [ 2.224344  -2.6805837] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 6.519222 -6.653675] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.7014136 -8.73335  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-1.9006393  -8.137109  ]\n [ 0.72900957 -6.199095  ]]", "nav_goal": "(-186.63526916503906, 234.29550170898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  5.238903 -12.122557], 13.20615291595459 meters away.)"}
{"file_name": "images/scenario_111_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 8.4) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 4.5 meters away at (-1.2, -4.4). A vehicle with ID 9 is 25.9 meters away at (-20.3, 16.1). A vehicle with ID 13 is 38.6 meters away at (21.5, -32.0). A vehicle with ID 11 is 52.2 meters away at (30.1, -42.6).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.9643    -5.2311463] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.3739543 -6.4585433] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.94785994 -0.79305893] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-1.9006393  -8.137109  ]\n [ 0.72900957 -6.199095  ]]", "nav_goal": "(-186.63526916503906, 234.29550170898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.2110863 -4.3615494], 4.526570796966553 meters away.)"}
{"file_name": "images/scenario_111_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 8.8) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 10.4 meters away at (2.8, -10.0). A vehicle with ID 9 is 13.6 meters away at (5.2, -12.6). A vehicle with ID 6 is 37.6 meters away at (21.6, -30.8). A vehicle with ID 3 is 40.2 meters away at (-30.4, 26.3). A vehicle with ID 13 is 61.7 meters away at (36.3, -49.9).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 5.428994 -5.289802] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 5.1960845 -4.881445 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 3.5766056 -3.7231095] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 8.8152075 -9.625852 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-1.9006393  -8.137109  ]\n [ 0.72900957 -6.199095  ]]", "nav_goal": "(-186.63526916503906, 234.29550170898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  2.7506676 -10.0368805], 10.406975746154785 meters away.)"}
{"file_name": "images/scenario_112_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 1.9 meters away at (-0.8, -1.7). A unknown object with ID 8 is 2.4 meters away at (-2.2, -0.8). A unknown object with ID 9 is 3.0 meters away at (0.8, -2.9). A vehicle with ID 10 is 3.5 meters away at (1.5, 3.2). A unknown object with ID 11 is 4.2 meters away at (-4.1, 0.8). A unknown object with ID 12 is 4.6 meters away at (2.3, -4.0). A unknown object with ID 13 is 6.1 meters away at (-5.8, 2.1). A unknown object with ID 14 is 6.8 meters away at (-6.3, 2.6). A unknown object with ID 15 is 6.8 meters away at (4.1, -5.4). A vehicle with ID 16 is 7.2 meters away at (7.1, -1.4).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.382534   10.117636 ]\n [-11.377902    5.703636 ]\n [-10.503765    7.6584597]\n [ -8.105488   10.479234 ]]", "nav_goal": "(-244.0583953857422, -158.40907287597656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.8012591 -1.7386618], 1.914408802986145 meters away.)"}
{"file_name": "images/scenario_112_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 1.9 meters away at (-0.8, -1.7). A unknown object with ID 8 is 2.4 meters away at (-2.2, -0.8). A unknown object with ID 9 is 3.0 meters away at (0.8, -2.9). A vehicle with ID 10 is 3.5 meters away at (1.5, 3.2). A unknown object with ID 11 is 4.2 meters away at (-4.1, 0.8). A unknown object with ID 12 is 4.6 meters away at (2.3, -4.0). A unknown object with ID 13 is 6.1 meters away at (-5.8, 2.1). A unknown object with ID 14 is 6.6 meters away at (-6.1, 2.4). A unknown object with ID 15 is 6.8 meters away at (4.1, -5.4). A vehicle with ID 16 is 7.3 meters away at (7.1, -1.4).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.382534   10.117636 ]\n [-11.377902    5.703636 ]\n [-10.503765    7.6584597]\n [ -8.105488   10.479234 ]]", "nav_goal": "(-244.0583953857422, -158.40907287597656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.80059135 -1.7400621 ], 1.9154014587402344 meters away.)"}
{"file_name": "images/scenario_112_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 1.9 meters away at (-0.8, -1.8). A unknown object with ID 8 is 2.4 meters away at (-2.2, -0.8). A unknown object with ID 9 is 3.0 meters away at (0.8, -2.9). A vehicle with ID 10 is 3.5 meters away at (1.5, 3.2). A unknown object with ID 11 is 4.2 meters away at (-4.1, 0.8). A unknown object with ID 12 is 4.6 meters away at (2.3, -4.0). A unknown object with ID 13 is 6.1 meters away at (-5.8, 2.1). A unknown object with ID 14 is 6.8 meters away at (-6.3, 2.6). A unknown object with ID 15 is 6.8 meters away at (4.1, -5.4). A vehicle with ID 16 is 7.3 meters away at (7.1, -1.4).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.382534   10.117636 ]\n [-11.377902    5.703636 ]\n [-10.503765    7.6584597]\n [ -8.105488   10.479234 ]]", "nav_goal": "(-244.0583953857422, -158.40907287597656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.79364866 -1.7515645 ], 1.9229811429977417 meters away.)"}
{"file_name": "images/scenario_112_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 1.9 meters away at (-0.8, -1.7). A unknown object with ID 8 is 2.4 meters away at (-2.2, -0.8). A unknown object with ID 9 is 3.0 meters away at (0.8, -2.9). A vehicle with ID 10 is 3.5 meters away at (1.5, 3.2). A unknown object with ID 11 is 4.2 meters away at (-4.1, 0.8). A unknown object with ID 12 is 4.6 meters away at (2.3, -4.0). A unknown object with ID 13 is 6.1 meters away at (-5.8, 2.1). A unknown object with ID 14 is 6.8 meters away at (-6.3, 2.6). A unknown object with ID 15 is 6.8 meters away at (4.1, -5.4). A vehicle with ID 16 is 7.3 meters away at (7.1, -1.4).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.28009    17.276844 ]\n [-29.189215   13.752548 ]\n [ -8.382534   10.117636 ]\n [-11.377902    5.703636 ]\n [-10.503765    7.6584597]\n [-32.35736    15.5642805]\n [ -8.105488   10.479234 ]]", "nav_goal": "(-244.0583953857422, -158.40907287597656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.80714476 -1.7378379 ], 1.9161323308944702 meters away.)"}
{"file_name": "images/scenario_113_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -7.1) m/s. Its current heading (yaw) is -1.11 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 6.9 meters away at (2.4, 6.5). A unknown object with ID 31 is 11.7 meters away at (-6.9, 9.5). A pedestrian with ID 34 is 16.7 meters away at (-16.7, -0.3). A pedestrian with ID 32 is 25.6 meters away at (-20.2, 15.6). A vehicle with ID 35 is 31.6 meters away at (-31.5, 2.5). A vehicle with ID 36 is 37.7 meters away at (13.3, -35.3). A vehicle with ID 9 is 43.9 meters away at (15.8, -40.9).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.4032218  0.4469083] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.07784222  0.97479546] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.58885192871094, -282.18939208984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [2.3772202 6.5196996], 6.939571857452393 meters away.)"}
{"file_name": "images/scenario_113_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -8.2) m/s. Its current heading (yaw) is -1.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 21.0 meters away at (5.5, -20.2). A pedestrian with ID 17 is 26.5 meters away at (2.2, 26.4). A vehicle with ID 9 is 27.1 meters away at (7.9, -25.9). A pedestrian with ID 34 is 31.6 meters away at (-27.3, 15.9). A vehicle with ID 7 is 36.4 meters away at (11.4, -34.6). A vehicle with ID 35 is 43.0 meters away at (-39.4, 17.4). A vehicle with ID 19 is 62.3 meters away at (62.2, 3.4). A vehicle with ID 21 is 64.3 meters away at (64.2, -2.1).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.8293358  -0.21564592] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.2586695  0.6611088] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.58885192871094, -282.18939208984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  5.468259 -20.235903], 20.96171760559082 meters away.)"}
{"file_name": "images/scenario_113_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -9.1) m/s. Its current heading (yaw) is -1.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 3.8 meters away at (-2.2, -3.1). A vehicle with ID 9 is 8.6 meters away at (0.2, -8.6). A vehicle with ID 7 is 17.8 meters away at (3.6, -17.4). A pedestrian with ID 17 is 44.0 meters away at (-8.2, 43.3). A pedestrian with ID 34 is 50.9 meters away at (-37.5, 34.5).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.1929202  -0.27750134] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0905334   0.71067876] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.58885192871094, -282.18939208984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.2178078 -3.079506 ], 3.7950003147125244 meters away.)"}
{"file_name": "images/scenario_113_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -9.2) m/s. Its current heading (yaw) is -1.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 4.0 meters away at (-3.9, 0.9). A vehicle with ID 9 is 12.1 meters away at (-7.3, 9.6). A vehicle with ID 36 is 18.2 meters away at (-9.8, 15.3). A pedestrian with ID 17 is 64.1 meters away at (-18.3, 61.5).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.2433711  -0.09155409] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.58885192871094, -282.18939208984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.8787193   0.85263824], 3.9713292121887207 meters away.)"}
{"file_name": "images/scenario_114_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -4.7) m/s. Its current heading (yaw) is -1.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 14.7 meters away at (-9.6, 11.1). A pedestrian with ID 39 is 16.7 meters away at (-13.0, -10.4). A vehicle with ID 37 is 25.4 meters away at (-9.5, 23.5). A pedestrian with ID 40 is 28.6 meters away at (3.3, 28.4). A pedestrian with ID 13 is 33.5 meters away at (31.0, 12.6). A vehicle with ID 38 is 34.4 meters away at (-19.0, -28.7). A unknown object with ID 42 is 35.1 meters away at (17.5, -30.4). A vehicle with ID 43 is 43.0 meters away at (-34.4, 25.8). A pedestrian with ID 41 is 49.2 meters away at (-23.0, 43.4). A vehicle with ID 35 is 49.4 meters away at (49.4, 0.9).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [ 4.28356   -4.2472544] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.01091068 -0.00656217] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-9.405564  4.744819] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.2869693  -0.74811774] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.15357922 -0.2933126 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.61817  -9.843156] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 9.01506  -5.892204] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [0.33405206 0.16505447] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.607965 11.10165 ], 14.681949615478516 meters away.)"}
{"file_name": "images/scenario_114_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -3.1) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 13.1 meters away at (-8.6, 9.8). A pedestrian with ID 39 is 19.6 meters away at (-19.5, -2.1). A unknown object with ID 42 is 24.8 meters away at (10.8, -22.4). A pedestrian with ID 13 is 32.9 meters away at (26.3, 19.8). A vehicle with ID 43 is 34.8 meters away at (-25.4, 23.8). A pedestrian with ID 40 is 35.0 meters away at (-0.3, 35.0). A vehicle with ID 44 is 39.6 meters away at (34.0, -20.4). A vehicle with ID 35 is 43.7 meters away at (42.8, 9.1). A vehicle with ID 21 is 49.8 meters away at (39.6, -30.3). A vehicle with ID 37 is 54.5 meters away at (-34.9, 41.8).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [ 3.2393415 -5.074811 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00147326  0.01922811] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.93942714 -0.27269405] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 6.1624923 -4.4234962] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.3443271  -0.69292206] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-9.530612   5.3466616] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.630159  9.812374], 13.067605972290039 meters away.)"}
{"file_name": "images/scenario_114_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 0.7) m/s. Its current heading (yaw) is 0.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 11.4 meters away at (-10.9, 3.2). A pedestrian with ID 13 is 29.3 meters away at (19.7, 21.7). A vehicle with ID 43 is 31.0 meters away at (-24.7, 18.7). A vehicle with ID 44 is 31.0 meters away at (25.4, -17.9). A vehicle with ID 35 is 36.0 meters away at (34.1, 11.5). A pedestrian with ID 40 is 36.9 meters away at (-6.2, 36.4). A unknown object with ID 15 is 41.9 meters away at (6.3, -41.4).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [ 3.6125722 -3.7373905] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.9253351  -0.28849483] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 3.2037437 -4.007818 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.1931094 -0.5515778] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-10.940393   3.164444], 11.388850212097168 meters away.)"}
{"file_name": "images/scenario_114_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 2.5) m/s. Its current heading (yaw) is 0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 12.0 meters away at (-10.4, -5.8). A pedestrian with ID 13 is 21.6 meters away at (12.7, 17.5). A vehicle with ID 35 is 27.2 meters away at (26.1, 7.7). A vehicle with ID 44 is 27.5 meters away at (17.1, -21.6). A vehicle with ID 43 is 29.3 meters away at (-29.1, 3.6). A pedestrian with ID 40 is 33.6 meters away at (-12.5, 31.2). A unknown object with ID 15 is 45.2 meters away at (-1.5, -45.1). A vehicle with ID 1 is 55.2 meters away at (32.4, 44.6).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [ 4.951179  -1.0010004] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.5116189 -0.377388 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 0.11916312 -6.192684  ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.1005011  -0.87183565] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-10.440046   -5.8161983], 11.950845718383789 meters away.)"}
{"file_name": "images/scenario_115_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 0.2) m/s. Its current heading (yaw) is 3.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 7.7 meters away at (-2.4, 7.4). A unknown object with ID 25 is 14.4 meters away at (12.2, 7.5). A unknown object with ID 24 is 19.3 meters away at (18.3, 6.0). A vehicle with ID 27 is 24.8 meters away at (8.5, -23.3). A vehicle with ID 26 is 25.6 meters away at (11.5, -22.9). A pedestrian with ID 28 is 26.2 meters away at (1.4, -26.2). A vehicle with ID 29 is 27.7 meters away at (1.3, -27.7). A pedestrian with ID 16 is 28.1 meters away at (7.6, -27.0). A vehicle with ID 32 is 37.2 meters away at (5.7, -36.8). A vehicle with ID 30 is 38.2 meters away at (11.3, -36.5).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.02773996 -0.43266812] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.11369143 -0.12384852] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.09676703 -0.02720437] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.3850393  7.365535 ], 7.742061138153076 meters away.)"}
{"file_name": "images/scenario_115_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 26.3 meters away at (-24.3, -10.2). A unknown object with ID 25 is 31.4 meters away at (30.5, 7.3). A vehicle with ID 23 is 31.5 meters away at (-29.7, -10.3). A vehicle with ID 29 is 34.0 meters away at (19.4, -27.9). A vehicle with ID 27 is 35.5 meters away at (26.7, -23.4). A unknown object with ID 24 is 37.0 meters away at (36.5, 5.7). A pedestrian with ID 16 is 38.2 meters away at (26.6, -27.3). A vehicle with ID 30 is 47.1 meters away at (29.5, -36.7). A pedestrian with ID 9 is 64.1 meters away at (-63.8, -6.7). A vehicle with ID 31 is 66.7 meters away at (62.3, -23.6).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.23128046 -0.02194467] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-1.3716182   0.20673664] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-24.25317  -10.154613], 26.293201446533203 meters away.)"}
{"file_name": "images/scenario_115_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 11.7 meters away at (-5.6, -10.3). A vehicle with ID 23 is 15.2 meters away at (-11.0, -10.5). A pedestrian with ID 9 is 47.9 meters away at (-47.4, -6.8). A vehicle with ID 27 is 51.2 meters away at (45.4, -23.5). A pedestrian with ID 7 is 52.6 meters away at (-52.0, -7.7). A pedestrian with ID 6 is 54.9 meters away at (-54.4, -7.1). A pedestrian with ID 5 is 55.7 meters away at (-55.3, -6.5). A pedestrian with ID 4 is 55.9 meters away at (-55.6, -5.6). A vehicle with ID 10 is 55.9 meters away at (-54.9, -10.4). A pedestrian with ID 3 is 56.9 meters away at (-56.4, -7.0).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-1.128079    0.13688709] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.3726078   0.41089493] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.217833    0.19226202] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.2507646  0.0206941] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.3090793   0.01429874] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.3114399  -0.13134491] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -5.5867386 -10.278963 ], 11.699090957641602 meters away.)"}
{"file_name": "images/scenario_115_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 13.1 meters away at (7.7, -10.5). A vehicle with ID 22 is 16.7 meters away at (13.1, -10.3). A pedestrian with ID 9 is 31.7 meters away at (-31.0, -6.7). A pedestrian with ID 7 is 36.4 meters away at (-35.7, -7.0). A vehicle with ID 10 is 37.5 meters away at (-36.1, -10.3). A pedestrian with ID 6 is 38.5 meters away at (-37.8, -7.3). A pedestrian with ID 5 is 39.4 meters away at (-38.8, -6.8). A pedestrian with ID 4 is 39.5 meters away at (-39.1, -5.8). A pedestrian with ID 3 is 40.7 meters away at (-40.0, -7.5). A vehicle with ID 8 is 43.0 meters away at (-41.6, -10.9).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-1.390654    0.14447339] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.3186613   0.14628623] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.3142141  -0.20722026] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.3215084  -0.17144759] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.2925977  -0.11133854] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.2743903  -0.26270273] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  7.7402267 -10.537154 ], 13.074506759643555 meters away.)"}
{"file_name": "images/scenario_116_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -7.6) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 10.1 meters away at (9.1, -4.3). A unknown object with ID 6 is 17.8 meters away at (17.8, 0.5). A unknown object with ID 1 is 40.8 meters away at (32.7, -24.3).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.17276000976562, -8.910516738891602)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 9.13056  -4.266547], 10.078221321105957 meters away.)"}
{"file_name": "images/scenario_116_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.5, -7.5) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 13.1 meters away at (-7.5, 10.8). A vehicle with ID 7 is 17.4 meters away at (-1.5, -17.4).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-11.854391  10.770596] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.17276000976562, -8.910516738891602)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.45751  10.797043], 13.122140884399414 meters away.)"}
{"file_name": "images/scenario_116_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -7.2) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 35.0 meters away at (-24.2, 25.3). A pedestrian with ID 8 is 71.0 meters away at (-46.6, 53.5).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.8756195  -0.53922254] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.17276000976562, -8.910516738891602)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-24.165285  25.34874 ], 35.02170181274414 meters away.)"}
{"file_name": "images/scenario_116_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -6.8) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 39.5 meters away at (17.3, -35.5). A unknown object with ID 11 is 56.6 meters away at (-40.4, 39.6).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.323211  8.761642] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.17276000976562, -8.910516738891602)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 17.254509 -35.529434], 39.497581481933594 meters away.)"}
{"file_name": "images/scenario_117_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 6.7 meters away at (-1.4, 6.6). A vehicle with ID 26 is 31.4 meters away at (-7.0, 30.6). A pedestrian with ID 28 is 31.5 meters away at (-8.4, 30.4). A vehicle with ID 27 is 32.8 meters away at (-10.2, 31.1). A vehicle with ID 35 is 57.5 meters away at (19.5, 54.1). A unknown object with ID 34 is 59.3 meters away at (59.2, 3.9). A vehicle with ID 37 is 62.0 meters away at (11.7, 60.9). A vehicle with ID 38 is 75.0 meters away at (15.7, 73.3).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [2.1868236 5.413238 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.10574236 -0.3151473 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.9517822265625, 95.37738800048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.4043549  6.5582767], 6.706952095031738 meters away.)"}
{"file_name": "images/scenario_117_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.0) m/s. Its current heading (yaw) is 1.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 13.8 meters away at (1.5, 13.7). A unknown object with ID 17 is 15.4 meters away at (7.0, 13.7). A vehicle with ID 26 is 30.7 meters away at (-7.1, 29.8). A pedestrian with ID 28 is 30.8 meters away at (-8.7, 29.5). A vehicle with ID 27 is 32.1 meters away at (-10.3, 30.4). A vehicle with ID 20 is 45.1 meters away at (-8.3, 44.4). A vehicle with ID 35 is 56.7 meters away at (19.3, 53.3). A unknown object with ID 5 is 56.8 meters away at (55.2, -13.4). A vehicle with ID 37 is 61.2 meters away at (11.6, 60.1). A vehicle with ID 38 is 74.1 meters away at (15.6, 72.5).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0.94924784 2.3328853 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.02640654 -0.05639556] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.9517822265625, 95.37738800048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.5160041 13.6864   ], 13.770105361938477 meters away.)"}
{"file_name": "images/scenario_117_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.0) m/s. Its current heading (yaw) is 1.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 17 is 12.3 meters away at (6.4, 10.5). A unknown object with ID 6 is 13.3 meters away at (2.3, -13.1). A vehicle with ID 31 is 14.2 meters away at (2.3, 14.0). A vehicle with ID 15 is 16.4 meters away at (3.0, -16.1). A pedestrian with ID 28 is 27.6 meters away at (-8.5, 26.3). A vehicle with ID 26 is 27.8 meters away at (-7.8, 26.6). A pedestrian with ID 2 is 29.0 meters away at (-7.0, 28.1). A vehicle with ID 27 is 29.4 meters away at (-10.9, 27.3). A vehicle with ID 20 is 41.9 meters away at (-9.2, 40.9). A vehicle with ID 22 is 45.5 meters away at (-15.9, 42.6).", "velocity_description": "The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.8053087 2.0677135] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.20008639 -0.1253909 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.18161206 -0.87067455] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.9517822265625, 95.37738800048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 6.394295 10.471064], 12.269074440002441 meters away.)"}
{"file_name": "images/scenario_117_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 2.7) m/s. Its current heading (yaw) is 1.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 15.2 meters away at (3.9, 14.6). A unknown object with ID 6 is 18.0 meters away at (1.9, -17.9). A vehicle with ID 26 is 23.4 meters away at (-8.2, 21.9). A pedestrian with ID 2 is 23.7 meters away at (-7.5, 22.5). A vehicle with ID 27 is 25.2 meters away at (-11.5, 22.5). A vehicle with ID 18 is 27.9 meters away at (-15.0, 23.5). A vehicle with ID 20 is 37.5 meters away at (-10.2, 36.1). A vehicle with ID 21 is 38.9 meters away at (-13.2, 36.5). A vehicle with ID 22 is 41.2 meters away at (-16.4, 37.8). A vehicle with ID 35 is 48.6 meters away at (18.1, 45.1).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [1.3087388 3.6659586] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.08318295 -0.6561892 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.9517822265625, 95.37738800048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.9008856 14.645833 ], 15.156428337097168 meters away.)"}
{"file_name": "images/scenario_118_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -4.4) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 13.5 meters away at (-7.5, -11.3). A vehicle with ID 58 is 18.6 meters away at (-15.4, -10.4). A vehicle with ID 63 is 20.5 meters away at (-8.7, -18.6). A pedestrian with ID 56 is 22.2 meters away at (-21.6, -4.9). A vehicle with ID 62 is 25.2 meters away at (-17.3, -18.3). A pedestrian with ID 57 is 32.0 meters away at (-13.6, 29.0). A pedestrian with ID 60 is 34.9 meters away at (-31.9, 14.2). A pedestrian with ID 61 is 36.0 meters away at (-32.8, 14.8). A vehicle with ID 37 is 43.3 meters away at (23.6, 36.3). A vehicle with ID 45 is 44.0 meters away at (31.7, 30.5).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.99606305 -0.68854487] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.8442742 1.0602111] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.0267522  -0.72955817] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 1.0114844 -0.7104069] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.87144470214844, -197.0687713623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -7.4814825 -11.275785 ], 13.53203296661377 meters away.)"}
{"file_name": "images/scenario_118_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -4.3) m/s. Its current heading (yaw) is -0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 20.8 meters away at (-20.7, -2.6). A vehicle with ID 63 is 24.3 meters away at (-22.0, -10.3). A pedestrian with ID 56 is 37.0 meters away at (-36.9, 2.8). A vehicle with ID 45 is 43.5 meters away at (18.6, 39.3). A vehicle with ID 65 is 45.7 meters away at (41.3, 19.5). A pedestrian with ID 57 is 47.3 meters away at (-25.3, 40.0). A pedestrian with ID 60 is 48.2 meters away at (-43.1, 21.6). A vehicle with ID 66 is 49.1 meters away at (46.2, 16.6). A pedestrian with ID 61 is 49.3 meters away at (-44.0, 22.2). A pedestrian with ID 4 is 66.5 meters away at (64.3, -17.2).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.0056779 -0.573284 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.80781984 1.1768516 ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.0251395 -0.6772922] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 1.0192422 -0.7390913] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.81426924 -0.73343265] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.87144470214844, -197.0687713623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-20.651423   -2.6055794], 20.81514549255371 meters away.)"}
{"file_name": "images/scenario_118_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.1) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 31 is 8.2 meters away at (1.9, 7.9). A pedestrian with ID 49 is 21.1 meters away at (-20.3, 5.7). A vehicle with ID 65 is 40.2 meters away at (28.9, 27.9). A vehicle with ID 66 is 42.1 meters away at (33.8, 25.1). A vehicle with ID 45 is 48.1 meters away at (6.1, 47.7). A pedestrian with ID 4 is 51.4 meters away at (50.3, -10.6). A pedestrian with ID 5 is 52.2 meters away at (50.9, -11.7). A vehicle with ID 48 is 53.7 meters away at (-2.1, 53.6). A pedestrian with ID 60 is 60.8 meters away at (-53.6, 28.8). A pedestrian with ID 61 is 62.0 meters away at (-54.5, 29.5).", "velocity_description": "The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.00266375  0.00176124] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.70935774 -0.87548715] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.69939977 -0.8172302 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.0178428 -0.6034704] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.9557629  -0.59361196] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.87144470214844, -197.0687713623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [1.9054756 7.9258995], 8.151731491088867 meters away.)"}
{"file_name": "images/scenario_118_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -3.2) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 25.4 meters away at (9.1, -23.7). A vehicle with ID 8 is 29.4 meters away at (17.9, -23.3). A pedestrian with ID 4 is 38.7 meters away at (38.4, -4.9). A pedestrian with ID 5 is 39.1 meters away at (38.7, -5.8). A vehicle with ID 65 is 39.8 meters away at (18.2, 35.4). A vehicle with ID 66 is 40.0 meters away at (23.1, 32.6). A unknown object with ID 30 is 42.9 meters away at (6.1, 42.5). A vehicle with ID 52 is 53.2 meters away at (50.0, 18.1). A pedestrian with ID 21 is 54.8 meters away at (54.6, -4.2). A vehicle with ID 45 is 55.3 meters away at (-4.7, 55.2).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [1.9760684 2.2670283] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.69492936 -0.927769  ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.79869944 -0.9165672 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.46353978 -0.6714011 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.87144470214844, -197.0687713623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  9.089817 -23.733253], 25.41440773010254 meters away.)"}
{"file_name": "images/scenario_119_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.9) m/s. Its current heading (yaw) is 2.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 35 is 6.7 meters away at (-4.7, -4.7). A pedestrian with ID 37 is 22.9 meters away at (-12.8, 19.0). A vehicle with ID 9 is 39.7 meters away at (-32.5, -22.8). A vehicle with ID 41 is 39.7 meters away at (-32.5, -22.8). A pedestrian with ID 3 is 43.1 meters away at (-37.1, 21.9). A cyclist with ID 40 is 45.4 meters away at (-36.7, 26.7). A vehicle with ID 42 is 47.7 meters away at (47.7, 0.5). A cyclist with ID 38 is 51.3 meters away at (-41.3, 30.3). A pedestrian with ID 43 is 52.2 meters away at (36.4, -37.4).", "velocity_description": "The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.0952832 -1.2909491] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.02840608 0.00156231] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.74054605  0.6201456 ] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [ 2.1035357 -2.1086943] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 2.3986154 -2.1980057] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 1.2415195 -1.1162485] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.7215633 -4.7061477], 6.666407108306885 meters away.)"}
{"file_name": "images/scenario_119_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 2.8) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 35 is 10.9 meters away at (1.8, -10.7). A pedestrian with ID 37 is 17.5 meters away at (-8.4, 15.3). A cyclist with ID 17 is 17.5 meters away at (-8.3, 15.4). A pedestrian with ID 10 is 28.6 meters away at (-27.3, -8.5). A cyclist with ID 40 is 34.2 meters away at (-28.3, 19.3). A unknown object with ID 18 is 36.9 meters away at (-34.9, -12.0). A vehicle with ID 9 is 38.6 meters away at (-28.3, -26.3). A pedestrian with ID 3 is 39.8 meters away at (-34.5, 19.9). A cyclist with ID 38 is 40.8 meters away at (-33.4, 23.4). A vehicle with ID 42 is 52.1 meters away at (52.0, -3.2).", "velocity_description": "The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2053059 -1.1457394] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.0156762  -0.01947232] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [-7.715803e-09  8.393978e-08] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.10624985 0.04702629] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [ 1.9580973 -1.8099213] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.8686471  0.715926 ] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 1.8593315 -1.7825963] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  1.841661 -10.727308], 10.884247779846191 meters away.)"}
{"file_name": "images/scenario_119_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.3) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 37 is 7.9 meters away at (0.1, 7.9). A cyclist with ID 17 is 8.1 meters away at (0.1, 8.1). A cyclist with ID 40 is 18.5 meters away at (-16.4, 8.5). A pedestrian with ID 35 is 23.8 meters away at (12.7, -20.1). A pedestrian with ID 10 is 24.5 meters away at (-18.7, -15.8). A cyclist with ID 38 is 25.2 meters away at (-21.6, 13.0). A pedestrian with ID 3 is 31.1 meters away at (-27.7, 14.2). A unknown object with ID 18 is 32.8 meters away at (-26.4, -19.5). A pedestrian with ID 15 is 36.9 meters away at (20.6, -30.6). A vehicle with ID 9 is 39.1 meters away at (-19.8, -33.7).", "velocity_description": "The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00223323  0.00066643] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [0.00400827 0.02032274] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [ 1.5302335 -1.5800933] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2314235 -1.0094715] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00857733 0.04347413] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 1.584999  -1.4928184] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.81356925  0.92956805] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.44378594  0.70998585] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [0.08043861 7.912201  ], 7.912609577178955 meters away.)"}
{"file_name": "images/scenario_119_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 4.8) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A cyclist with ID 40 is 4.5 meters away at (-2.5, -3.8). A cyclist with ID 38 is 7.8 meters away at (-7.8, 0.5). A pedestrian with ID 37 is 11.0 meters away at (10.9, -1.7). A pedestrian with ID 3 is 19.7 meters away at (-18.7, 6.4). A pedestrian with ID 10 is 25.6 meters away at (-7.3, -24.6). A unknown object with ID 18 is 32.9 meters away at (-15.5, -29.0). A vehicle with ID 23 is 38.8 meters away at (-35.4, -15.9). A pedestrian with ID 35 is 40.9 meters away at (25.9, -31.6). A vehicle with ID 9 is 44.1 meters away at (-9.1, -43.1). A pedestrian with ID 15 is 49.0 meters away at (30.1, -38.7).", "velocity_description": "The cyclist with ID 40 is traveling at a (x, y) velocity of [ 1.4613115 -1.3243917] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 1.2063315 -1.4334412] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.02995007  0.00079246] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.1070198   0.79309654] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.26432917 0.524102  ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.0737817  -0.82781225] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.7790364  0.7665766] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-2.5193958 -3.7863522], 4.547946453094482 meters away.)"}
{"file_name": "images/scenario_120_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -2.8) m/s. Its current heading (yaw) is -1.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 25.1 meters away at (-14.0, 20.8). A pedestrian with ID 5 is 25.3 meters away at (2.3, -25.2). A unknown object with ID 16 is 47.7 meters away at (29.4, -37.6). A vehicle with ID 14 is 49.4 meters away at (-11.3, 48.1). A vehicle with ID 15 is 54.4 meters away at (-13.0, 52.8). A vehicle with ID 8 is 60.1 meters away at (18.4, -57.2). A vehicle with ID 17 is 62.3 meters away at (-15.4, 60.3). A pedestrian with ID 13 is 70.7 meters away at (26.4, -65.6).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.03196825 -0.03299948] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.50461555 -1.2382134 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(136.51300048828125, -119.78312683105469)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-14.0101595  20.804874 ], 25.082412719726562 meters away.)"}
{"file_name": "images/scenario_120_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.6) m/s. Its current heading (yaw) is -1.06 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 28.1 meters away at (0.1, 28.1). A vehicle with ID 11 is 31.9 meters away at (-16.7, 27.1). A unknown object with ID 16 is 41.2 meters away at (26.7, -31.4). A vehicle with ID 8 is 53.3 meters away at (15.6, -50.9). A vehicle with ID 14 is 56.2 meters away at (-14.0, 54.5). A vehicle with ID 15 is 61.2 meters away at (-15.8, 59.1). A pedestrian with ID 13 is 66.7 meters away at (24.6, -62.0). A vehicle with ID 17 is 69.0 meters away at (-18.1, 66.6).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.5662601 -1.3134948] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(136.51300048828125, -119.78312683105469)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.13242388 28.09552   ], 28.0958309173584 meters away.)"}
{"file_name": "images/scenario_120_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -4.1) m/s. Its current heading (yaw) is -0.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 37.8 meters away at (-11.8, 35.9). A unknown object with ID 3 is 39.2 meters away at (-12.3, 37.2). A vehicle with ID 11 is 41.0 meters away at (-21.9, 34.7). A vehicle with ID 8 is 44.6 meters away at (10.6, -43.3). A pedestrian with ID 13 is 60.6 meters away at (21.0, -56.9). A vehicle with ID 14 is 64.9 meters away at (-19.1, 62.0). A vehicle with ID 15 is 69.9 meters away at (-20.8, 66.7).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.7812186 -1.3116386] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(136.51300048828125, -119.78312683105469)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.796123  35.941166], 37.827449798583984 meters away.)"}
{"file_name": "images/scenario_120_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -4.4) m/s. Its current heading (yaw) is -1.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 35.3 meters away at (5.6, -34.8). A vehicle with ID 11 is 50.9 meters away at (-26.9, 43.2). A pedestrian with ID 13 is 53.7 meters away at (17.7, -50.7).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.55698216 -1.4929353 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(136.51300048828125, -119.78312683105469)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  5.60306 -34.80572], 35.25382995605469 meters away.)"}
{"file_name": "images/scenario_121_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 2.6) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 4.1 meters away at (-0.9, 4.0). A pedestrian with ID 54 is 6.3 meters away at (1.3, 6.2). A pedestrian with ID 52 is 6.6 meters away at (2.2, 6.2). A vehicle with ID 51 is 7.7 meters away at (7.6, 1.0). A vehicle with ID 58 is 10.0 meters away at (-7.5, 6.5). A vehicle with ID 50 is 14.2 meters away at (14.2, -1.2). A pedestrian with ID 60 is 15.6 meters away at (-14.9, -4.4). A vehicle with ID 59 is 16.4 meters away at (-13.9, 8.6). A vehicle with ID 62 is 23.6 meters away at (-20.8, 11.2). A unknown object with ID 56 is 25.6 meters away at (9.6, -23.7).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01954261 -0.00797002] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.35291207  0.03332547] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.4120507  -0.44116208] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(36.61264419555664, -101.65885925292969)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.9084072  3.9591398], 4.062018394470215 meters away.)"}
{"file_name": "images/scenario_121_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 2.0) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 4.1 meters away at (-0.8, 4.0). A vehicle with ID 58 is 5.8 meters away at (5.4, 1.9). A pedestrian with ID 60 is 9.9 meters away at (1.0, -9.9). A vehicle with ID 62 is 10.1 meters away at (-7.7, 6.5). A vehicle with ID 55 is 12.2 meters away at (12.1, -0.7). A pedestrian with ID 31 is 14.0 meters away at (14.0, 0.8). A vehicle with ID 53 is 14.2 meters away at (-14.1, -1.8). A pedestrian with ID 54 is 14.3 meters away at (14.2, 1.4). A pedestrian with ID 52 is 14.9 meters away at (14.9, 1.4). A vehicle with ID 51 is 21.2 meters away at (20.8, -3.8).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.2356143 -0.5931876] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.04102084 -0.01575076] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.03956584 -0.00076591] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(36.61264419555664, -101.65885925292969)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.80983734  4.00478   ], 4.085841178894043 meters away.)"}
{"file_name": "images/scenario_121_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 1.0) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 3.5 meters away at (0.5, 3.5). A vehicle with ID 59 is 7.4 meters away at (7.3, 1.1). A vehicle with ID 53 is 7.6 meters away at (-5.9, -4.8). A pedestrian with ID 13 is 13.0 meters away at (-10.3, 7.9). A vehicle with ID 58 is 13.7 meters away at (13.6, -1.1). A pedestrian with ID 60 is 18.2 meters away at (11.8, -13.9). A vehicle with ID 55 is 20.7 meters away at (20.4, -3.7). A pedestrian with ID 31 is 22.3 meters away at (22.2, -2.0). A pedestrian with ID 54 is 22.6 meters away at (22.5, -1.5). A pedestrian with ID 52 is 23.2 meters away at (23.2, -1.6).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.516885  -1.2739599] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.3597896 -0.4837413] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.06212964 0.15069756] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.0079092  0.00072387] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.00385138 0.00019414] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(36.61264419555664, -101.65885925292969)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.5085869 3.479971 ], 3.5169386863708496 meters away.)"}
{"file_name": "images/scenario_121_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 0.5) m/s. Its current heading (yaw) is 2.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 4.9 meters away at (4.4, 2.0). A vehicle with ID 53 is 6.6 meters away at (-1.9, -6.3). A pedestrian with ID 13 is 8.5 meters away at (-7.4, 4.0). A vehicle with ID 59 is 11.3 meters away at (11.3, -0.5). A vehicle with ID 58 is 17.8 meters away at (17.6, -2.6). A pedestrian with ID 60 is 24.8 meters away at (18.6, -16.4). A vehicle with ID 55 is 24.9 meters away at (24.4, -5.2). A pedestrian with ID 31 is 26.4 meters away at (26.2, -3.6). A pedestrian with ID 54 is 26.7 meters away at (26.6, -2.9). A pedestrian with ID 52 is 27.3 meters away at (27.1, -3.0).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.5718918 -1.2948065] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.405001  -0.5340527] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00369778 -0.00529497] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00103685 0.00160693] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [ 0.00943932 -0.03215213] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(36.61264419555664, -101.65885925292969)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.405731  2.0406609], 4.8553853034973145 meters away.)"}
{"file_name": "images/scenario_122_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -0.4) m/s. Its current heading (yaw) is -0.50 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 13.0 meters away at (-11.3, 6.5). A vehicle with ID 7 is 19.7 meters away at (16.9, -10.0). A vehicle with ID 57 is 25.0 meters away at (14.8, -20.2). A vehicle with ID 58 is 31.0 meters away at (13.0, -28.1). A vehicle with ID 59 is 33.8 meters away at (13.0, -31.3). A unknown object with ID 60 is 37.4 meters away at (20.5, 31.2). A vehicle with ID 62 is 38.3 meters away at (11.7, -36.5). A vehicle with ID 55 is 38.4 meters away at (28.8, -25.4). A pedestrian with ID 63 is 38.4 meters away at (36.3, -12.6). A vehicle with ID 64 is 43.3 meters away at (11.3, -41.8).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [ 3.1947467 -1.7744616] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.109418  -3.1039968] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.89164215  0.4761612 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(39.69044494628906, -24.95517349243164)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-11.263526   6.547103], 13.028106689453125 meters away.)"}
{"file_name": "images/scenario_122_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -2.1) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 11.0 meters away at (-9.5, 5.6). A vehicle with ID 57 is 20.5 meters away at (10.5, -17.7). A vehicle with ID 58 is 27.0 meters away at (8.7, -25.6). A vehicle with ID 7 is 27.6 meters away at (23.6, -14.4). A vehicle with ID 59 is 30.1 meters away at (8.7, -28.8). A pedestrian with ID 63 is 31.7 meters away at (30.4, -9.1). A vehicle with ID 55 is 33.6 meters away at (24.4, -23.0). A vehicle with ID 62 is 34.8 meters away at (7.4, -34.0). A unknown object with ID 60 is 37.5 meters away at (16.4, 33.7). A vehicle with ID 64 is 39.9 meters away at (7.0, -39.3).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [ 2.5834079 -1.4728695] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.560991  -3.5303037] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.91911566  0.4574265 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(39.69044494628906, -24.95517349243164)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.470313  5.619147], 11.011886596679688 meters away.)"}
{"file_name": "images/scenario_122_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.5) m/s. Its current heading (yaw) is -0.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 11.9 meters away at (0.9, -11.8). A vehicle with ID 19 is 18.2 meters away at (-15.5, 9.4). A pedestrian with ID 63 is 19.2 meters away at (19.0, -2.5). A vehicle with ID 58 is 19.8 meters away at (-1.0, -19.8). A vehicle with ID 55 is 22.6 meters away at (14.7, -17.1). A vehicle with ID 59 is 23.0 meters away at (-0.8, -23.0). A vehicle with ID 62 is 28.3 meters away at (-2.1, -28.2). A vehicle with ID 7 is 29.6 meters away at (25.0, -15.7). A vehicle with ID 64 is 33.6 meters away at (-2.6, -33.5). A cyclist with ID 67 is 33.8 meters away at (19.1, 27.9).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.70758265 -0.38450223] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.6816327  0.4157278] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.549158 -3.643518] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 67 is traveling at a (x, y) velocity of [-4.1796465  2.5772274] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(39.69044494628906, -24.95517349243164)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  0.90000725 -11.826751  ], 11.860946655273438 meters away.)"}
{"file_name": "images/scenario_122_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -3.8) m/s. Its current heading (yaw) is -0.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 63 is 8.1 meters away at (5.9, 5.5). A vehicle with ID 55 is 10.2 meters away at (2.7, -9.8). A vehicle with ID 57 is 11.8 meters away at (-11.0, -4.5). A vehicle with ID 58 is 17.9 meters away at (-12.9, -12.4). A vehicle with ID 59 is 20.1 meters away at (-12.9, -15.5). A vehicle with ID 62 is 25.1 meters away at (-14.2, -20.7). A vehicle with ID 7 is 28.3 meters away at (23.6, -15.6). A vehicle with ID 64 is 29.9 meters away at (-14.7, -26.0). A vehicle with ID 19 is 31.5 meters away at (-26.9, 16.4). A cyclist with ID 67 is 40.5 meters away at (-0.9, 40.5).", "velocity_description": "The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.61872876 -0.1810569 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.414353  -3.8268533] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 1.1614639  -0.70740145] m/s.The cyclist with ID 67 is traveling at a (x, y) velocity of [-3.9892514  2.4423077] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(39.69044494628906, -24.95517349243164)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [5.8902206 5.5318575], 8.080602645874023 meters away.)"}
{"file_name": "images/scenario_123_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -4.7) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A pedestrian with ID 80 is 4.3 meters away at (-0.6, 4.3). A vehicle with ID 74 is 5.1 meters away at (-1.1, 4.9). A vehicle with ID 79 is 5.6 meters away at (3.4, -4.4). A pedestrian with ID 90 is 7.0 meters away at (-3.3, 6.2). A vehicle with ID 82 is 7.2 meters away at (7.2, -0.3). A pedestrian with ID 89 is 8.1 meters away at (-3.1, 7.5). A unknown object with ID 93 is 8.4 meters away at (-7.9, -2.8). A pedestrian with ID 86 is 8.4 meters away at (-1.4, 8.3). A pedestrian with ID 91 is 8.6 meters away at (-3.9, 7.6). A vehicle with ID 83 is 9.4 meters away at (2.6, 9.0).", "velocity_description": "The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.00330139 -0.01273807] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.00121499 -0.0179285 ] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.0150988  0.00219019] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.01897445 -0.01463294] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.00153233 -0.02663053] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-165.28677368164062, -237.91754150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-0.57654   4.307373], 4.3457865715026855 meters away.)"}
{"file_name": "images/scenario_123_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -5.1) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A unknown object with ID 61 is 3.7 meters away at (-1.1, 3.5). A unknown object with ID 98 is 4.2 meters away at (-4.2, -0.3). A unknown object with ID 96 is 4.4 meters away at (-1.8, 4.0). A unknown object with ID 99 is 5.0 meters away at (-5.0, 0.4). A pedestrian with ID 94 is 6.4 meters away at (-5.3, 3.6). A unknown object with ID 93 is 7.1 meters away at (0.8, 7.0). A vehicle with ID 75 is 8.1 meters away at (1.1, -8.0). A pedestrian with ID 97 is 8.4 meters away at (-7.4, 3.9). A unknown object with ID 48 is 8.7 meters away at (7.1, -5.0). A vehicle with ID 70 is 9.5 meters away at (-8.6, -4.1).", "velocity_description": "The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.7826777 -1.5755377] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [0.64613736 1.1027292 ] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-165.28677368164062, -237.91754150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.1196651  3.5053787], 3.67985463142395 meters away.)"}
{"file_name": "images/scenario_123_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -4.9) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 4.5 meters away at (-4.5, 0.9). A vehicle with ID 77 is 5.7 meters away at (4.4, -3.6). A vehicle with ID 70 is 5.8 meters away at (0.0, 5.8). A unknown object with ID 76 is 5.9 meters away at (1.7, -5.6). A pedestrian with ID 102 is 7.4 meters away at (0.9, -7.4). A pedestrian with ID 4 is 9.0 meters away at (1.5, -8.9). A vehicle with ID 75 is 9.8 meters away at (9.7, 1.9). A vehicle with ID 71 is 10.5 meters away at (-9.3, -4.9). A unknown object with ID 98 is 10.6 meters away at (4.5, 9.7). A pedestrian with ID 94 is 10.7 meters away at (2.6, 10.4).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [ 0.00709277 -0.00038651] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.0027558   0.00291264] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.17739725 -1.4468616 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-165.28677368164062, -237.91754150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.457556   0.8682041], 4.541319370269775 meters away.)"}
{"file_name": "images/scenario_123_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.2) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 4.4 meters away at (-1.4, 4.2). A unknown object with ID 52 is 5.1 meters away at (4.4, -2.6). A vehicle with ID 72 is 5.5 meters away at (-5.5, -0.6). A pedestrian with ID 102 is 9.1 meters away at (8.9, 1.9). A pedestrian with ID 4 is 9.5 meters away at (9.5, 0.5). A unknown object with ID 76 is 10.4 meters away at (9.8, 3.6). A vehicle with ID 73 is 10.7 meters away at (3.6, 10.1). A vehicle with ID 77 is 13.6 meters away at (12.4, 5.6). A pedestrian with ID 51 is 16.1 meters away at (16.1, 1.0). A pedestrian with ID 65 is 16.5 meters away at (16.5, 1.3).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.00883049 -0.01309159] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00088319 -0.00951196] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [0.09533324 0.02534647] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.00352179 0.02271506] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-165.28677368164062, -237.91754150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.3895569  4.2247887], 4.4474382400512695 meters away.)"}
{"file_name": "images/scenario_124_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 4.5 meters away at (3.9, 2.2). A vehicle with ID 51 is 6.3 meters away at (-1.2, 6.1). A vehicle with ID 66 is 8.6 meters away at (8.4, -1.6). A vehicle with ID 9 is 8.7 meters away at (6.7, -5.6). A vehicle with ID 15 is 9.5 meters away at (-7.0, 6.4). A pedestrian with ID 58 is 11.5 meters away at (11.0, -3.3). A pedestrian with ID 81 is 12.2 meters away at (12.0, 2.4). A vehicle with ID 50 is 12.8 meters away at (-6.5, 11.1). A vehicle with ID 72 is 14.2 meters away at (13.0, -5.7). A vehicle with ID 25 is 15.8 meters away at (-12.3, 9.9).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.38892177 -1.4161316 ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.0719254  -0.64762884] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.29019865  0.24764143] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.336918  28.795174]\n [-35.82222   29.959337]\n [-34.68508   28.960012]\n [-33.356773  28.314915]]", "nav_goal": "(139.02577209472656, 197.8491973876953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.9042032 2.1946826], 4.478775978088379 meters away.)"}
{"file_name": "images/scenario_124_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.5) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 4.9 meters away at (4.7, 1.6). A vehicle with ID 51 is 5.6 meters away at (-0.5, 5.6). A vehicle with ID 15 is 8.8 meters away at (-6.5, 5.9). A vehicle with ID 9 is 9.2 meters away at (7.1, -5.9). A vehicle with ID 66 is 9.4 meters away at (9.2, -2.2). A vehicle with ID 50 is 12.0 meters away at (-5.8, 10.5). A pedestrian with ID 58 is 13.8 meters away at (12.1, -6.6). A pedestrian with ID 81 is 14.4 meters away at (14.4, 0.4). A vehicle with ID 72 is 15.2 meters away at (13.8, -6.3). A vehicle with ID 26 is 16.9 meters away at (13.0, -10.9).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.3821957  0.30898  ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.29607984  0.25731713] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.8017996 -1.0124755] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.8601933  -0.60899156] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.336918  28.795174]\n [-35.82222   29.959337]\n [-34.68508   28.960012]\n [-33.356773  28.314915]]", "nav_goal": "(139.02577209472656, 197.8491973876953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.660588  1.5814922], 4.921605110168457 meters away.)"}
{"file_name": "images/scenario_124_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.3) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 4.2 meters away at (1.5, 3.9). A vehicle with ID 56 is 6.7 meters away at (6.7, -0.1). A vehicle with ID 50 is 9.6 meters away at (-3.8, 8.8). A vehicle with ID 9 is 9.8 meters away at (7.5, -6.3). A vehicle with ID 15 is 10.2 meters away at (-7.6, 6.8). A vehicle with ID 66 is 11.8 meters away at (11.2, -3.9). A vehicle with ID 49 is 15.7 meters away at (-8.9, 12.9). A vehicle with ID 72 is 17.8 meters away at (15.9, -8.1). A pedestrian with ID 58 is 17.9 meters away at (15.3, -9.2). A pedestrian with ID 81 is 18.6 meters away at (18.4, -2.7).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.5402124  1.2733512] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.7246957  2.145583 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.04873441 0.13203473] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.95330614 -0.72291285] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.336918  28.795174]\n [-28.564373  26.025372]\n [-35.82222   29.959337]\n [-34.68508   28.960012]\n [-33.356773  28.314915]]", "nav_goal": "(139.02577209472656, 197.8491973876953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.4658213 3.9491477], 4.2124104499816895 meters away.)"}
{"file_name": "images/scenario_124_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.5) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 5.1 meters away at (0.8, 5.0). A vehicle with ID 51 is 6.0 meters away at (6.0, 0.2). A vehicle with ID 90 is 8.1 meters away at (-1.7, -8.0). A vehicle with ID 49 is 10.1 meters away at (-4.3, 9.1). A vehicle with ID 9 is 10.2 meters away at (7.8, -6.5). A vehicle with ID 56 is 12.0 meters away at (11.3, -3.9). A vehicle with ID 15 is 12.7 meters away at (-9.6, 8.4). A vehicle with ID 66 is 17.6 meters away at (15.8, -7.8). A vehicle with ID 92 is 20.0 meters away at (-19.6, 3.8). A vehicle with ID 26 is 21.4 meters away at (16.4, -13.8).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [ 9.272238  -7.5037436] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.1118834  1.7803593] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.3996806  2.962911 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 8.025101 -6.507209] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.7053468  2.3647194] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.336918  28.795174]\n [-35.82222   29.959337]\n [-34.68508   28.960012]\n [-33.356773  28.314915]]", "nav_goal": "(139.02577209472656, 197.8491973876953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.79768753 5.012525  ], 5.075599670410156 meters away.)"}
{"file_name": "images/scenario_125_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.8) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 22.9 meters away at (-22.6, 3.7). A vehicle with ID 15 is 33.9 meters away at (-31.5, 12.6). A pedestrian with ID 13 is 41.2 meters away at (-17.7, -37.2). A vehicle with ID 17 is 79.5 meters away at (36.3, -70.8).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.36262038 -0.21557605] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 3.6314554  -0.86343575] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-4.725398e-03  8.119541e-06] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(117.4267349243164, -123.73479461669922)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-22.601917    3.6660151], 22.89729881286621 meters away.)"}
{"file_name": "images/scenario_125_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 2.5) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 12.1 meters away at (-11.9, -2.2). A vehicle with ID 15 is 13.6 meters away at (-13.2, 3.4). A unknown object with ID 6 is 34.7 meters away at (32.7, -11.7). A pedestrian with ID 13 is 43.2 meters away at (-8.3, -42.4).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.632163   -0.38797775] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 5.4321175 -2.8635006] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.03162528 -0.00517445] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(117.4267349243164, -123.73479461669922)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.926834   -2.1744165], 12.12342643737793 meters away.)"}
{"file_name": "images/scenario_125_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 2.2) m/s. Its current heading (yaw) is 2.68 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 8.1 meters away at (-2.2, -7.8). A vehicle with ID 15 is 12.0 meters away at (8.7, -8.3).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.43195933 -0.44152316] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 7.3248353 -3.948257 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(117.4267349243164, -123.73479461669922)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-2.1519146 -7.8436413], 8.133476257324219 meters away.)"}
{"file_name": "images/scenario_125_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 1.8) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 14.8 meters away at (7.3, -12.9). A vehicle with ID 15 is 38.9 meters away at (32.7, -21.2).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.58011496 -0.2546573 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 8.089039  -4.7382913] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(117.4267349243164, -123.73479461669922)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [  7.335108 -12.866102], 14.810145378112793 meters away.)"}
{"file_name": "images/scenario_126_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 8.1) m/s. Its current heading (yaw) is 2.00 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 59.8 meters away at (-15.3, 57.8). A vehicle with ID 2 is 73.9 meters away at (-20.9, 70.9). A unknown object with ID 6 is 79.9 meters away at (-75.8, -25.3).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-172.8946075439453, 133.59657287597656)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-15.276361  57.805847], 59.79032516479492 meters away.)"}
{"file_name": "images/scenario_126_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 7.6) m/s. Its current heading (yaw) is 1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 57.3 meters away at (-14.6, 55.4).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-172.8946075439453, 133.59657287597656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-14.641811  55.350758], 57.25459671020508 meters away.)"}
{"file_name": "images/scenario_126_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 7.6) m/s. Its current heading (yaw) is 1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 41.3 meters away at (-9.7, 40.2).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-172.8946075439453, 133.59657287597656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.7154255 40.165295 ], 41.323604583740234 meters away.)"}
{"file_name": "images/scenario_126_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 7.7) m/s. Its current heading (yaw) is 1.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 25.5 meters away at (-4.1, 25.1). A vehicle with ID 1 is 38.8 meters away at (-7.4, 38.1).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-172.8946075439453, 133.59657287597656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.094021 25.12072 ], 25.4521427154541 meters away.)"}
{"file_name": "images/scenario_127_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.1) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 4.2 meters away at (-3.6, -2.2). A vehicle with ID 67 is 4.6 meters away at (2.1, -4.1). A vehicle with ID 59 is 6.7 meters away at (-1.4, 6.5). A vehicle with ID 58 is 7.0 meters away at (5.5, 4.4). A unknown object with ID 66 is 7.7 meters away at (-1.6, -7.6). A pedestrian with ID 68 is 8.3 meters away at (3.7, 7.4). A vehicle with ID 71 is 14.5 meters away at (6.4, -13.0). A vehicle with ID 60 is 14.8 meters away at (-14.7, 1.8). A vehicle with ID 56 is 17.1 meters away at (14.8, -8.5). A vehicle with ID 24 is 25.0 meters away at (22.5, -10.8).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-2.8054786  1.2005167] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(237.2743682861328, -33.81882095336914)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6122103 -2.1723056], 4.215088844299316 meters away.)"}
{"file_name": "images/scenario_127_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.2) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 4.6 meters away at (2.0, -4.1). A vehicle with ID 89 is 4.8 meters away at (-2.6, 4.1). A vehicle with ID 67 is 10.5 meters away at (-10.5, 0.2). A vehicle with ID 71 is 10.6 meters away at (-6.2, -8.6). A vehicle with ID 58 is 11.2 meters away at (-7.1, 8.7). A vehicle with ID 24 is 11.8 meters away at (9.8, -6.5). A pedestrian with ID 43 is 14.3 meters away at (10.6, -9.7). A unknown object with ID 66 is 14.7 meters away at (-14.3, -3.2). A vehicle with ID 62 is 16.5 meters away at (-16.3, 2.2). A vehicle with ID 59 is 17.7 meters away at (-14.1, 10.8).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [-7.612207   2.5365005] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.67409664  0.2381528 ] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(237.2743682861328, -33.81882095336914)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.9753475 -4.1114883], 4.56139612197876 meters away.)"}
{"file_name": "images/scenario_127_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -2.1) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 3.4 meters away at (-2.6, -2.2). A pedestrian with ID 43 is 5.7 meters away at (-2.0, -5.4). A pedestrian with ID 35 is 8.5 meters away at (1.5, -8.3). A vehicle with ID 56 is 10.6 meters away at (-10.6, 0.2). A vehicle with ID 14 is 15.6 meters away at (6.6, 14.2). A vehicle with ID 25 is 16.9 meters away at (14.6, -8.5). A pedestrian with ID 5 is 17.6 meters away at (13.0, -11.9). A vehicle with ID 15 is 18.3 meters away at (7.0, 16.9). A vehicle with ID 16 is 21.1 meters away at (8.3, 19.4). A vehicle with ID 88 is 22.3 meters away at (19.3, 11.3).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.02380628 0.02936167] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.00893435 -0.00399172] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.4132872  -0.52501255] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(237.2743682861328, -33.81882095336914)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.5883064 -2.2431822], 3.4250833988189697 meters away.)"}
{"file_name": "images/scenario_127_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -2.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 5.2 meters away at (2.8, -4.4). A pedestrian with ID 5 is 9.3 meters away at (3.7, -8.5). A pedestrian with ID 35 is 11.2 meters away at (-10.3, -4.2). A vehicle with ID 55 is 11.2 meters away at (11.0, 2.3). A pedestrian with ID 42 is 13.3 meters away at (-13.3, -0.6). A pedestrian with ID 43 is 13.7 meters away at (-13.6, -1.3). A pedestrian with ID 38 is 14.4 meters away at (-14.4, -0.3). A pedestrian with ID 26 is 14.4 meters away at (-14.4, -1.0). A vehicle with ID 24 is 14.5 meters away at (-14.4, 1.9). A vehicle with ID 57 is 16.0 meters away at (16.0, 0.4).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.4030468  -0.46657547] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.01869212 0.00827371] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.00844283 0.01251616] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00099712  0.00216515] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.01332541 0.00103181] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.02310133 0.00763202] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(237.2743682861328, -33.81882095336914)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.7837067 -4.4107933], 5.215756893157959 meters away.)"}
{"file_name": "images/scenario_128_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 8.8) m/s. Its current heading (yaw) is 2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 6.7 meters away at (-0.5, 6.7). A vehicle with ID 15 is 8.9 meters away at (-0.5, -8.9). A vehicle with ID 17 is 11.4 meters away at (-10.5, 4.6). A unknown object with ID 7 is 14.6 meters away at (-5.9, 13.3). A vehicle with ID 14 is 15.7 meters away at (12.0, -10.2). A pedestrian with ID 3 is 16.5 meters away at (-5.5, 15.5). A vehicle with ID 19 is 18.4 meters away at (-14.8, 10.9). A vehicle with ID 20 is 20.2 meters away at (-8.8, 18.2). A pedestrian with ID 5 is 20.9 meters away at (-7.2, 19.6). A pedestrian with ID 6 is 21.5 meters away at (-7.9, 20.0).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.00500218 -0.00307822] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.04991542 -0.37583184] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.07749134 -0.17210883] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.74827575683594, 247.17190551757812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.53774357  6.6621666 ], 6.683833599090576 meters away.)"}
{"file_name": "images/scenario_128_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 9.2) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 4.3 meters away at (4.3, 0.1). A pedestrian with ID 6 is 5.6 meters away at (5.3, 1.8). A pedestrian with ID 8 is 6.7 meters away at (5.7, 3.5). A vehicle with ID 19 is 7.3 meters away at (-1.8, -7.1). A pedestrian with ID 12 is 8.3 meters away at (8.2, 1.4). A unknown object with ID 7 is 8.5 meters away at (7.1, -4.7). A pedestrian with ID 9 is 9.0 meters away at (8.7, -2.6). A vehicle with ID 17 is 13.6 meters away at (2.5, -13.4). A vehicle with ID 16 is 16.8 meters away at (12.4, -11.3). A vehicle with ID 23 is 23.8 meters away at (-17.9, 15.6).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00425209 -0.0604861 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.19436939 -0.76055956] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0608255  -0.14322847] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.2410012  -0.35076028] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.74827575683594, 247.17190551757812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.3184013  0.13316727], 4.320454120635986 meters away.)"}
{"file_name": "images/scenario_128_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 9.5) m/s. Its current heading (yaw) is 2.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 5.7 meters away at (-4.9, -2.9). A pedestrian with ID 6 is 25.2 meters away at (18.2, -17.4). A vehicle with ID 20 is 25.4 meters away at (17.3, -18.6). A pedestrian with ID 8 is 25.5 meters away at (19.5, -16.5). A pedestrian with ID 12 is 27.3 meters away at (21.2, -17.2). A vehicle with ID 19 is 28.0 meters away at (11.2, -25.7). A vehicle with ID 17 is 35.5 meters away at (15.6, -32.0). A vehicle with ID 16 is 39.3 meters away at (25.3, -30.0). A vehicle with ID 2 is 45.4 meters away at (-30.5, 33.7). A vehicle with ID 15 is 52.4 meters away at (25.8, -45.6).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.00389968 0.01953454] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.2686836  -0.59058535] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.07544472  0.01649035] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.74827575683594, 247.17190551757812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.9032516 -2.8736343], 5.6832780838012695 meters away.)"}
{"file_name": "images/scenario_128_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 9.1) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 8.3 meters away at (-3.1, -7.7). A vehicle with ID 2 is 22.9 meters away at (-17.4, 14.9). A vehicle with ID 23 is 23.0 meters away at (8.1, -21.5). A pedestrian with ID 6 is 47.4 meters away at (31.1, -35.9). A vehicle with ID 20 is 47.9 meters away at (30.2, -37.2). A pedestrian with ID 8 is 48.4 meters away at (32.5, -35.9). A vehicle with ID 19 is 50.6 meters away at (24.2, -44.4). A vehicle with ID 17 is 58.3 meters away at (28.7, -50.7). A vehicle with ID 16 is 62.1 meters away at (38.5, -48.8).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.16561073 -0.00121023] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.10807909 -0.26642022] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.74827575683594, 247.17190551757812)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-3.0596924 -7.668709 ], 8.256561279296875 meters away.)"}
{"file_name": "images/scenario_129_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, 0.4) m/s. Its current heading (yaw) is 0.06 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 10.3 meters away at (5.6, 8.7). A unknown object with ID 34 is 11.0 meters away at (4.7, 10.0). A unknown object with ID 36 is 14.1 meters away at (2.5, 13.9). A unknown object with ID 40 is 15.8 meters away at (9.5, 12.7). A unknown object with ID 37 is 15.9 meters away at (3.2, 15.6). A unknown object with ID 42 is 16.2 meters away at (11.0, 11.9). A unknown object with ID 39 is 16.3 meters away at (8.4, 14.0). A unknown object with ID 38 is 17.1 meters away at (4.2, 16.6). A unknown object with ID 43 is 17.4 meters away at (13.0, 11.5). A unknown object with ID 44 is 21.6 meters away at (7.9, 20.1).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(209.75299072265625, -88.19564819335938)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [5.5659237 8.65287  ], 10.288424491882324 meters away.)"}
{"file_name": "images/scenario_129_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 1.3) m/s. Its current heading (yaw) is 0.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 43 is 9.7 meters away at (-1.0, 9.7). A unknown object with ID 42 is 10.5 meters away at (-3.0, 10.1). A unknown object with ID 35 is 10.9 meters away at (-8.4, 6.9). A unknown object with ID 40 is 11.7 meters away at (-4.5, 10.9). A unknown object with ID 34 is 12.4 meters away at (-9.2, 8.2). A unknown object with ID 39 is 13.4 meters away at (-5.6, 12.2). A unknown object with ID 25 is 13.8 meters away at (12.2, -6.6). A unknown object with ID 37 is 17.5 meters away at (-10.8, 13.8). A unknown object with ID 38 is 17.8 meters away at (-9.8, 14.9). A unknown object with ID 44 is 19.3 meters away at (-6.1, 18.3).", "velocity_description": "The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(209.75299072265625, -88.19564819335938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.005003  9.695478], 9.747426986694336 meters away.)"}
{"file_name": "images/scenario_129_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, 1.9) m/s. Its current heading (yaw) is 0.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 5.3 meters away at (5.2, -1.2). A unknown object with ID 25 is 9.7 meters away at (-0.4, -9.7). A unknown object with ID 12 is 13.5 meters away at (11.1, -7.7). A unknown object with ID 16 is 13.8 meters away at (10.9, -8.4). A unknown object with ID 43 is 15.0 meters away at (-13.5, 6.6). A unknown object with ID 11 is 16.2 meters away at (2.3, -16.0). A unknown object with ID 42 is 17.0 meters away at (-15.5, 7.0). A unknown object with ID 40 is 18.7 meters away at (-17.0, 7.8). A unknown object with ID 39 is 20.3 meters away at (-18.1, 9.1). A unknown object with ID 35 is 21.3 meters away at (-20.9, 3.8).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [-7.1740394 -2.5874164] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(209.75299072265625, -88.19564819335938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.162178  -1.2023165], 5.300343990325928 meters away.)"}
{"file_name": "images/scenario_129_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 2.7) m/s. Its current heading (yaw) is 0.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 12.1 meters away at (-0.7, -12.1). A unknown object with ID 17 is 20.8 meters away at (-9.1, -18.7). A unknown object with ID 11 is 22.7 meters away at (-9.5, -20.6). A vehicle with ID 23 is 23.5 meters away at (-21.5, -9.5). A unknown object with ID 43 is 25.4 meters away at (-25.3, 2.2). A unknown object with ID 42 is 27.4 meters away at (-27.3, 2.7). A pedestrian with ID 45 is 28.9 meters away at (-6.8, -28.1). A unknown object with ID 40 is 29.0 meters away at (-28.8, 3.4). A vehicle with ID 26 is 30.4 meters away at (-29.4, -7.7). A vehicle with ID 24 is 30.5 meters away at (-29.5, -7.7).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-7.6515107 -1.4901474] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.49840575 -1.3421046 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [5.785323  0.8517662] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [5.8980117 0.8810521] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(209.75299072265625, -88.19564819335938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -0.692276 -12.10331 ], 12.123091697692871 meters away.)"}
{"file_name": "images/scenario_130_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.3) m/s. Its current heading (yaw) is 2.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 13.9 meters away at (-13.3, 4.0). A unknown object with ID 78 is 18.7 meters away at (6.7, -17.5). A vehicle with ID 75 is 21.8 meters away at (13.2, -17.4). A unknown object with ID 82 is 21.9 meters away at (-13.5, 17.2). A unknown object with ID 85 is 25.5 meters away at (-17.1, 19.0). A unknown object with ID 45 is 25.7 meters away at (-2.0, -25.6). A vehicle with ID 65 is 26.2 meters away at (-0.4, 26.2). A vehicle with ID 77 is 26.8 meters away at (-26.4, -4.6). A vehicle with ID 29 is 29.0 meters away at (-23.6, -16.8). A vehicle with ID 79 is 30.9 meters away at (-29.8, -8.4).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [ 4.5292172 -3.972359 ] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 5.5790334 -4.7039714] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-262.89617919921875, 134.73146057128906)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-13.347107    4.0497785], 13.94797420501709 meters away.)"}
{"file_name": "images/scenario_130_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 2.9) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 10.5 meters away at (3.5, -9.9). A unknown object with ID 82 is 15.1 meters away at (-7.9, 12.9). A unknown object with ID 85 is 18.6 meters away at (-11.4, 14.6). A vehicle with ID 77 is 22.6 meters away at (-20.8, -8.9). A vehicle with ID 65 is 22.9 meters away at (5.4, 22.2). A unknown object with ID 20 is 26.6 meters away at (-24.7, 9.9). A vehicle with ID 79 is 27.3 meters away at (-24.1, -12.7). A vehicle with ID 29 is 27.8 meters away at (-18.1, -21.1). A pedestrian with ID 51 is 28.2 meters away at (13.3, 24.9). A pedestrian with ID 41 is 28.3 meters away at (12.2, 25.5).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [ 6.481866 -5.347438] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.7168598  -0.76055086] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.6453955  -0.79778403] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-262.89617919921875, 134.73146057128906)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.4530487 -9.904604 ], 10.489267349243164 meters away.)"}
{"file_name": "images/scenario_130_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 4.0) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 82 is 6.0 meters away at (0.3, 6.0). A unknown object with ID 43 is 6.7 meters away at (-1.1, 6.6). A unknown object with ID 85 is 8.3 meters away at (-3.2, 7.7). A unknown object with ID 20 is 16.8 meters away at (-16.5, 2.9). A vehicle with ID 77 is 20.2 meters away at (-12.6, -15.8). A unknown object with ID 37 is 21.3 meters away at (-13.5, 16.5). A vehicle with ID 27 is 22.6 meters away at (-19.8, 10.9). A vehicle with ID 79 is 25.3 meters away at (-16.0, -19.6). A pedestrian with ID 41 is 25.8 meters away at (19.3, 17.1). A vehicle with ID 68 is 25.9 meters away at (21.8, 14.1).", "velocity_description": "The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 5.0678  -4.45267] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.5713741 -0.7910205] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-262.89617919921875, 134.73146057128906)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [0.27617073 5.9875326 ], 5.993898391723633 meters away.)"}
{"file_name": "images/scenario_130_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.4) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 4.8 meters away at (-1.9, -4.4). A unknown object with ID 85 is 6.8 meters away at (6.8, -0.6). A unknown object with ID 20 is 8.4 meters away at (-6.4, -5.4). A unknown object with ID 37 is 8.8 meters away at (-3.5, 8.1). A unknown object with ID 16 is 15.7 meters away at (-15.5, 2.3). A vehicle with ID 22 is 17.9 meters away at (-16.1, 7.8). A unknown object with ID 13 is 22.5 meters away at (-21.5, 6.6). A unknown object with ID 12 is 22.6 meters away at (-14.4, 17.4). A vehicle with ID 77 is 24.2 meters away at (-2.6, -24.0). A pedestrian with ID 14 is 25.0 meters away at (-24.5, 4.9).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [ 2.5960512 -2.2775278] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 5.489034  -4.7998824] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.02646194 -0.00215246] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-262.89617919921875, 134.73146057128906)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.9394093 -4.3506565], 4.763351917266846 meters away.)"}
{"file_name": "images/scenario_131_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.2) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 5.9 meters away at (5.4, 2.3). A vehicle with ID 75 is 6.0 meters away at (5.9, -0.8). A vehicle with ID 78 is 9.3 meters away at (0.9, -9.2). A vehicle with ID 79 is 10.8 meters away at (9.8, -4.6). A vehicle with ID 80 is 14.4 meters away at (5.3, -13.4). A pedestrian with ID 81 is 14.5 meters away at (14.5, -0.8). A vehicle with ID 82 is 16.1 meters away at (13.9, -8.3). A vehicle with ID 83 is 20.1 meters away at (9.9, -17.5). A vehicle with ID 77 is 20.9 meters away at (-2.7, 20.8). A unknown object with ID 85 is 21.4 meters away at (-11.4, 18.1).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.72965604  0.6296788 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.03577326 -0.03600967] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [5.4092164 2.303512 ], 5.879268169403076 meters away.)"}
{"file_name": "images/scenario_131_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 4.4) m/s. Its current heading (yaw) is 1.74 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 7.4 meters away at (7.2, -1.8). A vehicle with ID 75 is 11.7 meters away at (9.7, -6.5). A unknown object with ID 85 is 14.5 meters away at (-7.8, 12.2). A vehicle with ID 77 is 15.1 meters away at (1.0, 15.1). A unknown object with ID 45 is 15.1 meters away at (-7.9, 12.8). A vehicle with ID 78 is 15.6 meters away at (4.7, -14.9). A vehicle with ID 79 is 17.1 meters away at (13.7, -10.3). A pedestrian with ID 20 is 18.9 meters away at (13.9, 12.8). A pedestrian with ID 81 is 19.4 meters away at (18.2, -6.6). A vehicle with ID 76 is 19.6 meters away at (4.4, 19.1).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.91904676  0.8402223 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.78810996 -1.128942  ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.00481992 -0.01414491] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 7.22145   -1.7674317], 7.434591770172119 meters away.)"}
{"file_name": "images/scenario_131_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 3.9) m/s. Its current heading (yaw) is 0.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 6.8 meters away at (-2.5, 6.3). A pedestrian with ID 20 is 8.7 meters away at (8.6, 1.6). A pedestrian with ID 21 is 8.9 meters away at (2.3, -8.6). A vehicle with ID 76 is 10.4 meters away at (1.0, 10.3). A unknown object with ID 85 is 11.8 meters away at (-11.2, 3.7). A vehicle with ID 19 is 15.8 meters away at (8.4, 13.4). A vehicle with ID 74 is 15.8 meters away at (5.2, 14.9). A vehicle with ID 75 is 16.5 meters away at (6.1, -15.3). A vehicle with ID 50 is 17.4 meters away at (-1.9, 17.3). A unknown object with ID 93 is 20.4 meters away at (-17.5, 10.5).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.0088881 -1.2871284] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.8337572   0.98580366] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.0748773 -4.554551 ] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.5128574  6.302355 ], 6.78484582901001 meters away.)"}
{"file_name": "images/scenario_131_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.0) m/s. Its current heading (yaw) is 0.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 7.1 meters away at (-3.3, 6.3). A vehicle with ID 19 is 7.5 meters away at (-6.9, -2.8). A vehicle with ID 76 is 7.7 meters away at (-7.5, 1.7). A pedestrian with ID 20 is 9.6 meters away at (-2.1, -9.4). A vehicle with ID 73 is 10.5 meters away at (0.7, 10.5). A vehicle with ID 77 is 11.2 meters away at (-11.0, -2.3). A vehicle with ID 50 is 13.4 meters away at (-10.3, 8.6). A vehicle with ID 72 is 15.3 meters away at (4.5, 14.7). A pedestrian with ID 21 is 17.2 meters away at (-8.0, -15.2). A vehicle with ID 71 is 20.6 meters away at (8.0, 19.0).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.6735246 -2.8229942] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.0279388 -1.1524173] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.9290216  1.000148 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.324666   6.2601566], 7.088227272033691 meters away.)"}
{"file_name": "images/scenario_132_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 10.7) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 3.8 meters away at (-3.8, -0.6). A vehicle with ID 3 is 32.1 meters away at (-22.5, 22.9). A vehicle with ID 12 is 38.3 meters away at (21.1, -32.0). A vehicle with ID 2 is 44.2 meters away at (-25.5, 36.1). A vehicle with ID 11 is 45.1 meters away at (-32.3, 31.5). A vehicle with ID 13 is 53.9 meters away at (30.3, -44.6).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 5.9084945 -7.5385585] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.770676 -8.454781] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.481927 -3.467663] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.948425 12.390598] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [  8.304225 -10.996766] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.19072188 -0.2606838 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.662413 -41.64159 ]\n [ 24.032763 -43.579605]]", "nav_goal": "(-193.32981872558594, 229.27964782714844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.7805748  -0.61585426], 3.8304076194763184 meters away.)"}
{"file_name": "images/scenario_132_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 11.0) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 8.2 meters away at (-0.9, -8.1). A vehicle with ID 3 is 16.2 meters away at (7.2, -14.5). A vehicle with ID 15 is 43.5 meters away at (24.3, -36.1). A vehicle with ID 2 is 47.3 meters away at (-27.4, 38.5). A vehicle with ID 12 is 72.3 meters away at (42.1, -58.8).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [ 6.47211   -7.3274007] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.747216 -7.229127] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 4.602795 -5.969845] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.452621 11.935937] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 1.1321515 -1.5283936] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-193.32981872558594, 229.27964782714844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.88568497 -8.135033  ], 8.183104515075684 meters away.)"}
{"file_name": "images/scenario_132_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, 11.3) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 33.0 meters away at (-23.2, 23.4). A vehicle with ID 2 is 48.5 meters away at (-28.2, 39.5). A vehicle with ID 11 is 50.6 meters away at (28.2, -42.0). A vehicle with ID 3 is 61.2 meters away at (35.4, -49.9). A vehicle with ID 4 is 73.3 meters away at (-48.4, 55.0). A unknown object with ID 1 is 77.3 meters away at (-56.5, 52.7).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ 10.094536 -12.627327] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.086269  11.3957405] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 4.659529  -5.0367684] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 4.641877  -6.0335107] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 10.089847 -12.586282] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-90.15439 117.40254]\n [-92.44792 115.55638]]", "nav_goal": "(-193.32981872558594, 229.27964782714844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-23.184711  23.443687], 32.97176742553711 meters away.)"}
{"file_name": "images/scenario_132_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 11.7) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 12.3 meters away at (-10.1, 7.1). A vehicle with ID 5 is 27.0 meters away at (14.0, -23.1). A vehicle with ID 2 is 47.7 meters away at (-27.6, 38.9). A unknown object with ID 1 is 48.5 meters away at (-38.3, 29.9). A vehicle with ID 8 is 52.5 meters away at (-37.1, 37.2).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [  9.898693 -12.383144] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [  8.561048 -10.631197] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-8.798529 10.897499] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [  9.177604 -11.680355] m/s.", "light_description": "There are active red lights at the following coordinates: [[-94.022736 113.62985 ]\n [-92.44792  115.55638 ]]", "nav_goal": "(-193.32981872558594, 229.27964782714844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.065758    7.0506516], 12.289474487304688 meters away.)"}
{"file_name": "images/scenario_133_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -3.4) m/s. Its current heading (yaw) is -2.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 10.0 meters away at (-2.5, -9.7). A unknown object with ID 24 is 15.8 meters away at (13.3, 8.5). A unknown object with ID 19 is 16.3 meters away at (13.9, 8.6). A unknown object with ID 13 is 26.4 meters away at (-26.4, 0.8). A unknown object with ID 7 is 41.3 meters away at (-5.0, 41.0). A pedestrian with ID 31 is 46.7 meters away at (3.3, 46.5). A pedestrian with ID 32 is 47.4 meters away at (3.9, 47.3). A pedestrian with ID 33 is 47.7 meters away at (2.6, 47.6). A vehicle with ID 26 is 47.8 meters away at (-44.7, 16.9). A unknown object with ID 28 is 61.8 meters away at (-20.6, 58.3).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.11881   -0.5955842] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.007142  -0.7239806] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.9753595  -0.71806717] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-100.4039535522461, 91.90369415283203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.4744468 -9.664124 ], 9.975879669189453 meters away.)"}
{"file_name": "images/scenario_133_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -3.3) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.7 meters away at (1.9, -3.2). A unknown object with ID 9 is 23.1 meters away at (17.7, 14.9). A unknown object with ID 13 is 23.2 meters away at (-22.0, 7.4). A unknown object with ID 24 is 23.3 meters away at (17.7, 15.2). A vehicle with ID 26 is 46.7 meters away at (-40.2, 23.7). A unknown object with ID 7 is 47.6 meters away at (-0.5, 47.6). A pedestrian with ID 31 is 52.6 meters away at (9.8, 51.7). A pedestrian with ID 32 is 53.3 meters away at (10.3, 52.3). A pedestrian with ID 33 is 53.5 meters away at (9.0, 52.7). A unknown object with ID 21 is 54.2 meters away at (-45.1, 30.2).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.0427638 -0.8330735] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.0072244  -0.82011366] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 1.0716347 -0.7694137] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-100.4039535522461, 91.90369415283203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.8817883 -3.1663713], 3.6833455562591553 meters away.)"}
{"file_name": "images/scenario_133_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -2.9) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 6.2 meters away at (5.4, 3.0). A pedestrian with ID 11 is 6.6 meters away at (6.2, 2.1). A vehicle with ID 26 is 47.3 meters away at (-36.7, 29.9). A unknown object with ID 7 is 53.9 meters away at (3.0, 53.8). A unknown object with ID 21 is 55.2 meters away at (-41.5, 36.4). A unknown object with ID 6 is 57.1 meters away at (-42.7, 37.9). A pedestrian with ID 31 is 58.1 meters away at (15.2, 56.0). A unknown object with ID 16 is 58.4 meters away at (-43.4, 39.0). A cyclist with ID 1 is 58.4 meters away at (-31.2, -49.4). A unknown object with ID 17 is 58.8 meters away at (-44.4, 38.5).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.03133135 0.40492246] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9083642 -0.8448335] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [2.3157258 1.7512277] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-100.4039535522461, 91.90369415283203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.3873415 3.0055752], 6.16903018951416 meters away.)"}
{"file_name": "images/scenario_133_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -2.1) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 2.7 meters away at (-2.7, -0.5). A unknown object with ID 15 is 8.4 meters away at (-8.0, 2.7). A vehicle with ID 23 is 11.2 meters away at (7.9, 7.9). A pedestrian with ID 11 is 12.5 meters away at (9.4, 8.2). A cyclist with ID 1 is 47.4 meters away at (-24.3, -40.7). A vehicle with ID 26 is 48.7 meters away at (-34.1, 34.8). A unknown object with ID 7 is 59.0 meters away at (5.5, 58.8). A pedestrian with ID 31 is 62.6 meters away at (19.6, 59.4). A pedestrian with ID 32 is 63.3 meters away at (20.1, 60.0). A pedestrian with ID 33 is 63.5 meters away at (18.4, 60.8).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.5020439 0.7851771] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [2.2637029 1.9805423] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.8505992 -0.7677906] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.90382427 -0.8299199 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.7585503  -0.82531774] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-100.4039535522461, 91.90369415283203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.6502056 -0.48736  ], 2.6946444511413574 meters away.)"}
{"file_name": "images/scenario_134_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 1.3) m/s. Its current heading (yaw) is 2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 31.1 meters away at (-25.7, 17.4). A vehicle with ID 10 is 34.5 meters away at (-32.0, 12.9). A vehicle with ID 7 is 38.7 meters away at (-34.7, 17.1). A vehicle with ID 8 is 53.5 meters away at (-40.4, 35.1). A vehicle with ID 13 is 53.6 meters away at (-37.2, 38.6).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [3.2448235 1.2421877] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.4425333 2.77865  ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [2.0919306 5.7688966] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.4320984  3.9079282] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.982776  11.176945]\n [-29.03603   32.145985]\n [-28.981201  32.211838]\n [-14.743647   9.863947]\n [-29.041382  32.140186]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-25.70411   17.433548], 31.058490753173828 meters away.)"}
{"file_name": "images/scenario_134_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.2) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 23.5 meters away at (-16.5, 16.7). A vehicle with ID 10 is 29.1 meters away at (-24.2, 16.2). A vehicle with ID 7 is 42.7 meters away at (-33.0, 27.1). A vehicle with ID 13 is 51.2 meters away at (-35.3, 37.1). A vehicle with ID 8 is 64.3 meters away at (-48.8, 41.9).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.1812515 -0.5873947] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [3.4409816 1.5779681] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.7568264  5.919011 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.073257   4.9280367] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.982776  11.176945]\n [-29.03603   32.145985]\n [-28.981201  32.211838]\n [-14.743647   9.863947]\n [-29.041382  32.140186]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-16.461466  16.726593], 23.468250274658203 meters away.)"}
{"file_name": "images/scenario_134_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 15.3 meters away at (-7.4, 13.4). A vehicle with ID 10 is 23.3 meters away at (-15.7, 17.2). A unknown object with ID 5 is 50.3 meters away at (-44.4, 23.5). A vehicle with ID 13 is 50.9 meters away at (-35.0, 36.9). A unknown object with ID 2 is 54.8 meters away at (45.2, -31.0). A vehicle with ID 6 is 56.6 meters away at (-42.3, 37.6).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.4816914 -2.4962158] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 4.6317124 -0.7309771] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-5.8025465  4.7947254] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.982776  11.176945]\n [-29.03603   32.145985]\n [-28.981201  32.211838]\n [-14.743647   9.863947]\n [-29.041382  32.140186]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.3617063 13.40764  ], 15.295735359191895 meters away.)"}
{"file_name": "images/scenario_134_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 7.4 meters away at (2.2, 7.0). A vehicle with ID 10 is 14.2 meters away at (-5.7, 13.0). A vehicle with ID 13 is 49.9 meters away at (-34.2, 36.3). A unknown object with ID 5 is 50.3 meters away at (-44.4, 23.5). A unknown object with ID 2 is 55.0 meters away at (45.4, -31.1). A vehicle with ID 6 is 70.3 meters away at (-53.4, 45.7).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.9364486 -3.4451816] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 4.706608  -3.0774562] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.26810986 -0.22160853] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-4.135582   2.7518587] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.982776  11.176945]\n [-29.03603   32.145985]\n [-28.981201  32.211838]\n [-14.743647   9.863947]\n [-29.041382  32.140186]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.2348661 7.0486712], 7.39448356628418 meters away.)"}
{"file_name": "images/scenario_135_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 4.8) m/s. Its current heading (yaw) is 1.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 7.9 meters away at (-7.3, 3.1). A vehicle with ID 22 is 8.1 meters away at (-7.7, -2.8). A vehicle with ID 28 is 10.6 meters away at (-6.6, 8.3). A vehicle with ID 25 is 10.8 meters away at (-7.2, -8.1). A pedestrian with ID 29 is 12.0 meters away at (-8.2, -8.7). A vehicle with ID 27 is 14.3 meters away at (-5.9, -13.0). A vehicle with ID 31 is 14.4 meters away at (-5.9, 13.2). A vehicle with ID 30 is 19.1 meters away at (-2.9, -18.9). A vehicle with ID 34 is 22.9 meters away at (0.0, -22.9). A vehicle with ID 43 is 27.0 meters away at (3.8, -26.8).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01442132  0.06094734] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-3.7625248  35.907135  ]\n [16.371572   34.82271   ]\n [ 0.8169223  24.989594  ]\n [12.88069    40.52734   ]\n [ 0.38508976 25.129007  ]\n [ 1.1958957  24.809711  ]\n [-5.6692796  41.935055  ]\n [-0.22836664 25.260094  ]\n [15.653241   33.31619   ]]", "nav_goal": "(-210.15977478027344, 186.81056213378906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.328981   3.0683575], 7.945362091064453 meters away.)"}
{"file_name": "images/scenario_135_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 1.2) m/s. Its current heading (yaw) is 1.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 7.7 meters away at (-7.4, 2.3). A vehicle with ID 24 is 8.6 meters away at (-8.1, -2.8). A vehicle with ID 31 is 9.7 meters away at (-6.6, 7.1). A vehicle with ID 22 is 12.2 meters away at (-8.5, -8.7). A vehicle with ID 25 is 16.2 meters away at (-8.0, -14.0). A vehicle with ID 27 is 20.2 meters away at (-6.8, -19.1). A vehicle with ID 19 is 20.3 meters away at (20.0, 3.5). A vehicle with ID 30 is 25.3 meters away at (-3.8, -25.0). A vehicle with ID 23 is 26.6 meters away at (26.6, -0.5). A vehicle with ID 4 is 28.1 meters away at (25.9, 10.8).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.6114979  1.0477631] m/s.", "light_description": "There are active red lights at the following coordinates: [[-3.7625248  35.907135  ]\n [ 0.8169223  24.989594  ]\n [ 0.38508976 25.129007  ]\n [ 1.1958957  24.809711  ]\n [-5.6692796  41.935055  ]\n [-0.22836664 25.260094  ]]", "nav_goal": "(-210.15977478027344, 186.81056213378906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.3703246  2.3343716], 7.7311692237854 meters away.)"}
{"file_name": "images/scenario_135_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 7.7 meters away at (-7.5, 1.8). A vehicle with ID 24 is 9.0 meters away at (-8.3, -3.5). A vehicle with ID 31 is 9.4 meters away at (-6.8, 6.5). A vehicle with ID 22 is 12.7 meters away at (-8.6, -9.3). A vehicle with ID 25 is 16.8 meters away at (-8.2, -14.7). A vehicle with ID 19 is 20.1 meters away at (19.9, 2.9). A vehicle with ID 27 is 20.8 meters away at (-6.9, -19.6). A vehicle with ID 4 is 23.9 meters away at (18.7, 14.9). A vehicle with ID 26 is 25.0 meters away at (-9.4, 23.1). A vehicle with ID 30 is 25.8 meters away at (-3.9, -25.5).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-5.089478   3.4383092] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 3.4704442 -2.569831 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.8169223  24.989594  ]\n [ 0.38508976 25.129007  ]\n [ 1.1958957  24.809711  ]\n [-0.22836664 25.260094  ]]", "nav_goal": "(-210.15977478027344, 186.81056213378906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.524353   1.7994118], 7.7365217208862305 meters away.)"}
{"file_name": "images/scenario_135_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 7.7 meters away at (-7.5, 1.8). A vehicle with ID 24 is 9.0 meters away at (-8.3, -3.5). A vehicle with ID 31 is 9.3 meters away at (-6.8, 6.4). A vehicle with ID 22 is 12.7 meters away at (-8.6, -9.3). A vehicle with ID 26 is 16.1 meters away at (-3.5, 15.7). A vehicle with ID 25 is 16.8 meters away at (-8.2, -14.7). A pedestrian with ID 1 is 17.7 meters away at (-9.3, -15.0). A vehicle with ID 19 is 20.0 meters away at (19.8, 2.8). A vehicle with ID 27 is 20.8 meters away at (-7.0, -19.6). A vehicle with ID 4 is 24.2 meters away at (5.9, 23.5).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 1.6277479 -5.0220466] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.06720745  0.04251334] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-7.446791  5.26375 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.8169223  24.989594  ]\n [ 0.38508976 25.129007  ]\n [ 1.1958957  24.809711  ]\n [-0.22836664 25.260094  ]]", "nav_goal": "(-210.15977478027344, 186.81056213378906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.5376687  1.7710457], 7.742935657501221 meters away.)"}
{"file_name": "images/scenario_136_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 1.9) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 28.4 meters away at (27.8, -5.9). A vehicle with ID 13 is 37.0 meters away at (-34.3, 13.9). A vehicle with ID 18 is 37.2 meters away at (-34.4, 14.0). A unknown object with ID 8 is 38.5 meters away at (1.4, 38.4). A unknown object with ID 14 is 39.3 meters away at (28.8, 26.7). A vehicle with ID 25 is 46.9 meters away at (-42.0, 20.8). A vehicle with ID 15 is 48.6 meters away at (27.5, -40.1). A vehicle with ID 17 is 56.8 meters away at (42.4, -37.8). A vehicle with ID 21 is 62.8 meters away at (62.5, 5.9). A vehicle with ID 22 is 65.7 meters away at (65.5, 4.3).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 5.703527  -2.0228093] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-152.1651611328125, -166.06564331054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [27.766415 -5.866523], 28.379390716552734 meters away.)"}
{"file_name": "images/scenario_136_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 1.4) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 26.6 meters away at (-23.9, 11.7). A vehicle with ID 13 is 30.6 meters away at (-28.7, 10.6). A vehicle with ID 18 is 30.8 meters away at (-28.8, 10.7). A unknown object with ID 14 is 41.6 meters away at (34.4, 23.4). A vehicle with ID 17 is 63.1 meters away at (48.0, -41.0). A vehicle with ID 21 is 68.1 meters away at (68.1, 2.6). A vehicle with ID 6 is 78.7 meters away at (78.6, -5.2).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [ 6.760955  -4.3256354] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-152.1651611328125, -166.06564331054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-23.923279  11.723464], 26.641374588012695 meters away.)"}
{"file_name": "images/scenario_136_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 1.6) m/s. Its current heading (yaw) is 2.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 4.6 meters away at (-4.5, -1.1). A vehicle with ID 13 is 24.7 meters away at (-23.5, 7.8). A unknown object with ID 14 is 44.6 meters away at (39.6, 20.5). A unknown object with ID 12 is 59.1 meters away at (44.2, -39.1). A vehicle with ID 17 is 69.0 meters away at (53.2, -43.9). A vehicle with ID 21 is 73.2 meters away at (73.2, -0.3). A vehicle with ID 4 is 76.3 meters away at (76.3, -1.9).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [ 7.6427307 -4.8432775] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-152.1651611328125, -166.06564331054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.4675064 -1.057045 ], 4.590856075286865 meters away.)"}
{"file_name": "images/scenario_136_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 2.3) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 16.1 meters away at (-15.6, 3.8). A vehicle with ID 25 is 24.3 meters away at (19.6, -14.3). A unknown object with ID 14 is 50.4 meters away at (47.6, 16.5). A unknown object with ID 12 is 67.7 meters away at (52.1, -43.2). A vehicle with ID 17 is 77.6 meters away at (61.1, -47.8). A vehicle with ID 21 is 81.3 meters away at (81.2, -4.2).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 7.611659 -4.327897] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-152.1651611328125, -166.06564331054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-15.634644    3.7537317], 16.078948974609375 meters away.)"}
{"file_name": "images/scenario_137_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 3.1) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 12.6 meters away at (-1.8, -12.5). A vehicle with ID 44 is 14.0 meters away at (-5.0, -13.1). A unknown object with ID 39 is 14.7 meters away at (-8.0, 12.3). A unknown object with ID 9 is 15.0 meters away at (11.1, 10.0). A vehicle with ID 45 is 23.0 meters away at (-4.6, -22.6). A pedestrian with ID 46 is 25.3 meters away at (14.4, 20.9). A vehicle with ID 43 is 26.2 meters away at (-10.6, 24.0). A pedestrian with ID 47 is 27.7 meters away at (-2.1, -27.7). A vehicle with ID 54 is 32.4 meters away at (3.7, 32.2). A vehicle with ID 18 is 34.0 meters away at (29.0, 17.7).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0.394561   0.86529154] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.48514268 -1.5166482 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.00090795 -0.02866366] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-2.2860084 -2.863845 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.522692   1.2610798] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.1202145  21.787039  ]\n [ 1.850511   23.961802  ]\n [ 0.67162746 22.092197  ]\n [11.069123   27.496128  ]\n [12.851356   30.14138   ]]", "nav_goal": "(204.71128845214844, 85.74877166748047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -1.8095725 -12.464525 ], 12.595195770263672 meters away.)"}
{"file_name": "images/scenario_137_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.6) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 13.2 meters away at (-12.5, 4.3). A pedestrian with ID 46 is 13.7 meters away at (10.4, 9.0). A vehicle with ID 44 is 19.2 meters away at (-6.4, -18.1). A vehicle with ID 43 is 20.1 meters away at (-13.4, 15.0). A vehicle with ID 42 is 21.8 meters away at (-4.6, -21.3). A vehicle with ID 54 is 21.9 meters away at (-7.5, 20.6). A vehicle with ID 18 is 23.2 meters away at (20.5, 10.7). A vehicle with ID 53 is 30.3 meters away at (-24.6, 17.6). A vehicle with ID 45 is 32.3 meters away at (-7.5, -31.4). A pedestrian with ID 47 is 36.9 meters away at (-5.1, -36.5).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.423422   -0.31059673] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.42602792 -1.5054423 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.3066318 3.2610037] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-5.5712333   0.58985007] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.7625748   0.55477315] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.04264187 0.00552352] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.1202145  21.787039  ]\n [ 1.850511   23.961802  ]\n [ 0.67162746 22.092197  ]\n [11.069123   27.496128  ]\n [12.851356   30.14138   ]]", "nav_goal": "(204.71128845214844, 85.74877166748047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-12.522993    4.2948885], 13.239011764526367 meters away.)"}
{"file_name": "images/scenario_137_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 7.3) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 46 is 8.3 meters away at (5.4, -6.3). A unknown object with ID 12 is 12.4 meters away at (4.6, -11.5). A vehicle with ID 18 is 14.4 meters away at (14.4, -1.0). A vehicle with ID 43 is 17.4 meters away at (-17.2, 2.6). A vehicle with ID 44 is 23.8 meters away at (-7.2, -22.6). A vehicle with ID 54 is 27.3 meters away at (-24.7, 11.7). A vehicle with ID 53 is 29.0 meters away at (-28.5, 5.2). A vehicle with ID 21 is 34.5 meters away at (33.7, -7.2). A vehicle with ID 42 is 34.9 meters away at (-8.4, -33.9). A vehicle with ID 4 is 35.0 meters away at (13.0, 32.5).", "velocity_description": "The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.36432055 -1.2009321 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.9110992 4.7211585] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-7.181984   2.3442645] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.346617   1.1087083] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.1202145  21.787039  ]\n [ 1.850511   23.961802  ]\n [ 0.67162746 22.092197  ]\n [11.069123   27.496128  ]\n [12.851356   30.14138   ]]", "nav_goal": "(204.71128845214844, 85.74877166748047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 5.4226294 -6.3119507], 8.321395874023438 meters away.)"}
{"file_name": "images/scenario_137_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.9) m/s. Its current heading (yaw) is 1.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 17.8 meters away at (10.2, -14.6). A vehicle with ID 4 is 20.9 meters away at (9.0, 18.9). A pedestrian with ID 46 is 22.6 meters away at (0.3, -22.6). A vehicle with ID 43 is 23.7 meters away at (-21.0, -11.0). A vehicle with ID 44 is 27.8 meters away at (-8.1, -26.6). A vehicle with ID 15 is 30.2 meters away at (23.6, -18.8). A vehicle with ID 53 is 33.4 meters away at (-32.4, -8.4). A vehicle with ID 20 is 37.1 meters away at (32.8, -17.4). A vehicle with ID 7 is 39.6 meters away at (-39.2, -5.6). A vehicle with ID 26 is 43.3 meters away at (-42.3, -9.3).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.5020821 -1.3655653] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.3704338 4.7605286] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.4487503  0.6569941] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.850511   23.961802  ]\n [ 0.67162746 22.092197  ]\n [11.069123   27.496128  ]\n [12.851356   30.14138   ]]", "nav_goal": "(204.71128845214844, 85.74877166748047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 10.160206 -14.648733], 17.82737159729004 meters away.)"}
{"file_name": "images/scenario_138_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 2.7) m/s. Its current heading (yaw) is 0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 65.7 meters away at (53.6, -37.8).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [-5.519072   6.5644097] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-153.53965759277344, 236.5673370361328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 53.647034 -37.841377], 65.650390625 meters away.)"}
{"file_name": "images/scenario_138_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 6.3) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 17.5 meters away at (11.3, 13.4). A vehicle with ID 12 is 51.6 meters away at (37.8, -35.1). A vehicle with ID 15 is 53.6 meters away at (-24.8, 47.5). A vehicle with ID 11 is 78.2 meters away at (55.3, -55.4).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-4.0563064  5.599833 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.833396 -9.346878] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.3394933  7.164546 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-153.53965759277344, 236.5673370361328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [11.323677 13.383319], 17.531082153320312 meters away.)"}
{"file_name": "images/scenario_138_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 7.9) m/s. Its current heading (yaw) is 1.81 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 11.0 meters away at (-10.7, -2.8). A vehicle with ID 15 is 21.4 meters away at (-13.6, 16.6). A vehicle with ID 12 is 50.3 meters away at (30.5, -40.0). A pedestrian with ID 7 is 64.6 meters away at (32.3, -56.0).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 4.475914  -6.2323675] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.1482272  4.7514267] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.9035919  1.2100693] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.030306 24.888443]\n [24.198496  7.64667 ]\n [ 7.400657 22.95043 ]\n [25.39908   8.792563]]", "nav_goal": "(-153.53965759277344, 236.5673370361328)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-10.69106    -2.7757435], 11.045519828796387 meters away.)"}
{"file_name": "images/scenario_138_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 8.0) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 7.7 meters away at (0.8, -7.6). A unknown object with ID 10 is 18.7 meters away at (-2.3, -18.5). A vehicle with ID 12 is 58.9 meters away at (33.8, -48.3). A pedestrian with ID 7 is 79.4 meters away at (39.0, -69.1).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.6510124 -2.2140856] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-1.9492545  3.0423455] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.86382794  1.1857768 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.030306 24.888443]\n [24.198496  7.64667 ]\n [ 7.400657 22.95043 ]\n [25.39908   8.792563]]", "nav_goal": "(-153.53965759277344, 236.5673370361328)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.83755326 -7.638321  ], 7.684103488922119 meters away.)"}
{"file_name": "images/scenario_139_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 1.2) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 4.1 meters away at (-0.4, 4.1). A vehicle with ID 16 is 8.9 meters away at (-7.9, -4.1). A vehicle with ID 60 is 9.4 meters away at (0.8, 9.4). A vehicle with ID 63 is 10.1 meters away at (-9.9, -2.0). A pedestrian with ID 15 is 11.9 meters away at (11.8, -1.9). A vehicle with ID 61 is 12.2 meters away at (7.7, 9.5). A pedestrian with ID 58 is 12.6 meters away at (12.5, 1.9). A pedestrian with ID 59 is 14.2 meters away at (14.1, 1.8). A pedestrian with ID 77 is 15.0 meters away at (-0.1, 15.0). A unknown object with ID 73 is 15.1 meters away at (13.5, -6.7).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [3.79819   2.4610558] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.4124513 0.8363125] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [3.8198984 3.0910678] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [1.6809659 1.023941 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.3978225 1.0698956] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [4.2226057 3.2754455] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.02615945  0.15337294] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [1.1434131 1.3553537] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.5812579 -0.1785647] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[29.19887  13.255056]\n [31.444937 16.158936]\n [29.216614 13.579558]]", "nav_goal": "(239.70497131347656, -158.7813262939453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.38307714  4.0959363 ], 4.113811016082764 meters away.)"}
{"file_name": "images/scenario_139_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 1.3) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 58 is 8.4 meters away at (8.4, -0.7). A vehicle with ID 63 is 8.4 meters away at (-8.4, -1.1). A pedestrian with ID 10 is 8.7 meters away at (0.6, -8.7). A vehicle with ID 57 is 9.0 meters away at (4.7, 7.7). A vehicle with ID 16 is 9.2 meters away at (-8.1, -4.4). A pedestrian with ID 15 is 10.7 meters away at (10.4, -2.5). A pedestrian with ID 77 is 12.8 meters away at (-3.8, 12.2). A unknown object with ID 73 is 13.1 meters away at (9.4, -9.1). A pedestrian with ID 59 is 13.1 meters away at (13.0, 1.8). A unknown object with ID 56 is 13.5 meters away at (11.4, -7.2).", "velocity_description": "The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.00175489 0.00922482] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [3.68193   2.2559655] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.6204147  0.64193285] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [5.3016973 3.86961  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [2.3945963 1.3889561] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.4761864 0.9205457] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.2224155  -0.15234442] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [1.5995553 1.129697 ] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[29.19887  13.255056]\n [31.444937 16.158936]\n [29.216614 13.579558]]", "nav_goal": "(239.70497131347656, -158.7813262939453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 8.382172  -0.6730535], 8.409150123596191 meters away.)"}
{"file_name": "images/scenario_139_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 0.9) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 4.2 meters away at (-3.5, 2.3). A pedestrian with ID 58 is 5.6 meters away at (4.9, -2.8). A vehicle with ID 16 is 8.4 meters away at (-7.3, -4.1). A pedestrian with ID 10 is 9.4 meters away at (-0.1, -9.4). A pedestrian with ID 15 is 10.1 meters away at (9.7, -2.9). A pedestrian with ID 12 is 11.2 meters away at (-2.3, -11.0). A pedestrian with ID 77 is 11.8 meters away at (-6.8, 9.6). A unknown object with ID 56 is 12.3 meters away at (7.9, -9.4). A pedestrian with ID 59 is 12.5 meters away at (12.4, 1.7). A unknown object with ID 73 is 12.8 meters away at (5.9, -11.3).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [4.177458 3.323723] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00167833  0.0181416 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.6847507 0.9453317] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.3552562 0.7460019] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.4531924 1.0334243] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.0180887 0.7346599] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.12430257 -0.09634743] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [1.3888687 1.0925908] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[29.19887  13.255056]\n [31.444937 16.158936]\n [29.216614 13.579558]]", "nav_goal": "(239.70497131347656, -158.7813262939453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.5131125  2.298677 ], 4.198318004608154 meters away.)"}
{"file_name": "images/scenario_139_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 0.4) m/s. Its current heading (yaw) is 0.30 ", "actor_description": " The most relevant actors are: A pedestrian with ID 58 is 4.6 meters away at (2.1, -4.1). A vehicle with ID 16 is 8.6 meters away at (-7.6, -4.1). A pedestrian with ID 10 is 9.2 meters away at (-0.1, -9.2). A vehicle with ID 63 is 9.2 meters away at (1.9, 9.0). A pedestrian with ID 15 is 10.0 meters away at (9.8, -2.1). A pedestrian with ID 12 is 10.6 meters away at (-2.6, -10.3). A pedestrian with ID 11 is 11.3 meters away at (-3.2, -10.8). A unknown object with ID 56 is 11.8 meters away at (5.1, -10.7). A pedestrian with ID 77 is 12.5 meters away at (-9.3, 8.3). A pedestrian with ID 59 is 12.5 meters away at (12.2, 2.5).", "velocity_description": "The pedestrian with ID 58 is traveling at a (x, y) velocity of [2.9527851e-05 1.6604943e-02] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.0906126  0.61446303] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.546315  0.6904916] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [4.177354  5.3746223] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.3060505 1.1546739] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.2875367  0.78655404] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3211707  0.84713995] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.01101761 -0.02166076] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [1.1983072 1.1665211] m/s.", "light_description": "There are active red lights at the following coordinates: [[29.19887   13.255056 ]\n [26.224213  11.8764925]\n [26.463346  12.054808 ]\n [31.444937  16.158936 ]\n [29.216614  13.579558 ]\n [26.116226  11.800963 ]]", "nav_goal": "(239.70497131347656, -158.7813262939453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 2.1267748 -4.130434 ], 4.645821571350098 meters away.)"}
{"file_name": "images/scenario_140_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -1.8) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 7.0 meters away at (-0.6, -6.9). A vehicle with ID 19 is 7.2 meters away at (-3.2, -6.5). A vehicle with ID 21 is 11.2 meters away at (-6.2, -9.3). A vehicle with ID 22 is 12.1 meters away at (-0.0, -12.1). A vehicle with ID 24 is 13.6 meters away at (9.4, -9.9). A vehicle with ID 25 is 17.7 meters away at (16.2, -7.1). A vehicle with ID 28 is 20.6 meters away at (18.0, -10.1). A vehicle with ID 27 is 22.1 meters away at (-16.2, 15.1). A vehicle with ID 34 is 30.9 meters away at (-18.2, 24.9). A vehicle with ID 29 is 33.8 meters away at (33.0, 7.6).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.6246345  -0.12644757] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(235.34764099121094, 50.507164001464844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.556669  -6.9432335], 6.965513229370117 meters away.)"}
{"file_name": "images/scenario_140_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.3) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 6.1 meters away at (-3.4, -5.0). A vehicle with ID 19 is 7.5 meters away at (-6.1, -4.5). A vehicle with ID 24 is 10.2 meters away at (6.5, -8.0). A vehicle with ID 22 is 10.6 meters away at (-2.9, -10.2). A vehicle with ID 21 is 11.7 meters away at (-9.1, -7.4). A vehicle with ID 17 is 14.4 meters away at (1.0, -14.4). A vehicle with ID 25 is 15.7 meters away at (14.8, -5.2). A vehicle with ID 28 is 17.1 meters away at (15.1, -8.1). A vehicle with ID 27 is 25.6 meters away at (-19.1, 17.0). A unknown object with ID 4 is 28.0 meters away at (27.8, 3.1).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(235.34764099121094, 50.507164001464844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.3943071 -5.0107546], 6.052188396453857 meters away.)"}
{"file_name": "images/scenario_140_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 7.7 meters away at (-6.3, -4.4). A vehicle with ID 24 is 10.0 meters away at (6.2, -7.8). A vehicle with ID 22 is 10.5 meters away at (-3.1, -10.0). A vehicle with ID 17 is 13.9 meters away at (0.7, -13.9). A vehicle with ID 25 is 15.4 meters away at (14.5, -5.1). A vehicle with ID 28 is 16.9 meters away at (14.9, -7.9). A vehicle with ID 27 is 25.8 meters away at (-19.3, 17.2). A unknown object with ID 23 is 27.9 meters away at (27.2, 6.0). A vehicle with ID 34 is 34.4 meters away at (-21.4, 27.0). A vehicle with ID 43 is 40.1 meters away at (33.1, 22.6).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(235.34764099121094, 50.507164001464844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.289591 -4.391857], 7.671203136444092 meters away.)"}
{"file_name": "images/scenario_140_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 7.7 meters away at (-6.3, -4.4). A vehicle with ID 24 is 9.9 meters away at (6.1, -7.8). A vehicle with ID 22 is 10.6 meters away at (-3.1, -10.1). A vehicle with ID 17 is 13.7 meters away at (1.0, -13.7). A vehicle with ID 25 is 15.3 meters away at (14.4, -5.1). A vehicle with ID 28 is 16.8 meters away at (14.8, -7.9). A vehicle with ID 27 is 25.8 meters away at (-19.3, 17.2). A unknown object with ID 23 is 27.8 meters away at (27.2, 6.0). A vehicle with ID 34 is 34.5 meters away at (-21.4, 27.1). A vehicle with ID 43 is 40.1 meters away at (33.1, 22.7).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(235.34764099121094, 50.507164001464844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.3048663 -4.3723807], 7.672616958618164 meters away.)"}
{"file_name": "images/scenario_141_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 5.6) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 4.1 meters away at (1.5, -3.8). A vehicle with ID 67 is 6.5 meters away at (-4.1, 5.1). A pedestrian with ID 72 is 7.4 meters away at (7.4, 0.6). A vehicle with ID 70 is 8.3 meters away at (-8.3, 0.2). A vehicle with ID 69 is 9.9 meters away at (-8.3, -5.3). A pedestrian with ID 61 is 10.3 meters away at (-9.1, 4.8). A vehicle with ID 75 is 19.6 meters away at (-2.6, 19.4). A vehicle with ID 30 is 22.7 meters away at (16.8, 15.3). A vehicle with ID 53 is 24.6 meters away at (-7.2, 23.5). A vehicle with ID 85 is 29.1 meters away at (20.8, 20.3).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.8167227  -0.91622925] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.00171117 -0.00127244] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.747695  -15.822437 ]\n [ -7.5386357  -3.7945523]\n [-15.225712  -13.886737 ]\n [-11.090692  -18.066914 ]\n [ -8.925472   -2.0818453]\n [ -7.607267   -3.4303417]\n [-11.085181  -19.102827 ]]", "nav_goal": "(100.63091278076172, 220.1919403076172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.4524193 -3.8411393], 4.106564521789551 meters away.)"}
{"file_name": "images/scenario_141_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 6.1) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 8.1 meters away at (7.4, 3.4). A pedestrian with ID 72 is 12.8 meters away at (-4.2, -12.0). A vehicle with ID 85 is 14.1 meters away at (11.3, 8.4). A vehicle with ID 75 is 14.2 meters away at (-12.1, 7.5). A vehicle with ID 67 is 15.1 meters away at (-13.5, -6.7). A vehicle with ID 5 is 16.7 meters away at (-5.8, 15.7). A unknown object with ID 41 is 17.5 meters away at (-3.7, 17.1). A vehicle with ID 71 is 17.6 meters away at (-8.0, -15.7). A vehicle with ID 53 is 20.7 meters away at (-17.1, 11.7). A vehicle with ID 70 is 21.3 meters away at (-17.7, -11.8).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.1566749  -0.14473766] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 2.1502023 -1.8124094] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.747695  -15.822437 ]\n [ -7.5386357  -3.7945523]\n [-11.090692  -18.066914 ]\n [ -8.925472   -2.0818453]\n [ -7.607267   -3.4303417]\n [-11.085181  -19.102827 ]]", "nav_goal": "(100.63091278076172, 220.1919403076172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [7.365587 3.429037], 8.124664306640625 meters away.)"}
{"file_name": "images/scenario_141_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.5) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 85 is 4.4 meters away at (1.1, -4.2). A vehicle with ID 26 is 5.9 meters away at (5.7, 1.5). A vehicle with ID 30 is 9.7 meters away at (-2.9, -9.2). A vehicle with ID 5 is 13.1 meters away at (-13.1, 0.4). A unknown object with ID 48 is 13.5 meters away at (-11.1, 7.6). A vehicle with ID 27 is 13.8 meters away at (11.1, 8.1). A vehicle with ID 64 is 14.0 meters away at (3.0, 13.7). A unknown object with ID 41 is 15.0 meters away at (-14.3, 4.5). A pedestrian with ID 23 is 17.2 meters away at (2.1, 17.1). A pedestrian with ID 24 is 17.6 meters away at (1.3, 17.6).", "velocity_description": "The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.2135998 -0.9177744] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.8524371 0.9417514] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.85491145 0.98198444] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.747695  -15.822437 ]\n [ -7.5386357  -3.7945523]\n [-11.090692  -18.066914 ]\n [ -8.925472   -2.0818453]\n [ -7.607267   -3.4303417]\n [-11.085181  -19.102827 ]]", "nav_goal": "(100.63091278076172, 220.1919403076172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.0982685 -4.227499 ], 4.367830276489258 meters away.)"}
{"file_name": "images/scenario_141_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.3) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 4.8 meters away at (0.6, -4.7). A vehicle with ID 29 is 5.9 meters away at (5.8, 1.4). A vehicle with ID 65 is 7.0 meters away at (-3.4, 6.1). A vehicle with ID 64 is 7.6 meters away at (-7.6, 0.7). A pedestrian with ID 33 is 9.0 meters away at (8.9, 0.6). A pedestrian with ID 23 is 9.2 meters away at (-6.9, 6.0). A pedestrian with ID 24 is 10.1 meters away at (-7.7, 6.5). A vehicle with ID 66 is 10.6 meters away at (0.1, 10.6). A vehicle with ID 26 is 12.3 meters away at (-4.8, -11.3). A vehicle with ID 28 is 12.5 meters away at (10.2, 7.2).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.5096181  -0.98909616] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [1.0497779 1.064126 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.017236   0.99456304] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-7.5386357 -3.7945523]\n [-8.925472  -2.0818453]\n [-7.607267  -3.4303417]]", "nav_goal": "(100.63091278076172, 220.1919403076172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.6158371 -4.7197227], 4.759730815887451 meters away.)"}
{"file_name": "images/scenario_142_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -2.3) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 25.5 meters away at (-1.6, -25.5). A pedestrian with ID 28 is 26.0 meters away at (-24.8, 7.9). A vehicle with ID 32 is 28.4 meters away at (-2.2, -28.4). A vehicle with ID 33 is 32.8 meters away at (10.9, -31.0). A vehicle with ID 8 is 37.0 meters away at (35.6, 10.0). A vehicle with ID 35 is 43.0 meters away at (30.0, -30.7). A pedestrian with ID 36 is 53.7 meters away at (42.3, -33.1). A pedestrian with ID 27 is 60.7 meters away at (-55.6, 24.4). A pedestrian with ID 26 is 61.4 meters away at (-56.1, 24.9). A pedestrian with ID 29 is 63.3 meters away at (-58.3, 24.5).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 1.0103381 -0.5784232] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-4.74097    3.4766204] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.9133836  -0.30979568] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.0065956  -0.57482153] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0750978 -0.6019867] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.0636016  -0.93748987] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.844886779785156, -58.31352996826172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -1.6447456 -25.482523 ], 25.535547256469727 meters away.)"}
{"file_name": "images/scenario_142_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -1.8) m/s. Its current heading (yaw) is -2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 20.6 meters away at (2.5, -20.5). A pedestrian with ID 28 is 22.0 meters away at (-18.7, 11.5). A vehicle with ID 32 is 23.5 meters away at (2.1, -23.4). A vehicle with ID 33 is 30.0 meters away at (15.1, -25.9). A vehicle with ID 35 is 31.5 meters away at (25.0, -19.2). A vehicle with ID 22 is 42.3 meters away at (-0.7, -42.3). A pedestrian with ID 36 is 56.1 meters away at (48.4, -28.3). A pedestrian with ID 27 is 57.1 meters away at (-49.8, 28.0). A pedestrian with ID 26 is 57.5 meters away at (-50.2, 28.1). A pedestrian with ID 29 is 58.9 meters away at (-52.0, 27.6).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 1.0369842  -0.69466114] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-4.295571   2.8590837] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.8920517  -0.54257935] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.8388277  -0.74171317] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0336388 -0.668162 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.2160872  -0.79094934] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.844886779785156, -58.31352996826172)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.5447972 -20.465368 ], 20.62298011779785 meters away.)"}
{"file_name": "images/scenario_142_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 1.8) m/s. Its current heading (yaw) is 2.72 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 14.3 meters away at (-9.0, 11.1). A vehicle with ID 30 is 22.2 meters away at (9.9, -19.9). A vehicle with ID 32 is 24.7 meters away at (9.5, -22.8). A vehicle with ID 35 is 28.7 meters away at (25.0, -14.2). A vehicle with ID 33 is 33.9 meters away at (22.5, -25.4). A vehicle with ID 22 is 42.2 meters away at (6.6, -41.7). A pedestrian with ID 27 is 48.6 meters away at (-40.0, 27.5). A vehicle with ID 17 is 48.7 meters away at (44.4, 20.1). A pedestrian with ID 26 is 49.3 meters away at (-40.8, 27.7). A pedestrian with ID 29 is 49.9 meters away at (-42.0, 27.0).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 1.3496886  -0.41324833] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-3.2006028  1.8974004] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.374      -0.16961746] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.366711   -0.17374104] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.5366267  -0.21512988] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.844886779785156, -58.31352996826172)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-8.971702 11.118906], 14.287109375 meters away.)"}
{"file_name": "images/scenario_142_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 3.3) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 5.3 meters away at (2.6, 4.6). A vehicle with ID 30 is 31.6 meters away at (19.0, -25.2). A vehicle with ID 35 is 33.7 meters away at (29.3, -16.6). A vehicle with ID 32 is 33.8 meters away at (18.6, -28.2). A pedestrian with ID 27 is 35.5 meters away at (-28.3, 21.4). A pedestrian with ID 26 is 36.3 meters away at (-29.1, 21.6). A pedestrian with ID 29 is 36.5 meters away at (-30.1, 20.5). A vehicle with ID 33 is 44.1 meters away at (31.6, -30.8). A pedestrian with ID 25 is 44.5 meters away at (-36.9, 24.9). A pedestrian with ID 24 is 45.2 meters away at (-37.1, 25.9).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 1.024814  -0.6612714] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-1.3581587  0.7568601] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.0860735 -0.502403 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0472112  -0.52305114] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.2250496 -0.6141787] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.92918867 -0.67184055] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9468114  -0.56533283] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.844886779785156, -58.31352996826172)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [2.6236553 4.5914264], 5.288172245025635 meters away.)"}
{"file_name": "images/scenario_143_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -5.0) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 3.7 meters away at (-3.6, 0.6). A vehicle with ID 101 is 4.9 meters away at (-0.4, 4.9). A vehicle with ID 89 is 7.0 meters away at (3.3, -6.2). A vehicle with ID 92 is 7.6 meters away at (7.6, -0.8). A vehicle with ID 97 is 10.0 meters away at (3.1, 9.5). A unknown object with ID 102 is 12.2 meters away at (-10.0, -7.0). A pedestrian with ID 100 is 13.1 meters away at (-1.3, 13.0). A unknown object with ID 67 is 16.0 meters away at (-12.6, -10.0). A vehicle with ID 94 is 16.2 meters away at (7.3, 14.5). A pedestrian with ID 69 is 16.8 meters away at (-2.8, -16.6).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.91734236 -1.035917  ] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.5780509   0.91380835] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.2354278564453, -243.6287841796875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.623149    0.61431503], 3.6748592853546143 meters away.)"}
{"file_name": "images/scenario_143_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.7) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A unknown object with ID 102 is 3.5 meters away at (-1.9, 2.9). A unknown object with ID 67 is 4.4 meters away at (-4.4, -0.2). A pedestrian with ID 69 is 6.6 meters away at (4.5, -4.9). A pedestrian with ID 104 is 7.4 meters away at (4.9, -5.5). A unknown object with ID 84 is 8.2 meters away at (-6.8, -4.5). A unknown object with ID 106 is 8.5 meters away at (-7.6, -3.8). A unknown object with ID 49 is 9.7 meters away at (4.3, -8.7). A vehicle with ID 39 is 11.2 meters away at (4.3, 10.4). A vehicle with ID 89 is 11.9 meters away at (11.3, 3.6). A vehicle with ID 37 is 12.3 meters away at (-10.0, -7.2).", "velocity_description": "The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.6632524  0.8437429] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [-0.55744034  0.9454391 ] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.2354278564453, -243.6287841796875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.919199  2.88303 ], 3.463406801223755 meters away.)"}
{"file_name": "images/scenario_143_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.6) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 3.1 meters away at (-2.2, 2.1). A unknown object with ID 84 is 4.9 meters away at (1.0, 4.8). A unknown object with ID 106 is 5.5 meters away at (0.2, 5.5). A vehicle with ID 90 is 6.7 meters away at (6.0, -2.9). A vehicle with ID 88 is 8.0 meters away at (2.3, -7.7). A unknown object with ID 14 is 9.5 meters away at (4.0, 8.6). A unknown object with ID 67 is 9.8 meters away at (3.3, 9.2). A vehicle with ID 85 is 10.2 meters away at (-8.7, -5.3). A unknown object with ID 46 is 10.5 meters away at (10.5, 0.2). A unknown object with ID 87 is 10.6 meters away at (-1.4, -10.5).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.2354278564453, -243.6287841796875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.2401562  2.131979 ], 3.092512607574463 meters away.)"}
{"file_name": "images/scenario_143_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -4.4) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 85 is 3.8 meters away at (-1.2, 3.7). A vehicle with ID 38 is 4.7 meters away at (-4.6, -0.8). A pedestrian with ID 47 is 5.1 meters away at (-4.5, 2.5). A unknown object with ID 87 is 6.4 meters away at (6.2, -1.5). A pedestrian with ID 28 is 7.0 meters away at (-4.9, 5.0). A pedestrian with ID 29 is 7.5 meters away at (-5.9, 4.6). A unknown object with ID 56 is 8.1 meters away at (1.0, -8.0). A pedestrian with ID 4 is 8.1 meters away at (-6.4, 5.0). A vehicle with ID 88 is 9.8 meters away at (9.8, 1.2). A vehicle with ID 37 is 12.3 meters away at (5.3, 11.1).", "velocity_description": "The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.0043857  0.00082371] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.8776134 -0.6401004] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.9096271  -0.70042574] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.9079188  -0.70606583] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.2354278564453, -243.6287841796875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.1883469  3.6614952], 3.84950852394104 meters away.)"}
{"file_name": "images/scenario_144_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 2.9) m/s. Its current heading (yaw) is 1.60 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 8.4 meters away at (-4.0, 7.4). A unknown object with ID 67 is 9.2 meters away at (-8.3, 3.9). A unknown object with ID 68 is 10.1 meters away at (-8.2, 5.9). A unknown object with ID 53 is 17.2 meters away at (16.7, -4.1). A unknown object with ID 69 is 19.1 meters away at (18.6, -4.2). A unknown object with ID 54 is 21.7 meters away at (21.3, -4.4). A unknown object with ID 59 is 36.0 meters away at (-3.9, 35.8). A pedestrian with ID 70 is 52.6 meters away at (0.8, 52.6). A unknown object with ID 71 is 67.3 meters away at (8.9, -66.7). A vehicle with ID 6 is 67.5 meters away at (3.0, 67.5).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.89268273  0.5913054 ] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.46267888 -1.0644944 ] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-4.0105214  7.38368  ], 8.402560234069824 meters away.)"}
{"file_name": "images/scenario_144_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 4.3) m/s. Its current heading (yaw) is 1.54 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 5.9 meters away at (-5.6, 1.8). A unknown object with ID 68 is 8.3 meters away at (-8.2, -1.1). A unknown object with ID 67 is 8.9 meters away at (-8.3, -3.2). A unknown object with ID 51 is 27.9 meters away at (-4.2, 27.6). A unknown object with ID 59 is 29.1 meters away at (-4.0, 28.8). A pedestrian with ID 70 is 43.1 meters away at (0.0, 43.1). A vehicle with ID 6 is 60.6 meters away at (2.9, 60.5). A unknown object with ID 8 is 61.2 meters away at (-4.9, 61.1). A vehicle with ID 39 is 73.8 meters away at (20.6, 70.8). A vehicle with ID 40 is 74.0 meters away at (-69.6, -25.1).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.77030516  0.9122527 ] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.476488  -1.1182439] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-3.1377373 -0.806724 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-5.647663   1.8481503], 5.9423699378967285 meters away.)"}
{"file_name": "images/scenario_144_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 5.4) m/s. Its current heading (yaw) is 1.48 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 9.3 meters away at (-7.2, -5.9). A unknown object with ID 68 is 14.0 meters away at (-8.8, -10.9). A unknown object with ID 67 is 15.7 meters away at (-8.9, -13.0). A unknown object with ID 59 is 19.6 meters away at (-4.5, 19.1). A pedestrian with ID 70 is 30.9 meters away at (-1.2, 30.9). A vehicle with ID 6 is 50.8 meters away at (2.4, 50.8). A unknown object with ID 8 is 51.5 meters away at (-5.5, 51.2). A vehicle with ID 39 is 62.3 meters away at (13.1, 60.9). A vehicle with ID 11 is 66.7 meters away at (-7.2, 66.3). A pedestrian with ID 7 is 69.6 meters away at (29.9, 62.9).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.49580565  0.99254584] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.24960838 -1.1975766 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-3.5476458  0.3189818] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.08669794  0.04694879] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-7.249236  -5.8804617], 9.334412574768066 meters away.)"}
{"file_name": "images/scenario_144_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 6.1) m/s. Its current heading (yaw) is 1.37 ", "actor_description": " The most relevant actors are: A unknown object with ID 61 is 9.1 meters away at (-6.5, 6.4). A unknown object with ID 59 is 9.8 meters away at (-6.3, 7.5). A pedestrian with ID 70 is 17.3 meters away at (-3.3, 17.0). A pedestrian with ID 28 is 17.9 meters away at (-9.2, -15.3). A unknown object with ID 68 is 24.7 meters away at (-10.4, -22.4). A unknown object with ID 67 is 26.7 meters away at (-10.5, -24.5). A vehicle with ID 6 is 39.4 meters away at (0.6, 39.4). A unknown object with ID 8 is 40.4 meters away at (-7.2, 39.8). A vehicle with ID 39 is 50.3 meters away at (4.5, 50.1). A unknown object with ID 43 is 55.4 meters away at (-7.5, -54.9).", "velocity_description": "The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.2773986 -1.1017796] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.11814517 1.1861998 ] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.777437    0.39197418] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-6.479665   6.3922195], 9.102006912231445 meters away.)"}
{"file_name": "images/scenario_145_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 3.1) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 68 is 2.8 meters away at (-1.1, -2.6). A unknown object with ID 65 is 4.8 meters away at (2.6, -4.1). A unknown object with ID 71 is 4.9 meters away at (-4.8, -1.1). A unknown object with ID 64 is 8.0 meters away at (5.9, -5.4). A cyclist with ID 39 is 8.6 meters away at (-4.5, 7.4). A unknown object with ID 61 is 10.9 meters away at (8.6, -6.6). A unknown object with ID 59 is 13.3 meters away at (10.9, -7.6). A vehicle with ID 79 is 14.6 meters away at (3.3, 14.2). A unknown object with ID 58 is 15.8 meters away at (13.2, -8.6). A unknown object with ID 60 is 17.3 meters away at (14.6, -9.2).", "velocity_description": "The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-3.1049762e-08  7.8316610e-08] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [ 7.3031   -3.173322] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[47.19444    -5.5577846 ]\n [33.326294   -6.1516147 ]\n [35.119907   -3.186069  ]\n [36.15843     0.29993832]\n [44.10296    -3.4366906 ]\n [35.23455    -2.9545574 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.1012125 -2.5620987], 2.7887306213378906 meters away.)"}
{"file_name": "images/scenario_145_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 3.4) m/s. Its current heading (yaw) is 2.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 71 is 12.0 meters away at (9.3, -7.5). A unknown object with ID 50 is 15.0 meters away at (-14.7, 3.3). A unknown object with ID 68 is 15.8 meters away at (13.0, -9.0). A unknown object with ID 56 is 18.2 meters away at (8.0, 16.4). A unknown object with ID 65 is 19.8 meters away at (16.8, -10.5). A unknown object with ID 41 is 20.2 meters away at (-19.8, 4.3). A unknown object with ID 64 is 23.3 meters away at (20.1, -11.8). A unknown object with ID 61 is 26.3 meters away at (22.8, -13.0). A unknown object with ID 59 is 28.8 meters away at (25.1, -14.0). A unknown object with ID 58 is 31.2 meters away at (27.4, -14.9).", "velocity_description": "The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[36.15843     0.29993832]\n [35.23455    -2.9545574 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 9.320419  -7.5194335], 11.975479125976562 meters away.)"}
{"file_name": "images/scenario_145_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 3.6) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A unknown object with ID 50 is 3.8 meters away at (-0.1, -3.8). A unknown object with ID 41 is 5.9 meters away at (-5.2, -2.8). A pedestrian with ID 29 is 22.7 meters away at (11.8, 19.3). A unknown object with ID 71 is 28.0 meters away at (23.9, -14.5). A pedestrian with ID 46 is 28.9 meters away at (8.8, 27.5). A vehicle with ID 30 is 31.3 meters away at (-1.3, 31.3). A unknown object with ID 68 is 31.9 meters away at (27.6, -16.0). A unknown object with ID 65 is 36.0 meters away at (31.4, -17.5). A unknown object with ID 64 is 39.5 meters away at (34.7, -18.8). A unknown object with ID 61 is 42.5 meters away at (37.5, -20.0).", "velocity_description": "The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.3105536  0.5035825] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.98450774  0.39368817] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[33.326294  -6.1516147]\n [35.119907  -3.186069 ]\n [35.23455   -2.9545574]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.12788391 -3.773325  ], 3.77549147605896 meters away.)"}
{"file_name": "images/scenario_145_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 3.8) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A unknown object with ID 41 is 14.2 meters away at (9.9, -10.2). A unknown object with ID 50 is 18.7 meters away at (15.0, -11.2). A pedestrian with ID 29 is 27.2 meters away at (23.7, 13.3). A vehicle with ID 30 is 27.4 meters away at (13.5, 23.8). A pedestrian with ID 46 is 30.6 meters away at (22.0, 21.2). A pedestrian with ID 12 is 40.2 meters away at (-21.0, 34.3). A unknown object with ID 71 is 44.8 meters away at (39.1, -21.9). A vehicle with ID 18 is 44.9 meters away at (-44.9, 1.0). A pedestrian with ID 8 is 47.1 meters away at (-29.6, 36.7). A unknown object with ID 64 is 56.3 meters away at (49.9, -26.1).", "velocity_description": "The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.4888417   0.44784337] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.7627658  1.1044171] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.1970968  0.6474742] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.1949105 -2.4004638] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.3348002   0.58186793] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  9.914352 -10.23488 ], 14.24946117401123 meters away.)"}
{"file_name": "images/scenario_146_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.3) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 3.1 meters away at (-2.6, -1.7). A vehicle with ID 14 is 5.8 meters away at (2.7, 5.2). A vehicle with ID 57 is 7.2 meters away at (-6.9, 1.9). A vehicle with ID 58 is 9.0 meters away at (-1.6, 8.8). A vehicle with ID 60 is 12.7 meters away at (-11.3, 5.7). A vehicle with ID 77 is 16.6 meters away at (-5.2, -15.8). A vehicle with ID 63 is 18.2 meters away at (-11.5, 14.1). A unknown object with ID 66 is 18.9 meters away at (-4.0, 18.5). A unknown object with ID 67 is 19.0 meters away at (-4.0, 18.6). A vehicle with ID 64 is 19.1 meters away at (-10.2, 16.1).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [ 0.4241156  -0.34186652] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.68614196777344, 111.67413330078125)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.5782948 -1.6953144], 3.085724353790283 meters away.)"}
{"file_name": "images/scenario_146_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -0.8) m/s. Its current heading (yaw) is -0.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 5.9 meters away at (-5.9, 0.1). A vehicle with ID 14 is 7.0 meters away at (-0.5, 7.0). A vehicle with ID 57 is 10.8 meters away at (-10.2, 3.8). A vehicle with ID 58 is 11.8 meters away at (-4.9, 10.8). A vehicle with ID 77 is 16.2 meters away at (-8.5, -13.8). A vehicle with ID 70 is 16.4 meters away at (9.5, -13.3). A vehicle with ID 60 is 16.5 meters away at (-14.6, 7.6). A vehicle with ID 54 is 17.7 meters away at (13.4, 11.6). A vehicle with ID 62 is 18.6 meters away at (16.9, -7.7). A vehicle with ID 63 is 20.1 meters away at (-13.7, 14.8).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [ 0.83666164 -0.61671114] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.68614196777344, 111.67413330078125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.872225    0.12545681], 5.873564720153809 meters away.)"}
{"file_name": "images/scenario_146_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 2.8) m/s. Its current heading (yaw) is 0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 10.3 meters away at (-8.6, 5.6). A vehicle with ID 54 is 11.5 meters away at (5.3, 10.2). A vehicle with ID 62 is 12.6 meters away at (8.8, -9.0). A vehicle with ID 55 is 14.1 meters away at (-14.0, -1.3). A vehicle with ID 70 is 14.7 meters away at (1.5, -14.7). A vehicle with ID 58 is 16.1 meters away at (-13.0, 9.4). A vehicle with ID 52 is 16.9 meters away at (8.8, 14.4). A vehicle with ID 57 is 18.4 meters away at (-18.3, 2.4). A vehicle with ID 73 is 18.7 meters away at (13.3, -13.2). A vehicle with ID 75 is 18.9 meters away at (5.4, -18.1).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[66.259834 66.239456]]", "nav_goal": "(-58.68614196777344, 111.67413330078125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.62328    5.6227193], 10.294461250305176 meters away.)"}
{"file_name": "images/scenario_146_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 4.7) m/s. Its current heading (yaw) is 0.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 3.9 meters away at (-3.2, 2.2). A vehicle with ID 52 is 6.4 meters away at (0.2, 6.4). A unknown object with ID 41 is 8.0 meters away at (-8.0, -0.4). A vehicle with ID 12 is 10.9 meters away at (3.5, 10.3). A vehicle with ID 11 is 16.1 meters away at (7.1, 14.4). A vehicle with ID 62 is 16.9 meters away at (0.4, -16.9). A vehicle with ID 14 is 17.2 meters away at (-17.1, -2.4). A vehicle with ID 58 is 21.5 meters away at (-21.5, 1.4). A vehicle with ID 73 is 21.6 meters away at (4.9, -21.0). A vehicle with ID 13 is 21.8 meters away at (10.7, 19.0).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[66.259834 66.239456]]", "nav_goal": "(-58.68614196777344, 111.67413330078125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.1872635  2.2326522], 3.8914501667022705 meters away.)"}
{"file_name": "images/scenario_147_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, -5.2) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 4.4 meters away at (1.7, -4.1). A unknown object with ID 11 is 5.5 meters away at (1.9, 5.2). A vehicle with ID 26 is 7.5 meters away at (5.5, -5.1). A vehicle with ID 23 is 8.0 meters away at (8.0, 0.8). A vehicle with ID 30 is 9.8 meters away at (0.2, -9.8). A vehicle with ID 3 is 10.0 meters away at (8.1, 5.8). A vehicle with ID 24 is 11.3 meters away at (11.2, -1.2). A vehicle with ID 31 is 16.1 meters away at (-6.1, -14.9). A unknown object with ID 17 is 18.3 meters away at (18.0, -2.9). A unknown object with ID 25 is 20.9 meters away at (20.7, -3.2).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.6652837 -4.821254 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.643845   3.597201 ]\n [ 9.983153  -3.4668803]\n [ 9.745258  -2.9560583]\n [ 7.8135653  3.465489 ]]", "nav_goal": "(-236.652099609375, -184.9298095703125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.6507406 -4.106539 ], 4.425901889801025 meters away.)"}
{"file_name": "images/scenario_147_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -6.2) m/s. Its current heading (yaw) is -2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 4.3 meters away at (0.5, -4.3). A vehicle with ID 31 is 9.0 meters away at (8.3, -3.6). A vehicle with ID 32 is 9.6 meters away at (0.0, -9.6). A vehicle with ID 3 is 10.6 meters away at (8.5, 6.4). A vehicle with ID 37 is 14.3 meters away at (-5.9, -13.1). A vehicle with ID 30 is 14.7 meters away at (14.6, 1.6). A vehicle with ID 27 is 17.5 meters away at (16.0, 7.2). A vehicle with ID 26 is 20.8 meters away at (19.9, 6.3). A unknown object with ID 7 is 22.7 meters away at (-7.2, -21.6). A vehicle with ID 40 is 23.3 meters away at (-13.1, -19.2).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [3.6298223 2.8103817] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.4395833 -5.840439 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.643845   3.597201 ]\n [28.23464   -1.1092799]\n [ 9.983153  -3.4668803]\n [ 9.745258  -2.9560583]\n [ 7.8135653  3.465489 ]]", "nav_goal": "(-236.652099609375, -184.9298095703125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.52963066 -4.278557  ], 4.31121301651001 meters away.)"}
{"file_name": "images/scenario_147_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, -6.9) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 6.8 meters away at (3.0, -6.0). A vehicle with ID 37 is 10.1 meters away at (10.1, 0.1). A vehicle with ID 3 is 12.1 meters away at (9.5, 7.6). A vehicle with ID 46 is 13.5 meters away at (-4.1, -12.8). A vehicle with ID 32 is 16.4 meters away at (16.0, 3.6). A vehicle with ID 41 is 25.9 meters away at (22.2, 13.3). A vehicle with ID 31 is 26.1 meters away at (24.2, 9.6). A vehicle with ID 5 is 28.3 meters away at (-18.3, -21.6). A vehicle with ID 30 is 34.1 meters away at (30.6, 14.9). A vehicle with ID 27 is 38.0 meters away at (32.0, 20.5).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.8221364 -6.31006  ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [1.9086759 1.5015532] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.643845   3.597201 ]\n [ 9.983153  -3.4668803]\n [ 9.745258  -2.9560583]\n [ 7.8135653  3.465489 ]]", "nav_goal": "(-236.652099609375, -184.9298095703125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.024788 -6.036232], 6.751698970794678 meters away.)"}
{"file_name": "images/scenario_147_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -6.5) m/s. Its current heading (yaw) is -2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 8.9 meters away at (-2.5, -8.5). A vehicle with ID 46 is 11.3 meters away at (11.3, 0.2). A vehicle with ID 3 is 12.8 meters away at (9.9, 8.1). A vehicle with ID 9 is 14.2 meters away at (14.1, 1.8). A vehicle with ID 40 is 20.1 meters away at (18.8, 7.2). A unknown object with ID 6 is 21.0 meters away at (10.8, 18.0). A vehicle with ID 37 is 29.1 meters away at (25.9, 13.3). A vehicle with ID 32 is 36.1 meters away at (31.9, 16.9). A vehicle with ID 18 is 36.4 meters away at (-30.2, -20.4). A vehicle with ID 31 is 46.2 meters away at (40.1, 23.0).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.787929  -6.4223166] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.643845   3.597201 ]\n [ 9.983153  -3.4668803]\n [ 9.745258  -2.9560583]\n [ 7.8135653  3.465489 ]]", "nav_goal": "(-236.652099609375, -184.9298095703125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.5042458 -8.499084 ], 8.860342979431152 meters away.)"}
{"file_name": "images/scenario_148_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 2.9) m/s. Its current heading (yaw) is 2.05 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 8.1 meters away at (-7.9, 1.6). A vehicle with ID 42 is 9.8 meters away at (-7.7, -6.0). A unknown object with ID 46 is 10.1 meters away at (-9.9, 1.7). A vehicle with ID 44 is 11.1 meters away at (-9.9, -5.0). A vehicle with ID 48 is 12.6 meters away at (4.6, 11.7). A vehicle with ID 50 is 15.7 meters away at (-3.0, 15.4). A vehicle with ID 49 is 16.1 meters away at (3.7, 15.6). A pedestrian with ID 41 is 16.7 meters away at (-0.4, -16.7). A unknown object with ID 51 is 18.5 meters away at (-14.4, 11.6). A pedestrian with ID 43 is 18.9 meters away at (-1.2, -18.9).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.40681633 -1.3595432 ] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.37856272 -1.5030193 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.236314  13.625129 ]\n [13.029926  16.590673 ]\n [21.792828  16.451183 ]\n [21.909914  16.672071 ]\n [23.447792   3.3446963]\n [26.939093  -1.8604397]\n [22.012978  16.340052 ]\n [13.14457   16.822186 ]]", "nav_goal": "(-297.26165771484375, 152.23004150390625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.9034724  1.593934 ], 8.062599182128906 meters away.)"}
{"file_name": "images/scenario_148_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 2.9) m/s. Its current heading (yaw) is 2.34 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 5.7 meters away at (-3.3, -4.7). A unknown object with ID 46 is 6.9 meters away at (-5.2, -4.6). A vehicle with ID 50 is 9.3 meters away at (1.6, 9.2). A vehicle with ID 48 is 10.6 meters away at (9.1, 5.6). A unknown object with ID 51 is 11.2 meters away at (-9.8, 5.4). A vehicle with ID 44 is 12.4 meters away at (-5.4, -11.2). A vehicle with ID 49 is 12.5 meters away at (8.2, 9.4). A vehicle with ID 42 is 12.6 meters away at (-3.2, -12.2). A unknown object with ID 55 is 14.4 meters away at (-13.7, 4.5). A pedestrian with ID 54 is 14.8 meters away at (-14.6, 2.3).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02766255  0.00582944] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.236314  13.625129 ]\n [13.029926  16.590673 ]\n [21.792828  16.451183 ]\n [21.909914  16.672071 ]\n [23.447792   3.3446963]\n [26.939093  -1.8604397]\n [14.068447  20.076681 ]\n [22.012978  16.340052 ]\n [13.14457   16.822186 ]]", "nav_goal": "(-297.26165771484375, 152.23004150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-3.2752428 -4.6685767], 5.702878475189209 meters away.)"}
{"file_name": "images/scenario_148_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 2.8) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 51 is 4.0 meters away at (-4.0, -0.2). A unknown object with ID 55 is 8.0 meters away at (-7.9, -1.1). A unknown object with ID 40 is 8.0 meters away at (-7.5, 2.6). A vehicle with ID 50 is 8.2 meters away at (7.4, 3.6). A pedestrian with ID 54 is 9.4 meters away at (-8.8, -3.3). A unknown object with ID 57 is 9.7 meters away at (-9.7, -0.3). A unknown object with ID 46 is 10.2 meters away at (0.6, -10.1). A unknown object with ID 45 is 10.5 meters away at (2.5, -10.2). A unknown object with ID 39 is 11.6 meters away at (-10.7, 4.3). A vehicle with ID 62 is 12.9 meters away at (1.8, 12.8).", "velocity_description": "The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00536405 0.0013616 ] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.236314  13.625129 ]\n [13.029926  16.590673 ]\n [21.792828  16.451183 ]\n [21.909914  16.672071 ]\n [23.447792   3.3446963]\n [26.939093  -1.8604397]\n [14.068447  20.076681 ]\n [22.012978  16.340052 ]\n [13.14457   16.822186 ]]", "nav_goal": "(-297.26165771484375, 152.23004150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.0238085  -0.15552521], 4.02681303024292 meters away.)"}
{"file_name": "images/scenario_148_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.5) m/s. Its current heading (yaw) is 2.68 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 2.4 meters away at (-2.1, -1.2). A unknown object with ID 40 is 3.0 meters away at (1.1, -2.8). A unknown object with ID 38 is 4.2 meters away at (-4.2, -0.2). A unknown object with ID 57 is 5.9 meters away at (-1.1, -5.8). A unknown object with ID 55 is 6.6 meters away at (0.8, -6.5). A unknown object with ID 51 is 7.3 meters away at (4.6, -5.6). A unknown object with ID 37 is 7.7 meters away at (-7.6, 1.3). A pedestrian with ID 54 is 8.7 meters away at (-0.1, -8.7). A vehicle with ID 14 is 10.3 meters away at (-10.3, 0.5). A pedestrian with ID 59 is 10.7 meters away at (-10.4, -2.4).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.00639668 -0.00842201] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.6356774   0.12951076] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.236314  13.625129 ]\n [13.029926  16.590673 ]\n [21.792828  16.451183 ]\n [21.909914  16.672071 ]\n [23.447792   3.3446963]\n [26.939093  -1.8604397]\n [14.068447  20.076681 ]\n [22.012978  16.340052 ]\n [13.14457   16.822186 ]]", "nav_goal": "(-297.26165771484375, 152.23004150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.071804  -1.2074013], 2.3979554176330566 meters away.)"}
{"file_name": "images/scenario_149_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 5.1) m/s. Its current heading (yaw) is 2.30 ", "actor_description": " The most relevant actors are: A unknown object with ID 105 is 7.5 meters away at (0.3, 7.5). A pedestrian with ID 111 is 9.6 meters away at (3.8, 8.8). A vehicle with ID 104 is 10.5 meters away at (-10.5, -0.1). A unknown object with ID 101 is 11.8 meters away at (-9.1, -7.6). A vehicle with ID 103 is 11.9 meters away at (-11.6, -2.7). A pedestrian with ID 109 is 12.7 meters away at (10.0, 7.7). A pedestrian with ID 110 is 13.4 meters away at (10.4, 8.5). A unknown object with ID 63 is 13.5 meters away at (-6.1, 12.0). A unknown object with ID 78 is 13.8 meters away at (-12.8, -5.2). A pedestrian with ID 99 is 18.1 meters away at (-5.2, -17.4).", "velocity_description": "The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [ 0.23711255 -1.1273181 ] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 1.2011813  -0.63837713] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 1.1762733 -0.6643677] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.7059518 -1.4482776] m/s.", "light_description": "There are active red lights at the following coordinates: [[-3.363882  -1.378779 ]\n [16.770214  -2.4632044]\n [13.279332   3.2414262]\n [-5.270637   4.649142 ]]", "nav_goal": "(-241.22120666503906, 171.5084686279297)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [0.26764297 7.4625177 ], 7.467315673828125 meters away.)"}
{"file_name": "images/scenario_149_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 5.0) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A unknown object with ID 63 is 6.2 meters away at (5.8, 2.2). A unknown object with ID 74 is 7.5 meters away at (-1.3, 7.4). A vehicle with ID 104 is 9.9 meters away at (1.4, -9.8). A unknown object with ID 105 is 12.5 meters away at (12.2, -2.2). A vehicle with ID 103 is 12.5 meters away at (0.3, -12.5). A unknown object with ID 75 is 13.3 meters away at (-4.4, -12.6). A unknown object with ID 116 is 14.3 meters away at (-12.1, -7.6). A pedestrian with ID 111 is 16.2 meters away at (16.0, -3.0). A pedestrian with ID 109 is 24.7 meters away at (24.4, -3.5). A pedestrian with ID 110 is 24.9 meters away at (24.8, -2.7).", "velocity_description": "The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [ 0.00885644 -0.8602401 ] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 1.1838815  -0.71887493] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 1.1465188  -0.77449316] m/s.", "light_description": "There are active red lights at the following coordinates: [[-3.363882  -1.378779 ]\n [16.770214  -2.4632044]\n [13.279332   3.2414262]\n [-5.270637   4.649142 ]]", "nav_goal": "(-241.22120666503906, 171.5084686279297)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [5.768282  2.2384167], 6.187373161315918 meters away.)"}
{"file_name": "images/scenario_149_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 6.6) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A unknown object with ID 82 is 6.2 meters away at (-1.2, 6.1). A unknown object with ID 97 is 13.9 meters away at (-8.6, 10.9). A unknown object with ID 74 is 14.4 meters away at (13.7, -4.3). A unknown object with ID 96 is 15.2 meters away at (-4.4, -14.5). A unknown object with ID 85 is 15.5 meters away at (-12.3, -9.4). A unknown object with ID 116 is 19.5 meters away at (3.0, -19.3). A pedestrian with ID 56 is 19.8 meters away at (-16.9, -10.4). A unknown object with ID 83 is 20.5 meters away at (-20.0, -4.4). A unknown object with ID 61 is 20.8 meters away at (-19.3, 7.8). A unknown object with ID 75 is 26.5 meters away at (10.7, -24.2).", "velocity_description": "The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.3282893   0.89064693] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-3.363882  -1.378779 ]\n [16.770214  -2.4632044]\n [13.279332   3.2414262]\n [-5.270637   4.649142 ]]", "nav_goal": "(-241.22120666503906, 171.5084686279297)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.1980934  6.0808372], 6.197742462158203 meters away.)"}
{"file_name": "images/scenario_149_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, 6.1) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A unknown object with ID 65 is 2.8 meters away at (0.5, 2.7). A unknown object with ID 61 is 5.9 meters away at (-2.7, -5.2). A unknown object with ID 97 is 8.3 meters away at (8.0, -2.2). A unknown object with ID 70 is 10.6 meters away at (-7.2, 7.7). A unknown object with ID 59 is 16.7 meters away at (-11.1, -12.5). A unknown object with ID 82 is 16.9 meters away at (15.4, -7.0). A unknown object with ID 83 is 17.8 meters away at (-3.4, -17.5). A unknown object with ID 26 is 19.8 meters away at (-15.1, 12.9). A unknown object with ID 33 is 20.0 meters away at (-18.5, -7.7). A pedestrian with ID 57 is 20.0 meters away at (-14.4, -13.9).", "velocity_description": "The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.3192747  1.0785531] m/s.", "light_description": "There are active red lights at the following coordinates: [[-3.363882 -1.378779]\n [-5.270637  4.649142]]", "nav_goal": "(-241.22120666503906, 171.5084686279297)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [0.49356842 2.7400742 ], 2.784172534942627 meters away.)"}
{"file_name": "images/scenario_150_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 4.6) m/s. Its current heading (yaw) is 0.78 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 5.1 meters away at (-4.4, 2.5). A vehicle with ID 66 is 5.6 meters away at (0.4, 5.6). A vehicle with ID 61 is 12.8 meters away at (-12.8, -0.3). A vehicle with ID 24 is 14.1 meters away at (6.5, 12.5). A vehicle with ID 63 is 16.1 meters away at (-7.5, -14.3). A vehicle with ID 71 is 16.3 meters away at (4.9, -15.6). A vehicle with ID 64 is 16.9 meters away at (-16.6, 3.2). A vehicle with ID 62 is 17.0 meters away at (-16.3, -4.9). A vehicle with ID 68 is 20.3 meters away at (-3.2, -20.0). A vehicle with ID 25 is 21.0 meters away at (11.3, 17.7).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [ 4.3305225 -1.0901382] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 1.5991383 -1.4269223] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(80.94796752929688, 218.9760284423828)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.427996   2.5294347], 5.0995283126831055 meters away.)"}
{"file_name": "images/scenario_150_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.4) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 3.5 meters away at (-2.5, 2.5). A vehicle with ID 25 is 7.9 meters away at (2.1, 7.6). A vehicle with ID 66 is 9.8 meters away at (-8.7, -4.5). A pedestrian with ID 18 is 11.5 meters away at (10.2, 5.4). A vehicle with ID 26 is 13.2 meters away at (5.3, 12.0). A vehicle with ID 89 is 13.7 meters away at (13.3, 3.3). A vehicle with ID 90 is 15.6 meters away at (15.5, 1.3). A vehicle with ID 94 is 21.3 meters away at (21.0, -3.7). A vehicle with ID 61 is 24.3 meters away at (-22.0, -10.4). A vehicle with ID 71 is 26.0 meters away at (-4.2, -25.6).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.90494114 1.1176858 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(80.94796752929688, 218.9760284423828)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.5040836  2.4594164], 3.509866714477539 meters away.)"}
{"file_name": "images/scenario_150_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.3) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 3.9 meters away at (2.6, -3.0). A vehicle with ID 26 is 4.1 meters away at (-3.9, 1.3). A vehicle with ID 25 is 7.7 meters away at (-7.1, -3.1). A vehicle with ID 89 is 8.5 meters away at (4.1, -7.4). A vehicle with ID 90 is 11.3 meters away at (6.3, -9.4). A vehicle with ID 24 is 14.3 meters away at (-11.7, -8.3). A vehicle with ID 59 is 15.1 meters away at (0.7, 15.1). A vehicle with ID 60 is 17.2 meters away at (-1.3, 17.1). A vehicle with ID 94 is 18.6 meters away at (11.8, -14.4). A vehicle with ID 11 is 20.5 meters away at (-5.2, 19.9).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.847473  1.2172418] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[66.90911  77.998985]\n [65.52227  79.71169 ]\n [66.84048  78.3632  ]]", "nav_goal": "(80.94796752929688, 218.9760284423828)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 2.6042233 -2.960371 ], 3.9428131580352783 meters away.)"}
{"file_name": "images/scenario_150_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.0) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 9.7 meters away at (-8.3, 4.9). A pedestrian with ID 18 is 11.9 meters away at (-4.6, -11.0). A unknown object with ID 40 is 12.0 meters away at (0.2, 12.0). A vehicle with ID 60 is 12.4 meters away at (-10.3, 6.9). A vehicle with ID 26 is 15.8 meters away at (-13.0, -9.0). A vehicle with ID 4 is 16.1 meters away at (-2.5, 15.9). A vehicle with ID 11 is 17.2 meters away at (-14.2, 9.7). A vehicle with ID 89 is 18.6 meters away at (-5.1, -17.9). A vehicle with ID 90 is 19.9 meters away at (-2.9, -19.7). A vehicle with ID 12 is 19.9 meters away at (-16.1, 11.7).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [1.0518297 1.0422462] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[66.90911  77.998985]\n [65.52227  79.71169 ]\n [66.84048  78.3632  ]]", "nav_goal": "(80.94796752929688, 218.9760284423828)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.318571   4.9367447], 9.673162460327148 meters away.)"}
{"file_name": "images/scenario_151_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.4) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 61 is 19.3 meters away at (-6.8, -18.0). A unknown object with ID 60 is 19.4 meters away at (-9.0, -17.1). A unknown object with ID 62 is 19.5 meters away at (-4.5, -19.0). A unknown object with ID 59 is 19.8 meters away at (-11.8, -15.9). A unknown object with ID 63 is 19.8 meters away at (-3.1, -19.6). A unknown object with ID 64 is 20.3 meters away at (-1.6, -20.2). A unknown object with ID 58 is 21.0 meters away at (-15.1, -14.6). A unknown object with ID 65 is 22.2 meters away at (-4.0, -21.8). A unknown object with ID 35 is 23.1 meters away at (-18.9, -13.2). A unknown object with ID 51 is 25.3 meters away at (-22.1, 12.2).", "velocity_description": "The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ -6.7665677 -18.02666  ], 19.254789352416992 meters away.)"}
{"file_name": "images/scenario_151_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -1.9) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A unknown object with ID 64 is 20.3 meters away at (-12.5, -16.0). A unknown object with ID 63 is 20.7 meters away at (-14.0, -15.3). A unknown object with ID 62 is 21.3 meters away at (-15.4, -14.7). A unknown object with ID 61 is 22.4 meters away at (-17.7, -13.7). A unknown object with ID 65 is 22.9 meters away at (-14.9, -17.4). A unknown object with ID 60 is 23.7 meters away at (-20.0, -12.8). A unknown object with ID 59 is 25.5 meters away at (-22.7, -11.6). A unknown object with ID 58 is 28.0 meters away at (-26.1, -10.3). A unknown object with ID 35 is 31.1 meters away at (-29.9, -8.8). A vehicle with ID 43 is 31.4 meters away at (-5.5, -30.9).", "velocity_description": "The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-12.480446 -15.982875], 20.27840805053711 meters away.)"}
{"file_name": "images/scenario_151_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -0.5) m/s. Its current heading (yaw) is -0.14 ", "actor_description": " The most relevant actors are: A cyclist with ID 13 is 18.5 meters away at (-5.6, -17.6). A vehicle with ID 8 is 23.6 meters away at (-23.6, 0.8). A unknown object with ID 64 is 24.7 meters away at (-20.7, -13.4). A unknown object with ID 63 is 25.6 meters away at (-22.3, -12.7). A unknown object with ID 62 is 26.6 meters away at (-23.7, -12.1). A unknown object with ID 65 is 27.6 meters away at (-23.3, -14.9). A unknown object with ID 61 is 28.2 meters away at (-26.0, -11.1). A unknown object with ID 60 is 30.0 meters away at (-28.2, -10.2). A vehicle with ID 43 is 31.4 meters away at (-13.7, -28.3). A vehicle with ID 23 is 31.7 meters away at (-11.5, -29.6).", "velocity_description": "The cyclist with ID 13 is traveling at a (x, y) velocity of [-11.439627    5.2820363] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [12.083422  -5.7156324] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [ -5.646776 -17.620722], 18.503402709960938 meters away.)"}
{"file_name": "images/scenario_151_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 0.4) m/s. Its current heading (yaw) is 0.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 12.4 meters away at (-8.8, -8.8). A unknown object with ID 41 is 29.4 meters away at (-19.9, -21.6). A unknown object with ID 64 is 30.0 meters away at (-26.9, -13.3). A unknown object with ID 63 is 31.1 meters away at (-28.5, -12.6). A unknown object with ID 62 is 32.2 meters away at (-29.8, -12.0). A unknown object with ID 65 is 32.9 meters away at (-29.5, -14.8). A unknown object with ID 61 is 34.0 meters away at (-32.1, -11.0). A vehicle with ID 23 is 34.4 meters away at (-17.7, -29.6). A vehicle with ID 43 is 34.5 meters away at (-19.8, -28.2). A unknown object with ID 4 is 35.7 meters away at (24.0, 26.4).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 8.950212 -4.200206] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.781649 -8.77928 ], 12.417451858520508 meters away.)"}
{"file_name": "images/scenario_152_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, 6.9) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 41.6 meters away at (16.4, 38.3). A vehicle with ID 9 is 58.0 meters away at (-35.9, -45.5). A vehicle with ID 29 is 61.0 meters away at (19.8, 57.7). A vehicle with ID 22 is 64.4 meters away at (39.3, 51.0). A cyclist with ID 7 is 65.9 meters away at (34.4, 56.3). A cyclist with ID 5 is 72.2 meters away at (53.9, 48.1). A vehicle with ID 32 is 73.9 meters away at (-58.3, -45.5).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.122718  -1.3485945] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [3.6800942 5.3873734] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-10.009797 -10.525532] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ 0.03198614 -0.02293616] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [ 0.02644351 -0.01791742] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.9955635  2.767867 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[39.18066  66.98666 ]\n [38.91914  67.04308 ]\n [37.539524 65.33046 ]]", "nav_goal": "(-126.37083435058594, 156.78561401367188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [16.38129 38.25135], 41.611446380615234 meters away.)"}
{"file_name": "images/scenario_152_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 6.6) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 17.8 meters away at (-8.7, 15.6). A vehicle with ID 22 is 18.9 meters away at (8.5, 16.9). A pedestrian with ID 30 is 22.1 meters away at (2.8, 22.0). A vehicle with ID 15 is 44.9 meters away at (8.5, 44.0). A vehicle with ID 29 is 44.9 meters away at (8.4, 44.1). A cyclist with ID 7 is 48.5 meters away at (23.5, 42.4). A cyclist with ID 5 is 55.1 meters away at (42.2, 35.4). A vehicle with ID 9 is 60.5 meters away at (-37.0, -47.8). A vehicle with ID 1 is 71.8 meters away at (-29.9, 65.3).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ -9.641485 -10.378123] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.0126626 -1.2929202] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ 1.2731702  -0.64023644] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-0.4155377  1.012581 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [5.9146914 6.5364094] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.803027  -3.4684722] m/s.", "light_description": "There are active red lights at the following coordinates: [[39.18066  66.98666 ]\n [38.91914  67.04308 ]\n [37.539524 65.33046 ]]", "nav_goal": "(-126.37083435058594, 156.78561401367188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.66474  15.600489], 17.84524917602539 meters away.)"}
{"file_name": "images/scenario_152_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 4.7) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 11.9 meters away at (-9.0, 7.9). A vehicle with ID 22 is 26.6 meters away at (-21.1, -16.2). A cyclist with ID 7 is 32.5 meters away at (16.6, 27.9). A vehicle with ID 15 is 32.5 meters away at (-1.0, 32.5). A vehicle with ID 29 is 32.6 meters away at (-1.0, 32.6). A vehicle with ID 2 is 38.9 meters away at (37.3, 11.2). A cyclist with ID 5 is 40.5 meters away at (31.4, 25.5). A vehicle with ID 1 is 55.7 meters away at (-28.5, 47.8). A vehicle with ID 9 is 55.8 meters away at (-33.7, -44.5). A unknown object with ID 14 is 62.8 meters away at (37.3, 50.5).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1345845 -1.3892277] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-10.2078705 -11.341927 ] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ 0.63727504 -2.0910115 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 0.53186536 -0.29663318] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-1.175594    0.80474436] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.243087  -2.5112114] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [7.0396414 8.155435 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[39.18066  66.98666 ]\n [65.68424  54.865387]\n [64.72742  53.804832]\n [64.72336  53.79883 ]\n [46.53898  60.212765]\n [38.91914  67.04308 ]\n [37.539524 65.33046 ]]", "nav_goal": "(-126.37083435058594, 156.78561401367188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-8.964518   7.8580093], 11.921027183532715 meters away.)"}
{"file_name": "images/scenario_152_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 2.6) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 17.3 meters away at (-17.2, -1.8). A cyclist with ID 7 is 19.1 meters away at (12.3, 14.5). A vehicle with ID 29 is 24.4 meters away at (-4.8, 24.0). A cyclist with ID 5 is 29.8 meters away at (22.5, 19.4). A vehicle with ID 2 is 30.6 meters away at (30.2, 4.9). A vehicle with ID 4 is 36.7 meters away at (36.7, 0.7). A vehicle with ID 9 is 43.2 meters away at (-25.5, -34.8). A vehicle with ID 1 is 43.9 meters away at (-24.8, 36.2). A vehicle with ID 3 is 44.7 meters away at (44.6, -3.5). A unknown object with ID 14 is 53.6 meters away at (31.3, 43.5).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.0976512 -1.3019562] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ 1.4990337 -3.5348008] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 1.5416912  -0.96432143] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-1.8019919   0.89144325] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.6656622  1.0395812] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.5304095   0.31178564] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [7.034361 8.366831] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.529759  -2.1638577] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.4581608   0.26789746] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[65.68424  54.865387]\n [64.72742  53.804832]\n [64.72336  53.79883 ]\n [46.53898  60.212765]]", "nav_goal": "(-126.37083435058594, 156.78561401367188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-17.217619   -1.7906837], 17.310487747192383 meters away.)"}
{"file_name": "images/scenario_153_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.4) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 30.8 meters away at (-30.4, 5.0). A vehicle with ID 37 is 31.3 meters away at (-31.2, 2.4). A vehicle with ID 42 is 34.9 meters away at (-34.7, -4.1). A vehicle with ID 21 is 37.0 meters away at (-36.2, -7.6). A vehicle with ID 25 is 45.7 meters away at (-42.1, -18.0). A vehicle with ID 22 is 46.8 meters away at (22.0, -41.3). A vehicle with ID 39 is 53.2 meters away at (-40.3, 34.7). A vehicle with ID 29 is 59.8 meters away at (59.2, -8.8).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-63.573856  54.18728 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-30.432919    4.9775133], 30.8372859954834 meters away.)"}
{"file_name": "images/scenario_153_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.6) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 19.4 meters away at (-18.8, -4.9). A vehicle with ID 37 is 20.9 meters away at (-19.5, -7.5). A vehicle with ID 16 is 34.1 meters away at (-26.6, -21.3). A vehicle with ID 39 is 37.9 meters away at (-28.7, 24.7). A vehicle with ID 22 is 61.3 meters away at (33.7, -51.2). A vehicle with ID 3 is 61.4 meters away at (-32.4, 52.2).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-0.39982116  0.30122083] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-77.147835  62.116386]\n [-66.827736  62.30618 ]\n [-77.52481   61.55515 ]\n [-65.400116  61.41723 ]\n [-63.573856  54.18728 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-18.775969  -4.944916], 19.416208267211914 meters away.)"}
{"file_name": "images/scenario_153_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 3.4) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 16.0 meters away at (-9.3, -13.0). A vehicle with ID 37 is 18.6 meters away at (-10.4, -15.4). A vehicle with ID 39 is 25.3 meters away at (-19.1, 16.5). A unknown object with ID 31 is 40.6 meters away at (17.4, -36.7). A vehicle with ID 3 is 49.5 meters away at (-22.8, 43.9). A pedestrian with ID 7 is 64.6 meters away at (-43.6, 47.7). A vehicle with ID 19 is 66.6 meters away at (-52.5, 40.9). A vehicle with ID 15 is 69.9 meters away at (-53.1, 45.5). A vehicle with ID 22 is 73.3 meters away at (43.2, -59.3).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.65677166 -0.804829  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 1.7944272 -1.4311479] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-66.827736  62.30618 ]\n [-65.400116  61.41723 ]\n [-63.573856  54.18728 ]\n [-71.06195   66.59137 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -9.255028 -13.037504], 15.988497734069824 meters away.)"}
{"file_name": "images/scenario_153_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 2.1) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 16.8 meters away at (-12.7, 11.0). A vehicle with ID 36 is 18.7 meters away at (-2.9, -18.5). A vehicle with ID 37 is 21.1 meters away at (-4.1, -20.7). A vehicle with ID 2 is 28.6 meters away at (-7.0, -27.7). A vehicle with ID 4 is 32.3 meters away at (-8.8, -31.1). A vehicle with ID 6 is 36.5 meters away at (-10.9, -34.9). A vehicle with ID 10 is 40.3 meters away at (-13.1, -38.1). A vehicle with ID 3 is 41.7 meters away at (-16.3, 38.4). A vehicle with ID 9 is 42.8 meters away at (-22.4, 36.5). A vehicle with ID 11 is 43.9 meters away at (-14.8, -41.3).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-3.3451116 -3.4311168] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-66.827736  62.30618 ]\n [-65.400116  61.41723 ]\n [-63.573856  54.18728 ]\n [-71.06195   66.59137 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.675781  11.030369], 16.803110122680664 meters away.)"}
{"file_name": "images/scenario_154_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.0) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 3.7 meters away at (2.7, 2.5). A vehicle with ID 4 is 7.7 meters away at (6.4, -4.2). A vehicle with ID 88 is 9.0 meters away at (8.8, 1.8). A vehicle with ID 7 is 10.4 meters away at (-6.2, 8.3). A vehicle with ID 3 is 11.6 meters away at (-9.6, 6.5). A vehicle with ID 2 is 12.9 meters away at (12.1, -4.5). A pedestrian with ID 91 is 14.7 meters away at (12.6, 7.6). A pedestrian with ID 120 is 15.0 meters away at (14.3, 4.7). A vehicle with ID 106 is 15.1 meters away at (14.9, -2.5). A vehicle with ID 95 is 15.1 meters away at (-5.5, -14.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.4872642  1.7164682] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.36643642  0.25137487] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.8584414  2.0906124] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.0839605  1.9866412] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-0.7199299   0.49371535] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.009671   0.6703929] m/s.The pedestrian with ID 120 is traveling at a (x, y) velocity of [ 1.0566036 -0.8336147] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-221.45941162109375, 20.763565063476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.6505554 2.525126 ], 3.6608338356018066 meters away.)"}
{"file_name": "images/scenario_154_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.4) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 3.8 meters away at (1.9, 3.2). A vehicle with ID 4 is 11.0 meters away at (9.2, -6.0). A vehicle with ID 7 is 12.9 meters away at (-8.1, 10.1). A vehicle with ID 64 is 13.3 meters away at (-11.2, -7.1). A vehicle with ID 3 is 13.9 meters away at (-11.5, 7.9). A vehicle with ID 88 is 14.5 meters away at (14.3, -1.8). A vehicle with ID 2 is 15.0 meters away at (14.0, -5.5). A pedestrian with ID 91 is 16.8 meters away at (15.8, 5.7). A unknown object with ID 65 is 17.1 meters away at (-3.0, 16.8). A pedestrian with ID 96 is 17.1 meters away at (-9.0, -14.6).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.6761913  2.619441 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.261054   1.5439795] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.4218955  3.1699197] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 7.5097504 -4.7650604] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.342016   3.0141432] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-3.0017812  2.156071 ] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1892854  0.8702373] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [0.01133561 0.00906642] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-221.45941162109375, 20.763565063476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.9089127 3.23355  ], 3.7549691200256348 meters away.)"}
{"file_name": "images/scenario_154_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 2.8) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 4.0 meters away at (1.6, 3.6). A vehicle with ID 87 is 11.3 meters away at (-1.5, 11.2). A vehicle with ID 4 is 13.2 meters away at (11.0, -7.2). A vehicle with ID 30 is 14.1 meters away at (-12.5, -6.5). A vehicle with ID 2 is 14.2 meters away at (13.4, -4.6). A vehicle with ID 7 is 15.0 meters away at (-9.6, 11.4). A vehicle with ID 3 is 15.4 meters away at (-12.6, 8.8). A unknown object with ID 56 is 17.1 meters away at (11.7, 12.5). A unknown object with ID 40 is 17.4 meters away at (13.2, 11.3). A unknown object with ID 85 is 17.9 meters away at (14.9, 10.0).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.597962   3.2602887] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.6207695  2.4746914] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 6.8439384 -4.261763 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.0735555  3.6774452] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.9096737  3.4754307] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6280856  3.244533 ] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.205335  15.095552]\n [-13.530875  13.060773]]", "nav_goal": "(-221.45941162109375, 20.763565063476562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.6362734 3.6269588], 3.9789724349975586 meters away.)"}
{"file_name": "images/scenario_154_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.6) m/s. Its current heading (yaw) is 2.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 4.7 meters away at (0.1, 4.7). A vehicle with ID 87 is 8.6 meters away at (6.3, 5.8). A vehicle with ID 2 is 10.6 meters away at (10.3, -2.6). A pedestrian with ID 101 is 12.5 meters away at (-0.7, 12.4). A vehicle with ID 4 is 14.1 meters away at (11.8, -7.8). A vehicle with ID 3 is 16.6 meters away at (-13.7, 9.3). A vehicle with ID 7 is 17.1 meters away at (-11.5, 12.6). A pedestrian with ID 23 is 19.6 meters away at (-9.9, -16.9). A pedestrian with ID 26 is 20.4 meters away at (-10.5, -17.5). A pedestrian with ID 18 is 22.6 meters away at (-1.7, -22.5).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.6214     3.2399166] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.5530853  3.7406058] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [1.2436749  0.00864466] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.4228828  2.330271 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.2117767  2.7957122] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.6464252  3.1619844] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.1941139  0.9699603] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.1706742   0.95694655] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.04679332  0.01028748] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.205335  15.095552]\n [-13.530875  13.060773]]", "nav_goal": "(-221.45941162109375, 20.763565063476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.06752014 4.743182  ], 4.7436628341674805 meters away.)"}
{"file_name": "images/scenario_155_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 4.7) m/s. Its current heading (yaw) is 0.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 7.9 meters away at (1.5, 7.8). A vehicle with ID 49 is 13.2 meters away at (5.0, 12.2). A vehicle with ID 54 is 15.7 meters away at (1.7, -15.6). A vehicle with ID 52 is 15.8 meters away at (-15.8, -1.0). A vehicle with ID 53 is 16.8 meters away at (-11.5, -12.3). A vehicle with ID 26 is 18.2 meters away at (8.5, 16.2). A vehicle with ID 56 is 20.5 meters away at (-20.3, 2.8). A vehicle with ID 60 is 21.5 meters away at (7.1, -20.3). A vehicle with ID 55 is 23.1 meters away at (-21.8, -7.6). A vehicle with ID 59 is 24.8 meters away at (-1.6, -24.8).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 5.397719  -4.4939632] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[57.75198  66.260506]\n [59.408985 64.01603 ]\n [59.414494 62.980114]]", "nav_goal": "(219.04840087890625, -67.90416717529297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.5460644 7.7734146], 7.925673007965088 meters away.)"}
{"file_name": "images/scenario_155_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 5.6) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 4.2 meters away at (-3.8, 1.7). A vehicle with ID 26 is 5.7 meters away at (-0.4, 5.6). A vehicle with ID 48 is 7.7 meters away at (-7.2, -2.6). A vehicle with ID 75 is 21.1 meters away at (20.1, -6.3). A vehicle with ID 54 is 27.1 meters away at (-7.1, -26.2). A vehicle with ID 52 is 27.2 meters away at (-24.6, -11.7). A vehicle with ID 60 is 30.9 meters away at (-1.7, -30.8). A vehicle with ID 85 is 32.8 meters away at (32.7, 2.6). A vehicle with ID 53 is 34.9 meters away at (-6.6, -34.3). A vehicle with ID 55 is 35.7 meters away at (-30.7, -18.2).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 8.290266 -6.802399] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[57.75198  66.260506]\n [59.408985 64.01603 ]\n [59.414494 62.980114]]", "nav_goal": "(219.04840087890625, -67.90416717529297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.8243122  1.6864014], 4.179630756378174 meters away.)"}
{"file_name": "images/scenario_155_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.2) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 10.4 meters away at (-9.2, -4.9). A vehicle with ID 49 is 15.6 meters away at (-12.6, -9.1). A vehicle with ID 75 is 20.4 meters away at (11.3, -17.0). A vehicle with ID 48 is 20.9 meters away at (-16.0, -13.4). A vehicle with ID 28 is 28.1 meters away at (-23.5, 15.3). A vehicle with ID 51 is 28.3 meters away at (18.3, 21.6). A vehicle with ID 7 is 29.3 meters away at (-1.4, 29.3). A unknown object with ID 1 is 33.8 meters away at (15.4, 30.1). A vehicle with ID 93 is 34.8 meters away at (22.3, 26.7). A vehicle with ID 45 is 39.9 meters away at (35.7, -17.8).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.41901836 0.50927925] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0.4505364 0.5479929] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[57.75198  66.260506]\n [62.96104  78.28839 ]\n [59.408985 64.01603 ]\n [62.89241  78.652596]\n [59.414494 62.980114]]", "nav_goal": "(219.04840087890625, -67.90416717529297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.150654 -4.930788], 10.394572257995605 meters away.)"}
{"file_name": "images/scenario_155_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 4.3) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 18.0 meters away at (11.6, 13.8). A unknown object with ID 1 is 21.8 meters away at (7.2, 20.5). A vehicle with ID 7 is 21.9 meters away at (-9.6, 19.7). A vehicle with ID 26 is 22.6 meters away at (-17.3, -14.5). A vehicle with ID 75 is 26.7 meters away at (3.2, -26.5). A vehicle with ID 49 is 27.9 meters away at (-20.7, -18.7). A vehicle with ID 28 is 32.1 meters away at (-31.6, 5.9). A vehicle with ID 48 is 33.4 meters away at (-24.1, -23.1). A vehicle with ID 47 is 37.5 meters away at (29.3, 23.4). A vehicle with ID 23 is 48.2 meters away at (22.8, 42.4).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [1.1866504 1.5104574] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 4.291276  -2.3342006] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.5546236  1.3031504] m/s.", "light_description": "There are active red lights at the following coordinates: [[62.96104  78.28839 ]\n [64.5417   72.307594]\n [67.124405 74.33957 ]\n [62.89241  78.652596]]", "nav_goal": "(219.04840087890625, -67.90416717529297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.588974 13.781208], 18.006277084350586 meters away.)"}
{"file_name": "images/scenario_156_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -5.9) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 27.5 meters away at (-3.5, -27.3). A pedestrian with ID 17 is 41.5 meters away at (-12.8, 39.5). A pedestrian with ID 18 is 41.8 meters away at (-14.0, 39.4). A vehicle with ID 19 is 47.4 meters away at (-2.1, 47.3).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0.57336557 9.596188  ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.01545331 -1.0369215 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.20537688 -1.0671637 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.94445037841797, -289.8083801269531)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -3.5314422 -27.311958 ], 27.53931999206543 meters away.)"}
{"file_name": "images/scenario_156_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -6.3) m/s. Its current heading (yaw) is -1.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 4.0 meters away at (-2.4, 3.3). A pedestrian with ID 17 is 51.3 meters away at (-12.8, 49.6). A pedestrian with ID 14 is 51.4 meters away at (-13.8, 49.5). A pedestrian with ID 18 is 51.6 meters away at (-14.6, 49.4). A vehicle with ID 19 is 59.5 meters away at (-1.7, 59.5).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0.49685484 9.024489  ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.30665204 -1.0619435 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.30729738 -1.0891143 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.20891404 -1.0949125 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.94445037841797, -289.8083801269531)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.353723   3.2819214], 4.038690567016602 meters away.)"}
{"file_name": "images/scenario_156_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -7.3) m/s. Its current heading (yaw) is -1.64 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 28.3 meters away at (-10.1, 26.5). A vehicle with ID 20 is 34.3 meters away at (-2.1, 34.2). A pedestrian with ID 17 is 62.4 meters away at (-12.3, 61.2). A pedestrian with ID 18 is 62.7 meters away at (-14.6, 61.0).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.2269123  7.840321 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.15864633 -1.0485938 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.4643238 -1.1130234] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.94445037841797, -289.8083801269531)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-10.114289  26.45454 ], 28.32210350036621 meters away.)"}
{"file_name": "images/scenario_156_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -7.7) m/s. Its current heading (yaw) is -1.68 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 42.8 meters away at (-8.8, 41.8). A vehicle with ID 20 is 62.4 meters away at (-4.3, 62.3).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.0298793  5.158572 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.94445037841797, -289.8083801269531)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-8.840543 41.845444], 42.76910400390625 meters away.)"}
{"file_name": "images/scenario_157_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -0.2) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 6.1 meters away at (2.7, 5.5). A vehicle with ID 31 is 7.8 meters away at (-2.9, 7.2). A vehicle with ID 38 is 12.1 meters away at (-8.1, 9.0). A vehicle with ID 41 is 13.4 meters away at (-13.3, 1.1). A vehicle with ID 37 is 17.1 meters away at (-16.3, 5.1). A vehicle with ID 48 is 17.4 meters away at (-13.7, 10.6). A vehicle with ID 33 is 17.8 meters away at (6.6, -16.5). A vehicle with ID 43 is 19.3 meters away at (-2.5, -19.1). A vehicle with ID 46 is 21.6 meters away at (5.2, -21.0). A vehicle with ID 55 is 23.0 meters away at (-19.4, 12.2).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 5.9775715 -1.9798112] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.6702769 5.510292 ], 6.1232099533081055 meters away.)"}
{"file_name": "images/scenario_157_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 6.1 meters away at (2.4, 5.6). A vehicle with ID 31 is 8.0 meters away at (-3.2, 7.4). A vehicle with ID 37 is 9.2 meters away at (-8.8, 2.7). A vehicle with ID 38 is 12.4 meters away at (-8.4, 9.1). A vehicle with ID 41 is 13.7 meters away at (-13.6, 1.3). A vehicle with ID 33 is 17.5 meters away at (6.3, -16.3). A vehicle with ID 48 is 17.8 meters away at (-14.1, 10.8). A vehicle with ID 43 is 19.3 meters away at (-2.9, -19.1). A vehicle with ID 60 is 20.1 meters away at (12.8, -15.5). A vehicle with ID 46 is 21.4 meters away at (4.9, -20.9).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 1.8114566  -0.59880555] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0.24839117 0.71274745] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.3859234 5.6298823], 6.114589691162109 meters away.)"}
{"file_name": "images/scenario_157_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 6.1 meters away at (2.3, 5.7). A vehicle with ID 37 is 7.5 meters away at (-7.2, 2.1). A vehicle with ID 31 is 8.1 meters away at (-3.2, 7.4). A vehicle with ID 38 is 12.5 meters away at (-8.5, 9.1). A vehicle with ID 41 is 13.8 meters away at (-13.8, 1.3). A vehicle with ID 33 is 17.4 meters away at (6.2, -16.3). A vehicle with ID 48 is 17.8 meters away at (-14.2, 10.8). A vehicle with ID 60 is 19.1 meters away at (13.5, -13.6). A vehicle with ID 43 is 19.6 meters away at (-3.1, -19.3). A vehicle with ID 46 is 21.4 meters away at (4.8, -20.9).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [1.0900784 2.3741074] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.329053  5.6609993], 6.121388912200928 meters away.)"}
{"file_name": "images/scenario_157_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.6) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 6.2 meters away at (0.8, 6.1). A vehicle with ID 37 is 8.7 meters away at (-8.3, 2.5). A vehicle with ID 31 is 9.2 meters away at (-4.7, 7.9). A unknown object with ID 18 is 11.1 meters away at (5.0, 9.9). A vehicle with ID 38 is 13.9 meters away at (-10.0, 9.6). A vehicle with ID 41 is 15.4 meters away at (-15.3, 1.8). A vehicle with ID 33 is 16.5 meters away at (4.7, -15.9). A vehicle with ID 48 is 19.3 meters away at (-15.6, 11.3). A vehicle with ID 43 is 19.5 meters away at (-4.4, -18.9). A vehicle with ID 60 is 19.8 meters away at (18.3, -7.4).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 0.85712165 -0.31893384] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [5.804056  1.4482394] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.8244548 6.120658 ], 6.1759352684021 meters away.)"}
{"file_name": "images/scenario_158_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -3.2) m/s. Its current heading (yaw) is -1.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 8.4 meters away at (-7.4, 3.9). A vehicle with ID 62 is 8.5 meters away at (-6.9, -4.9). A vehicle with ID 75 is 10.4 meters away at (-7.1, -7.6). A vehicle with ID 8 is 12.4 meters away at (-1.1, 12.3). A vehicle with ID 77 is 12.5 meters away at (-7.0, -10.3). A vehicle with ID 16 is 13.0 meters away at (0.0, -13.0). A vehicle with ID 61 is 15.1 meters away at (-7.2, -13.3). A vehicle with ID 81 is 17.4 meters away at (-6.7, -16.1). A vehicle with ID 82 is 19.9 meters away at (-6.8, -18.6). A vehicle with ID 80 is 21.3 meters away at (-20.7, -5.1).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.65627295 -3.7266438 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.05998435 -3.345539  ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.444527  3.864986], 8.388032913208008 meters away.)"}
{"file_name": "images/scenario_158_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -2.9) m/s. Its current heading (yaw) is -1.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 7.3 meters away at (-7.2, 1.2). A vehicle with ID 75 is 7.5 meters away at (-7.4, -1.5). A vehicle with ID 77 is 8.4 meters away at (-7.3, -4.2). A vehicle with ID 61 is 10.3 meters away at (-7.5, -7.1). A vehicle with ID 8 is 11.3 meters away at (-0.4, 11.2). A vehicle with ID 81 is 12.1 meters away at (-7.0, -9.9). A vehicle with ID 66 is 12.7 meters away at (-7.7, 10.0). A vehicle with ID 16 is 14.3 meters away at (-0.2, -14.3). A vehicle with ID 82 is 14.4 meters away at (-7.2, -12.5). A vehicle with ID 83 is 16.9 meters away at (-7.5, -15.1).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.17437129 -3.0321724 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.13926473 -3.7721815 ] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.20731    1.1574144], 7.299652576446533 meters away.)"}
{"file_name": "images/scenario_158_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -2.9) m/s. Its current heading (yaw) is -1.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 7.5 meters away at (-7.4, 1.2). A vehicle with ID 61 is 7.7 meters away at (-7.5, -1.7). A vehicle with ID 81 is 8.4 meters away at (-7.1, -4.5). A vehicle with ID 75 is 8.4 meters away at (-7.5, 3.9). A vehicle with ID 62 is 9.8 meters away at (-7.2, 6.6). A vehicle with ID 82 is 10.2 meters away at (-7.3, -7.0). A vehicle with ID 8 is 11.2 meters away at (-0.2, 11.2). A vehicle with ID 83 is 12.3 meters away at (-7.6, -9.6). A vehicle with ID 58 is 14.4 meters away at (-7.3, -12.3). A vehicle with ID 16 is 16.1 meters away at (0.1, -16.1).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.12247144 -2.6545155 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.20696771 -3.887858  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.365134   1.1925964], 7.461064338684082 meters away.)"}
{"file_name": "images/scenario_158_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.2) m/s. Its current heading (yaw) is -1.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 82 is 7.2 meters away at (-7.2, 0.3). A vehicle with ID 81 is 7.4 meters away at (-6.9, 2.8). A vehicle with ID 83 is 7.9 meters away at (-7.5, -2.3). A vehicle with ID 58 is 8.7 meters away at (-7.2, -5.0). A vehicle with ID 61 is 9.3 meters away at (-7.4, 5.6). A vehicle with ID 60 is 11.0 meters away at (-7.8, -7.8). A vehicle with ID 77 is 11.2 meters away at (-7.2, 8.5). A vehicle with ID 8 is 12.8 meters away at (0.2, 12.8). A vehicle with ID 86 is 13.0 meters away at (-7.7, -10.4). A unknown object with ID 53 is 13.1 meters away at (11.8, -5.7).", "velocity_description": "The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.1765899 -3.7030306] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.1948895   0.25206375], 7.19930362701416 meters away.)"}
{"file_name": "images/scenario_159_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 9.3) m/s. Its current heading (yaw) is 2.10 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 8.8 meters away at (-8.8, 0.8). A unknown object with ID 25 is 47.3 meters away at (-37.4, 28.9). A vehicle with ID 4 is 59.3 meters away at (-51.2, 29.8). A unknown object with ID 15 is 67.9 meters away at (-50.4, 45.4).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-123.56896209716797, 272.59295654296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-8.757125    0.77936363], 8.791736602783203 meters away.)"}
{"file_name": "images/scenario_159_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 9.2) m/s. Its current heading (yaw) is 2.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 17.9 meters away at (1.8, -17.8). A unknown object with ID 6 is 19.1 meters away at (-18.9, -2.3). A unknown object with ID 13 is 24.7 meters away at (-16.8, 18.1). A unknown object with ID 25 is 28.7 meters away at (-26.8, 10.4). A vehicle with ID 5 is 32.6 meters away at (17.8, 27.3). A unknown object with ID 11 is 39.3 meters away at (-32.9, 21.5). A unknown object with ID 1 is 40.5 meters away at (-7.9, -39.7). A vehicle with ID 4 is 42.2 meters away at (-40.7, 11.3).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-123.56896209716797, 272.59295654296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  1.821989 -17.765476], 17.858661651611328 meters away.)"}
{"file_name": "images/scenario_159_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 9.4) m/s. Its current heading (yaw) is 2.10 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 6.2 meters away at (-6.2, -0.5). A unknown object with ID 25 is 18.2 meters away at (-16.2, -8.2). A unknown object with ID 14 is 20.5 meters away at (-20.3, -3.1). A unknown object with ID 17 is 20.9 meters away at (-20.8, -1.7). A unknown object with ID 8 is 21.8 meters away at (-21.8, 1.4). A unknown object with ID 6 is 22.4 meters away at (-8.3, -20.8). A unknown object with ID 11 is 22.5 meters away at (-22.3, 2.9). A vehicle with ID 5 is 29.7 meters away at (28.3, 8.8). A vehicle with ID 4 is 30.9 meters away at (-30.1, -7.3). A pedestrian with ID 7 is 32.3 meters away at (-1.4, -32.3).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-123.56896209716797, 272.59295654296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-6.2082634  -0.50531006], 6.228793621063232 meters away.)"}
{"file_name": "images/scenario_159_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 9.4) m/s. Its current heading (yaw) is 2.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 19.5 meters away at (-11.6, -15.7). A unknown object with ID 8 is 20.4 meters away at (-11.1, -17.2). A unknown object with ID 17 is 22.8 meters away at (-10.1, -20.4). A unknown object with ID 14 is 23.8 meters away at (-9.6, -21.7). A unknown object with ID 25 is 27.4 meters away at (-5.5, -26.9). A vehicle with ID 4 is 32.3 meters away at (-19.3, -25.8). A vehicle with ID 5 is 40.3 meters away at (39.0, -9.8). A pedestrian with ID 7 is 52.1 meters away at (9.4, -51.2).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.0100007  -0.01551647] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-123.56896209716797, 272.59295654296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.624504 -15.707336], 19.540969848632812 meters away.)"}
{"file_name": "images/scenario_160_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 1.4) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 4.9 meters away at (-1.9, 4.5). A vehicle with ID 76 is 8.8 meters away at (7.8, 4.1). A vehicle with ID 80 is 9.2 meters away at (-2.3, 8.9). A pedestrian with ID 87 is 10.6 meters away at (-10.1, -3.0). A pedestrian with ID 89 is 11.9 meters away at (-11.3, -3.9). A pedestrian with ID 90 is 11.9 meters away at (-11.8, -2.1). A pedestrian with ID 94 is 13.8 meters away at (-13.7, -1.8). A pedestrian with ID 91 is 14.1 meters away at (-14.1, 0.8). A pedestrian with ID 78 is 16.3 meters away at (-16.3, 0.2). A pedestrian with ID 79 is 17.4 meters away at (-17.4, -0.4).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [-8.20852    3.3594248] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 1.1090646 -0.5367955] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 1.0912001 -0.6081501] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 1.111975   -0.64793664] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 1.1530094  -0.57118183] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.01690701  0.00561969] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 0.9435952  -0.23184167] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.75608265 -0.01239073] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.862537  17.767742]\n [-35.298534  27.821562]\n [-37.323425  16.345705]\n [-33.661457  14.978333]\n [-35.18389   28.053074]\n [-23.910192  17.66764 ]\n [-34.007153  15.158434]\n [-37.092148  24.856016]\n [-33.44569   14.839666]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.9419823  4.5315533], 4.930139064788818 meters away.)"}
{"file_name": "images/scenario_160_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 0.8) m/s. Its current heading (yaw) is 2.79 ", "actor_description": " The most relevant actors are: A pedestrian with ID 87 is 6.7 meters away at (-2.2, -6.3). A pedestrian with ID 90 is 6.8 meters away at (-4.0, -5.6). A vehicle with ID 80 is 7.4 meters away at (3.3, 6.6). A pedestrian with ID 94 is 7.8 meters away at (-5.8, -5.2). A pedestrian with ID 89 is 8.0 meters away at (-3.7, -7.1). A pedestrian with ID 91 is 8.6 meters away at (-8.5, -1.5). A pedestrian with ID 78 is 9.3 meters away at (-8.9, -2.9). A pedestrian with ID 79 is 10.4 meters away at (-10.1, -2.5). A pedestrian with ID 77 is 11.1 meters away at (-10.7, -3.2). A vehicle with ID 76 is 13.6 meters away at (13.5, 1.8).", "velocity_description": "The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 1.110028  -0.4787047] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 1.0534518 -0.5128301] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 1.0972937  -0.53905237] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.9498755  -0.34875423] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.00025104  0.01701024] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 0.8316017 -0.2014823] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.798191   -0.04083119] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.87554485 0.05410964] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.862537  17.767742]\n [-37.323425  16.345705]\n [-33.661457  14.978333]\n [-23.910192  17.66764 ]\n [-34.007153  15.158434]\n [-33.44569   14.839666]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-2.210226  -6.3242025], 6.699301242828369 meters away.)"}
{"file_name": "images/scenario_160_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 0.3) m/s. Its current heading (yaw) is 3.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 91 is 4.8 meters away at (-4.0, -2.7). A pedestrian with ID 78 is 6.0 meters away at (-4.4, -4.2). A pedestrian with ID 79 is 6.5 meters away at (-5.4, -3.7). A pedestrian with ID 77 is 7.0 meters away at (-5.5, -4.4). A pedestrian with ID 94 is 7.5 meters away at (1.0, -7.5). A pedestrian with ID 90 is 8.3 meters away at (2.7, -7.8). A vehicle with ID 80 is 9.4 meters away at (7.8, 5.3). A vehicle with ID 76 is 18.0 meters away at (18.0, 0.4). A vehicle with ID 106 is 18.5 meters away at (18.0, -4.4). A pedestrian with ID 75 is 20.0 meters away at (0.3, 20.0).", "velocity_description": "The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.01213707 0.00114188] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.03866928  0.00070767] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.00489989 -0.01551257] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.01362579 -0.00740949] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 1.1193575 -0.5137091] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 1.1310612  -0.49921936] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [-9.603279   4.6679196] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [0.02446555 0.01131617] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.862537  17.767742]\n [-37.323425  16.345705]\n [-33.661457  14.978333]\n [-23.910192  17.66764 ]\n [-34.007153  15.158434]\n [-33.44569   14.839666]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.035261  -2.6548438], 4.830272197723389 meters away.)"}
{"file_name": "images/scenario_160_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -1.0) m/s. Its current heading (yaw) is -2.88 ", "actor_description": " The most relevant actors are: A pedestrian with ID 91 is 3.2 meters away at (2.2, -2.3). A pedestrian with ID 79 is 3.6 meters away at (1.0, -3.4). A pedestrian with ID 77 is 4.1 meters away at (0.8, -4.0). A pedestrian with ID 78 is 4.3 meters away at (1.7, -4.0). A vehicle with ID 106 is 6.9 meters away at (4.8, 5.0). A vehicle with ID 81 is 14.3 meters away at (-13.9, -3.2). A vehicle with ID 80 is 14.9 meters away at (13.7, 5.7). A cyclist with ID 10 is 16.8 meters away at (-16.7, -1.3). A vehicle with ID 88 is 20.4 meters away at (-11.3, 16.9). A pedestrian with ID 75 is 21.4 meters away at (6.7, 20.4).", "velocity_description": "The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.00193875 -0.00497157] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.00815437 -0.00385308] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.00993761 0.00503193] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 0.00838055 -0.00953384] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [-10.132007    4.4685016] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [ 0.01426911 -0.00040192] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 0.01866753 -0.01449134] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.862537  17.767742]\n [-37.323425  16.345705]\n [-33.661457  14.978333]\n [-23.910192  17.66764 ]\n [-34.007153  15.158434]\n [-33.44569   14.839666]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 2.2154884 -2.3349333], 3.2187423706054688 meters away.)"}
{"file_name": "images/scenario_161_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.8) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 9.7 meters away at (9.7, 0.6). A vehicle with ID 41 is 19.5 meters away at (-19.4, 2.4). A vehicle with ID 34 is 21.7 meters away at (-21.7, -0.5). A vehicle with ID 40 is 22.0 meters away at (19.0, 11.0). A vehicle with ID 49 is 25.5 meters away at (6.6, 24.6). A vehicle with ID 55 is 26.1 meters away at (11.5, -23.4). A vehicle with ID 53 is 28.2 meters away at (23.3, 16.0). A vehicle with ID 43 is 33.8 meters away at (-27.4, -19.8). A vehicle with ID 44 is 34.8 meters away at (-29.6, -18.2). A vehicle with ID 65 is 35.0 meters away at (27.9, 21.2).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.4097725  1.2021583] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.297784 -12.041917]\n [-10.68462  -10.32921 ]\n [ -9.366415 -11.677706]]", "nav_goal": "(196.07855224609375, -200.05465698242188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [9.696196  0.5908487], 9.714180946350098 meters away.)"}
{"file_name": "images/scenario_161_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 10.1 meters away at (10.1, 1.1). A vehicle with ID 41 is 19.3 meters away at (-19.1, 3.0). A vehicle with ID 40 is 22.6 meters away at (19.4, 11.5). A vehicle with ID 34 is 23.0 meters away at (-23.0, 1.4). A vehicle with ID 32 is 24.0 meters away at (5.5, -23.3). A vehicle with ID 55 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 49 is 26.1 meters away at (7.1, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 43 is 33.1 meters away at (-26.9, -19.2). A vehicle with ID 44 is 34.1 meters away at (-29.2, -17.7).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.36998963  0.32323176] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-5.0885057  4.364648 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.297784  -12.041917 ]\n [ -7.7171216 -18.02271  ]\n [-10.68462   -10.32921  ]\n [ -5.1344156 -15.990735 ]\n [ -9.366415  -11.677706 ]]", "nav_goal": "(196.07855224609375, -200.05465698242188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.080341   1.0522861], 10.135116577148438 meters away.)"}
{"file_name": "images/scenario_161_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 8.6 meters away at (-6.2, 6.0). A vehicle with ID 30 is 10.2 meters away at (10.1, 1.1). A vehicle with ID 32 is 15.7 meters away at (-3.8, -15.2). A vehicle with ID 41 is 19.3 meters away at (-19.0, 3.1). A vehicle with ID 40 is 22.6 meters away at (19.5, 11.5). A vehicle with ID 34 is 23.2 meters away at (-23.1, 1.7). A vehicle with ID 55 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 49 is 26.1 meters away at (7.1, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 43 is 33.0 meters away at (-26.9, -19.2).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0925178  -0.69808847] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.1466393  3.6202621] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.297784 -12.041917]\n [-10.68462  -10.32921 ]\n [ -9.366415 -11.677706]]", "nav_goal": "(196.07855224609375, -200.05465698242188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.2085905  5.9899673], 8.627067565917969 meters away.)"}
{"file_name": "images/scenario_161_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 8.7 meters away at (-6.2, 6.1). A vehicle with ID 30 is 10.2 meters away at (10.1, 1.1). A vehicle with ID 32 is 14.2 meters away at (-11.0, -9.0). A vehicle with ID 41 is 19.2 meters away at (-19.0, 3.1). A vehicle with ID 17 is 21.0 meters away at (-16.8, -12.6). A vehicle with ID 40 is 22.6 meters away at (19.4, 11.5). A vehicle with ID 55 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 49 is 26.1 meters away at (7.2, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 29 is 34.0 meters away at (14.5, -30.8).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.4457597   0.44850123] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-3.0047693  2.5951893] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 9.475568 -8.158004] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-5.3148484  4.566025 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.297784 -12.041917]\n [-10.68462  -10.32921 ]\n [ -9.366415 -11.677706]]", "nav_goal": "(196.07855224609375, -200.05465698242188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.1871524  6.123687 ], 8.705193519592285 meters away.)"}
{"file_name": "images/scenario_162_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.7) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 27.0 meters away at (13.7, -23.2). A pedestrian with ID 8 is 31.1 meters away at (-30.0, 8.5). A pedestrian with ID 13 is 31.7 meters away at (-30.3, 9.1). A unknown object with ID 27 is 37.0 meters away at (19.9, 31.1). A vehicle with ID 30 is 37.9 meters away at (27.8, -25.8). A vehicle with ID 29 is 38.1 meters away at (11.2, -36.4). A vehicle with ID 31 is 58.5 meters away at (57.1, 12.7). A vehicle with ID 33 is 63.9 meters away at (63.2, 9.5).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.00372849 0.00408002] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.0054998  0.00183498] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-22.535545349121094, 15.965651512145996)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 13.706569 -23.23534 ], 26.97686195373535 meters away.)"}
{"file_name": "images/scenario_162_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -0.5) m/s. Its current heading (yaw) is -0.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 24.1 meters away at (10.0, -21.9). A vehicle with ID 30 is 34.3 meters away at (24.0, -24.5). A pedestrian with ID 8 is 35.1 meters away at (-33.6, 10.1). A pedestrian with ID 13 is 35.6 meters away at (-34.0, 10.6). A vehicle with ID 29 is 35.8 meters away at (7.3, -35.0). A pedestrian with ID 14 is 41.3 meters away at (-37.5, 17.4). A vehicle with ID 11 is 47.3 meters away at (41.6, 22.5). A vehicle with ID 19 is 51.3 meters away at (47.9, 18.4). A vehicle with ID 31 is 55.4 meters away at (53.6, 13.8). A vehicle with ID 4 is 58.0 meters away at (56.8, 11.8).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00307477  0.04012671] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.0551126  0.030911 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00660897  0.05580434] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-22.535545349121094, 15.965651512145996)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [  9.95542  -21.943108], 24.095857620239258 meters away.)"}
{"file_name": "images/scenario_162_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 1.5) m/s. Its current heading (yaw) is 0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 22.6 meters away at (2.1, -22.5). A vehicle with ID 30 is 29.9 meters away at (16.2, -25.1). A vehicle with ID 29 is 35.7 meters away at (-0.4, -35.7). A unknown object with ID 17 is 45.8 meters away at (44.8, 9.3). A vehicle with ID 31 is 47.8 meters away at (45.9, 13.2). A vehicle with ID 4 is 50.3 meters away at (49.0, 11.4). A vehicle with ID 33 is 52.8 meters away at (51.8, 10.1). A vehicle with ID 24 is 68.0 meters away at (67.9, -4.3). A vehicle with ID 25 is 72.7 meters away at (72.3, -7.2). A vehicle with ID 26 is 77.8 meters away at (77.1, -10.2).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-22.535545349121094, 15.965651512145996)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.111661 -22.529495], 22.62824058532715 meters away.)"}
{"file_name": "images/scenario_162_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 3.2) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 27.8 meters away at (-5.3, -27.3). A vehicle with ID 30 is 31.1 meters away at (8.8, -29.8). A unknown object with ID 6 is 36.2 meters away at (35.5, 7.1). A vehicle with ID 31 is 39.4 meters away at (38.5, 8.4). A vehicle with ID 4 is 42.2 meters away at (41.6, 6.7). A vehicle with ID 33 is 44.8 meters away at (44.5, 5.2). A vehicle with ID 24 is 61.2 meters away at (60.5, -9.0). A vehicle with ID 25 is 66.0 meters away at (64.9, -12.0). A unknown object with ID 18 is 69.9 meters away at (-45.5, 53.1). A vehicle with ID 26 is 71.3 meters away at (69.7, -15.0).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-22.535545349121094, 15.965651512145996)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -5.258604 -27.266945], 27.769392013549805 meters away.)"}
{"file_name": "images/scenario_163_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -1.6) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A unknown object with ID 77 is 4.5 meters away at (-2.9, -3.5). A unknown object with ID 75 is 4.5 meters away at (-4.1, -2.0). A vehicle with ID 81 is 5.0 meters away at (1.2, -4.8). A unknown object with ID 78 is 6.2 meters away at (-3.7, -5.0). A vehicle with ID 85 is 6.9 meters away at (3.9, 5.7). A unknown object with ID 73 is 7.3 meters away at (-7.2, -0.9). A vehicle with ID 79 is 11.4 meters away at (-1.8, 11.2). A unknown object with ID 26 is 13.6 meters away at (-13.5, 1.0). A vehicle with ID 87 is 14.0 meters away at (13.7, 2.6). A vehicle with ID 74 is 14.4 meters away at (12.7, 6.9).", "velocity_description": "The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-2.0268877  0.5198805] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-0.8752618   0.17838018] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 54.68233  -11.248321]\n [ 55.16461   -9.020142]\n [ 56.464565  -8.603069]]", "nav_goal": "(154.6945037841797, -170.2799072265625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.8938472 -3.4632514], 4.513143062591553 meters away.)"}
{"file_name": "images/scenario_163_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 87 is 7.1 meters away at (-0.6, 7.0). A vehicle with ID 81 is 9.8 meters away at (-9.6, -1.6). A vehicle with ID 90 is 10.1 meters away at (9.2, 4.2). A vehicle with ID 74 is 10.4 meters away at (1.7, 10.3). A pedestrian with ID 51 is 13.5 meters away at (6.6, -11.8). A unknown object with ID 77 is 14.0 meters away at (-14.0, -0.2). A vehicle with ID 85 is 15.1 meters away at (-11.0, 10.3). A unknown object with ID 75 is 15.2 meters away at (-15.1, 1.3). A vehicle with ID 22 is 15.2 meters away at (12.6, -8.4). A pedestrian with ID 66 is 16.2 meters away at (9.7, -12.9).", "velocity_description": "The vehicle with ID 87 is traveling at a (x, y) velocity of [-1.9356403  0.4969328] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-1.3465998   0.24905972] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.02055262 -0.0205433 ] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.9062973   0.49590227] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.01226193 -0.01280143] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 50.214565 -17.464163]\n [ 53.173607 -19.61862 ]\n [ 48.830044 -17.219954]\n [ 56.464565  -8.603069]]", "nav_goal": "(154.6945037841797, -170.2799072265625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.6423893  7.028099 ], 7.057395935058594 meters away.)"}
{"file_name": "images/scenario_163_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.1) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 4.7 meters away at (0.5, -4.7). A vehicle with ID 86 is 6.6 meters away at (3.4, 5.7). A pedestrian with ID 66 is 9.5 meters away at (-2.4, -9.1). A pedestrian with ID 51 is 9.9 meters away at (-5.6, -8.1). A vehicle with ID 90 is 10.9 meters away at (-6.3, 8.9). A pedestrian with ID 69 is 11.7 meters away at (4.0, -10.9). A vehicle with ID 83 is 11.9 meters away at (11.0, 4.8). A pedestrian with ID 70 is 12.0 meters away at (4.9, -10.9). A pedestrian with ID 94 is 12.0 meters away at (5.6, -10.6). A pedestrian with ID 49 is 12.9 meters away at (5.6, -11.6).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-1.7465626  0.4417371] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.01105659 -0.0260221 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.02762373 -0.03552353] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-1.7512082   0.36958653] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.00900603 -0.00960977] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-0.91824156  0.35633823] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.00730402 -0.05400257] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 0.05470068 -0.06596949] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.00688814 -0.01898074] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 50.214565 -17.464163]\n [ 53.173607 -19.61862 ]\n [ 48.830044 -17.219954]\n [ 56.464565  -8.603069]]", "nav_goal": "(154.6945037841797, -170.2799072265625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.46175575 -4.6962566 ], 4.718903064727783 meters away.)"}
{"file_name": "images/scenario_163_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -2.4) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 6.5 meters away at (3.6, 5.4). A pedestrian with ID 55 is 9.8 meters away at (-6.2, -7.6). A pedestrian with ID 94 is 10.1 meters away at (-7.7, -6.6). A vehicle with ID 83 is 10.6 meters away at (-4.7, 9.5). A pedestrian with ID 70 is 10.9 meters away at (-8.5, -6.9). A pedestrian with ID 69 is 11.5 meters away at (-9.2, -6.8). A vehicle with ID 22 is 12.8 meters away at (-12.8, -0.6). A pedestrian with ID 43 is 15.8 meters away at (4.4, 15.2). A cyclist with ID 31 is 16.0 meters away at (4.5, 15.4). A pedestrian with ID 66 is 16.5 meters away at (-15.8, -5.0).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [-0.6464116  0.4820878] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 0.00172132 -0.02053129] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.02973359 -0.00223085] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-1.1762908   0.06415942] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.01504489 -0.05182247] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.05435193 -0.01683673] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.10274456 -0.25558913] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-0.06386419 -0.0705371 ] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.01829145 -0.01553376] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 50.214565 -17.464163]\n [ 53.173607 -19.61862 ]\n [ 48.830044 -17.219954]\n [ 56.464565  -8.603069]]", "nav_goal": "(154.6945037841797, -170.2799072265625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.6118584 5.4366856], 6.527102947235107 meters away.)"}
{"file_name": "images/scenario_164_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.9) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 3.2 meters away at (1.7, -2.7). A unknown object with ID 33 is 7.2 meters away at (7.2, -0.1). A vehicle with ID 41 is 8.0 meters away at (-8.0, 0.1). A vehicle with ID 47 is 10.8 meters away at (-3.6, -10.2). A pedestrian with ID 43 is 12.7 meters away at (12.4, -2.7). A vehicle with ID 48 is 12.8 meters away at (-11.9, -4.7). A pedestrian with ID 10 is 13.2 meters away at (12.5, -4.1). A pedestrian with ID 46 is 13.2 meters away at (12.7, -3.6). A vehicle with ID 51 is 16.4 meters away at (-7.2, -14.7). A vehicle with ID 55 is 19.0 meters away at (-16.2, -10.0).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.5690311 -0.8581078] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.32367313 -0.19077316] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [6.7626568e-03 2.3228742e-05] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.00079531 -0.01923447] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.3989143371582, 28.659358978271484)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.7477868 -2.694316 ], 3.2115566730499268 meters away.)"}
{"file_name": "images/scenario_164_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.5) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 5.9 meters away at (3.1, -5.0). A vehicle with ID 40 is 9.0 meters away at (-2.9, -8.5). A pedestrian with ID 43 is 11.3 meters away at (8.4, -7.5). A pedestrian with ID 10 is 12.1 meters away at (8.5, -8.6). A vehicle with ID 41 is 12.9 meters away at (-12.1, -4.7). A vehicle with ID 47 is 16.9 meters away at (-7.7, -15.0). A pedestrian with ID 5 is 18.1 meters away at (5.7, 17.1). A vehicle with ID 48 is 18.5 meters away at (-15.9, -9.5). A pedestrian with ID 8 is 19.0 meters away at (5.7, 18.1). A vehicle with ID 51 is 22.7 meters away at (-11.3, -19.6).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.2779241  -0.42646298] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.04497587 -0.01714265] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.02502189 -0.00513647] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.7424722  0.88428146] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.8403784  0.85484034] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.3989143371582, 28.659358978271484)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 3.1168814 -4.9539795], 5.852936267852783 meters away.)"}
{"file_name": "images/scenario_164_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 4.1) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 5 is 10.7 meters away at (0.3, 10.7). A pedestrian with ID 8 is 11.8 meters away at (0.7, 11.8). A unknown object with ID 33 is 13.5 meters away at (-3.7, -13.0). A pedestrian with ID 43 is 15.7 meters away at (1.6, -15.6). A pedestrian with ID 10 is 16.7 meters away at (1.7, -16.6). A vehicle with ID 40 is 19.9 meters away at (-10.0, -17.2). A vehicle with ID 41 is 22.8 meters away at (-18.9, -12.8). A vehicle with ID 47 is 27.3 meters away at (-14.6, -23.1). A vehicle with ID 48 is 28.7 meters away at (-22.7, -17.6). A pedestrian with ID 52 is 29.7 meters away at (10.7, 27.7).", "velocity_description": "The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.8788721 0.9429831] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.85043794 0.92460567] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.04489561 0.0012391 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.0496675 -0.0048839] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.82527673 -1.1876491 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.3989143371582, 28.659358978271484)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 0.31455898 10.741305  ], 10.74591064453125 meters away.)"}
{"file_name": "images/scenario_164_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.1) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A pedestrian with ID 5 is 6.7 meters away at (-4.4, 5.0). A pedestrian with ID 8 is 7.2 meters away at (-4.0, 6.0). A unknown object with ID 2 is 16.6 meters away at (6.0, -15.5). A pedestrian with ID 52 is 17.8 meters away at (2.8, 17.6). A pedestrian with ID 53 is 19.1 meters away at (2.3, 19.0). A pedestrian with ID 54 is 19.3 meters away at (1.5, 19.2). A unknown object with ID 33 is 23.0 meters away at (-10.1, -20.6). A pedestrian with ID 43 is 23.7 meters away at (-4.8, -23.2). A pedestrian with ID 10 is 24.8 meters away at (-4.6, -24.4). A vehicle with ID 40 is 30.0 meters away at (-16.6, -25.0).", "velocity_description": "The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.9828888 0.8988429] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.9335237  0.89464986] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.69838804 -1.3207556 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.6772891 -1.1575102] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.6642922 -1.2055792] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.02980607 -0.00244588] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.01777447 -0.01287199] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.3989143371582, 28.659358978271484)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-4.4275455  5.00403  ], 6.681577682495117 meters away.)"}
{"file_name": "images/scenario_165_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.1) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 29.6 meters away at (25.1, -15.5). A vehicle with ID 11 is 34.8 meters away at (26.8, -22.2). A vehicle with ID 54 is 44.2 meters away at (32.0, -30.4). A vehicle with ID 45 is 62.3 meters away at (-49.8, 37.4). A cyclist with ID 44 is 72.5 meters away at (57.3, -44.3). A vehicle with ID 58 is 75.0 meters away at (55.8, -50.2).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.634686   5.6236205] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 5.8473434 -4.9814634] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [-0.05583003 -0.05649994] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.66789   -4.2466345] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-241.37364196777344, 153.47557067871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 25.146791 -15.541325], 29.561697006225586 meters away.)"}
{"file_name": "images/scenario_165_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 4.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 12.5 meters away at (-7.6, 10.0). A vehicle with ID 45 is 30.6 meters away at (-25.5, 16.9). A vehicle with ID 11 is 32.0 meters away at (24.7, -20.5). A vehicle with ID 20 is 35.4 meters away at (-7.5, -34.6). A vehicle with ID 53 is 44.8 meters away at (37.0, -25.3). A vehicle with ID 54 is 59.8 meters away at (44.1, -40.4). A vehicle with ID 51 is 69.3 meters away at (-54.8, -42.4). A unknown object with ID 27 is 73.0 meters away at (38.2, -62.2).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 6.527933 -5.423178] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.984049  5.917545] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 0.3851062  -0.24554121] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-241.37364196777344, 153.47557067871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-7.565174 10.004597], 12.542879104614258 meters away.)"}
{"file_name": "images/scenario_165_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 3.4) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 2.9 meters away at (1.9, 2.2). A vehicle with ID 45 is 3.3 meters away at (-2.4, -2.3). A unknown object with ID 1 is 3.4 meters away at (0.6, 3.4). A vehicle with ID 11 is 26.4 meters away at (20.3, -16.9). A vehicle with ID 20 is 42.7 meters away at (2.1, -42.6). A vehicle with ID 53 is 57.3 meters away at (46.7, -33.1). A vehicle with ID 33 is 67.8 meters away at (-67.5, 5.7). A vehicle with ID 51 is 67.8 meters away at (-45.4, -50.4). A vehicle with ID 54 is 75.3 meters away at (56.3, -50.1).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 7.13593   -5.7742386] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.764949   5.7449675] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [1.0146517 2.7335243] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 1.8763924 -1.2053472] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-241.37364196777344, 153.47557067871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [1.9097214 2.2337189], 2.938798427581787 meters away.)"}
{"file_name": "images/scenario_165_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 3.8) m/s. Its current heading (yaw) is 2.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 7.5 meters away at (6.2, -4.1). A unknown object with ID 2 is 9.2 meters away at (7.5, -5.3). A vehicle with ID 11 is 18.2 meters away at (12.2, -13.5). A vehicle with ID 45 is 27.6 meters away at (17.3, -21.4). A unknown object with ID 49 is 40.3 meters away at (-12.0, -38.5). A unknown object with ID 29 is 55.6 meters away at (-27.3, -48.4). A vehicle with ID 53 is 66.4 meters away at (52.3, -40.9). A vehicle with ID 43 is 67.5 meters away at (-66.7, -10.2). A vehicle with ID 14 is 68.0 meters away at (-67.8, -6.0). A vehicle with ID 51 is 70.3 meters away at (-39.9, -57.9).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.854537   5.2763987] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 6.939208 -5.599677] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0.7864101 1.1459007] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-241.37364196777344, 153.47557067871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 6.2221336 -4.1366196], 7.471717834472656 meters away.)"}
{"file_name": "images/scenario_166_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.5) m/s. Its current heading (yaw) is 1.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 5.0 meters away at (-4.9, 1.4). A vehicle with ID 41 is 5.2 meters away at (-4.3, -2.9). A unknown object with ID 33 is 5.8 meters away at (-4.5, 3.6). A unknown object with ID 30 is 6.0 meters away at (-5.8, -1.3). A vehicle with ID 36 is 7.0 meters away at (-6.7, 2.1). A unknown object with ID 37 is 7.3 meters away at (-5.3, 5.0). A unknown object with ID 35 is 8.0 meters away at (-6.9, -4.2). A vehicle with ID 40 is 9.4 meters away at (3.5, 8.8). A unknown object with ID 14 is 9.5 meters away at (-9.3, 1.9). A pedestrian with ID 39 is 9.9 meters away at (-8.3, 5.4).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [1.7409126 5.5788608] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.03706915 0.01223927] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.752363  39.559353 ]\n [18.972513  39.44822  ]\n [18.869448  39.78024  ]\n [ 7.9645705 28.222984 ]\n [11.626542  26.855612 ]\n [11.280847  27.035711 ]\n [11.842308  26.716946 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-4.8504505  1.3601966], 5.037559509277344 meters away.)"}
{"file_name": "images/scenario_166_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 5.1 meters away at (-4.9, 1.1). A unknown object with ID 33 is 5.7 meters away at (-4.6, 3.4). A vehicle with ID 41 is 5.9 meters away at (-1.2, 5.7). A unknown object with ID 30 is 6.1 meters away at (-5.9, -1.6). A vehicle with ID 36 is 7.0 meters away at (-6.8, 1.8). A unknown object with ID 37 is 7.1 meters away at (-5.4, 4.7). A pedestrian with ID 27 is 7.3 meters away at (-6.2, 3.9). A unknown object with ID 35 is 8.3 meters away at (-7.0, -4.4). A vehicle with ID 40 is 9.2 meters away at (3.3, 8.5). A unknown object with ID 14 is 9.5 meters away at (-9.4, 1.8).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [1.3212026 3.1160553] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.08091051 0.01642355] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.752363  39.559353 ]\n [18.972513  39.44822  ]\n [18.869448  39.78024  ]\n [ 7.9645705 28.222984 ]\n [11.626542  26.855612 ]\n [11.280847  27.035711 ]\n [11.842308  26.716946 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-4.943819   1.0945699], 5.063539505004883 meters away.)"}
{"file_name": "images/scenario_166_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 5.1 meters away at (-5.0, 1.0). A unknown object with ID 33 is 5.7 meters away at (-4.7, 3.3). A unknown object with ID 30 is 6.2 meters away at (-5.9, -1.6). A vehicle with ID 36 is 6.8 meters away at (-6.6, 1.7). A unknown object with ID 37 is 7.1 meters away at (-5.4, 4.6). A pedestrian with ID 27 is 7.4 meters away at (-6.3, 3.8). A pedestrian with ID 26 is 7.5 meters away at (-7.1, 2.3). A unknown object with ID 35 is 8.3 meters away at (-7.0, -4.5). A vehicle with ID 40 is 9.1 meters away at (3.3, 8.5). A vehicle with ID 41 is 9.4 meters away at (0.4, 9.4).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.03516109  0.00789153] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00851953  0.03600746] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0.36636794 0.9579967 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.752363  39.559353 ]\n [18.972513  39.44822  ]\n [18.869448  39.78024  ]\n [ 7.9645705 28.222984 ]\n [11.626542  26.855612 ]\n [11.280847  27.035711 ]\n [11.842308  26.716946 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-4.962996   1.0396628], 5.070722579956055 meters away.)"}
{"file_name": "images/scenario_166_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 5.1 meters away at (-5.0, 1.0). A unknown object with ID 33 is 5.7 meters away at (-4.7, 3.3). A pedestrian with ID 26 is 6.1 meters away at (-5.6, 2.5). A unknown object with ID 30 is 6.2 meters away at (-6.0, -1.6). A vehicle with ID 36 is 6.8 meters away at (-6.6, 1.7). A pedestrian with ID 27 is 7.0 meters away at (-6.0, 3.6). A unknown object with ID 37 is 7.1 meters away at (-5.4, 4.6). A unknown object with ID 35 is 8.3 meters away at (-7.0, -4.5). A vehicle with ID 40 is 9.1 meters away at (3.3, 8.4). A pedestrian with ID 39 is 9.9 meters away at (-8.5, 5.0).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.7026634  0.17799439] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.10108682 0.00934486] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00440496 -0.00706157] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.752363  39.559353 ]\n [18.972513  39.44822  ]\n [18.869448  39.78024  ]\n [ 7.9645705 28.222984 ]\n [11.626542  26.855612 ]\n [11.280847  27.035711 ]\n [11.842308  26.716946 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-4.9756455  1.0327721], 5.081698894500732 meters away.)"}
{"file_name": "images/scenario_167_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.6) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 122 is 2.8 meters away at (1.6, 2.3). A pedestrian with ID 126 is 6.1 meters away at (5.9, -1.8). A vehicle with ID 50 is 6.3 meters away at (6.3, -0.1). A vehicle with ID 11 is 7.5 meters away at (-6.2, 4.2). A unknown object with ID 124 is 28.6 meters away at (23.5, 16.4). A vehicle with ID 125 is 35.5 meters away at (33.2, 12.7). A pedestrian with ID 91 is 44.6 meters away at (30.2, -32.7). A vehicle with ID 123 is 44.8 meters away at (38.8, 22.4). A unknown object with ID 113 is 48.8 meters away at (41.8, -25.2). A unknown object with ID 94 is 50.4 meters away at (42.9, -26.5).", "velocity_description": "The pedestrian with ID 122 is traveling at a (x, y) velocity of [0.00968158 0.00628883] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [-0.31942084  0.60102075] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.9075966  -0.60473526] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.01152077 -0.00250714] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[25.352901  -1.751694 ]\n [28.321934  -3.5208924]]", "nav_goal": "(39.06147766113281, 153.02980041503906)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [1.6429641 2.2617736], 2.7955234050750732 meters away.)"}
{"file_name": "images/scenario_167_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -1.0) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A pedestrian with ID 122 is 3.8 meters away at (-0.2, 3.8). A pedestrian with ID 126 is 4.0 meters away at (4.0, -0.4). A vehicle with ID 11 is 7.9 meters away at (-6.4, 4.6). A pedestrian with ID 47 is 12.8 meters away at (-6.4, -11.1). A unknown object with ID 124 is 27.9 meters away at (21.5, 17.9). A vehicle with ID 125 is 34.3 meters away at (31.3, 14.2). A pedestrian with ID 111 is 37.9 meters away at (21.5, -31.3). A pedestrian with ID 91 is 42.2 meters away at (28.4, -31.2). A vehicle with ID 123 is 43.9 meters away at (36.9, 23.9). A unknown object with ID 113 is 46.3 meters away at (39.8, -23.7).", "velocity_description": "The pedestrian with ID 122 is traveling at a (x, y) velocity of [-0.01062809  0.0093794 ] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [0.3041537  0.01124016] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.0898569 -0.7202148] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.27933735  0.10138738] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.03288648 -0.00865369] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.0185739   0.01871789] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[25.352901  -1.751694 ]\n [28.321934  -3.5208924]]", "nav_goal": "(39.06147766113281, 153.02980041503906)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-0.17397809  3.7832663 ], 3.787264585494995 meters away.)"}
{"file_name": "images/scenario_167_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -2.0) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A pedestrian with ID 126 is 3.6 meters away at (1.4, 3.3). A pedestrian with ID 122 is 7.9 meters away at (-4.0, 6.8). A vehicle with ID 11 is 9.1 meters away at (-7.2, 5.6). A unknown object with ID 124 is 27.4 meters away at (17.8, 20.9). A pedestrian with ID 120 is 30.4 meters away at (-5.0, -30.0). A pedestrian with ID 103 is 31.5 meters away at (-5.7, -30.9). A vehicle with ID 125 is 32.5 meters away at (27.6, 17.1). A pedestrian with ID 111 is 33.5 meters away at (18.0, -28.3). A pedestrian with ID 91 is 37.3 meters away at (24.4, -28.3). A unknown object with ID 113 is 41.5 meters away at (36.0, -20.8).", "velocity_description": "The pedestrian with ID 126 is traveling at a (x, y) velocity of [0.46920368 0.9500387 ] m/s.The pedestrian with ID 122 is traveling at a (x, y) velocity of [0.00518505 0.00808095] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 2.0019722 -1.3801914] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 120 is traveling at a (x, y) velocity of [-0.04961714  0.00774418] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.07539438  0.01256787] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [0.2745038  0.02123901] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.01518857 -0.01395123] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 16.970951  -29.15526  ]\n [ 25.352901   -1.751694 ]\n [ 16.837923  -29.079304 ]\n [ 16.99824   -29.172812 ]\n [ 28.321934   -3.5208924]\n [ 17.509357  -29.580976 ]\n [ 16.75649   -29.033014 ]]", "nav_goal": "(39.06147766113281, 153.02980041503906)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [1.378058 3.338696], 3.6119155883789062 meters away.)"}
{"file_name": "images/scenario_167_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -0.9) m/s. Its current heading (yaw) is -0.19 ", "actor_description": " The most relevant actors are: A pedestrian with ID 126 is 10.0 meters away at (-5.5, 8.3). A vehicle with ID 45 is 10.7 meters away at (-6.8, 8.2). A vehicle with ID 11 is 10.9 meters away at (-9.5, 5.4). A pedestrian with ID 122 is 15.5 meters away at (-11.4, 10.6). A unknown object with ID 124 is 26.7 meters away at (10.4, 24.5). A vehicle with ID 125 is 28.9 meters away at (20.2, 20.7). A pedestrian with ID 120 is 29.3 meters away at (-12.9, -26.3). A pedestrian with ID 91 is 29.9 meters away at (16.6, -24.8). A unknown object with ID 113 is 33.2 meters away at (28.3, -17.5). A vehicle with ID 37 is 34.2 meters away at (-13.7, -31.3).", "velocity_description": "The pedestrian with ID 126 is traveling at a (x, y) velocity of [-0.05913436  0.48252785] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 3.2585313 -2.3689854] m/s.The pedestrian with ID 122 is traveling at a (x, y) velocity of [0.00359923 0.00337517] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 120 is traveling at a (x, y) velocity of [-0.00481185  0.00310594] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.0473945  -0.01368095] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 16.970951  -29.15526  ]\n [ 25.352901   -1.751694 ]\n [ 16.837923  -29.079304 ]\n [ 16.99824   -29.172812 ]\n [ 28.321934   -3.5208924]\n [ 17.509357  -29.580976 ]\n [ 16.75649   -29.033014 ]]", "nav_goal": "(39.06147766113281, 153.02980041503906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.5039854  8.338942 ], 9.991586685180664 meters away.)"}
{"file_name": "images/scenario_168_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.3) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.4 meters away at (-2.9, -1.8). A vehicle with ID 16 is 7.0 meters away at (3.8, -5.9). A cyclist with ID 15 is 7.5 meters away at (-1.5, -7.3). A pedestrian with ID 4 is 7.6 meters away at (-1.4, -7.4). A pedestrian with ID 21 is 11.4 meters away at (-9.5, -6.4). A pedestrian with ID 8 is 11.7 meters away at (-10.3, -5.5). A vehicle with ID 24 is 14.7 meters away at (14.0, -4.6). A vehicle with ID 23 is 15.5 meters away at (11.7, -10.1). A vehicle with ID 19 is 17.6 meters away at (-15.0, -9.3). A vehicle with ID 18 is 18.1 meters away at (17.7, 3.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [-0.16448759  0.12937157] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00032734  0.01408408] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.0162683 -0.0020998] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.80382884 -0.3773512 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-5.240739   3.1390932] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ -2.2184582 -11.019817 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 7.7163625 -4.4235544] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.145161    6.1141024]\n [-35.17392    29.284437 ]\n [-15.5111265   3.202689 ]\n [-12.552175   11.741737 ]\n [-34.261932   32.050976 ]\n [-13.287603    8.611111 ]]", "nav_goal": "(103.6594009399414, 248.20193481445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.912993  -1.8017793], 3.4251914024353027 meters away.)"}
{"file_name": "images/scenario_168_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.3 meters away at (-2.7, -1.8). A vehicle with ID 24 is 5.2 meters away at (5.1, 0.7). A vehicle with ID 16 is 7.1 meters away at (3.9, -5.9). A pedestrian with ID 4 is 7.5 meters away at (-1.4, -7.3). A pedestrian with ID 21 is 11.3 meters away at (-9.4, -6.3). A pedestrian with ID 8 is 11.4 meters away at (-9.8, -5.7). A vehicle with ID 30 is 13.1 meters away at (-13.1, 0.9). A vehicle with ID 23 is 15.6 meters away at (11.8, -10.1). A vehicle with ID 32 is 27.2 meters away at (-11.4, -24.7). A vehicle with ID 9 is 29.5 meters away at (-26.2, 13.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-3.5885491  2.1726313] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.00214799 0.00341174] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00321313 -0.00804142] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00682937 -0.00348017] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -2.852077 -12.158213] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 4.5709686 18.103004 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.145161    6.1141024]\n [-35.17392    29.284437 ]\n [-15.5111265   3.202689 ]\n [-12.552175   11.741737 ]\n [-34.261932   32.050976 ]\n [-13.287603    8.611111 ]]", "nav_goal": "(103.6594009399414, 248.20193481445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.717061  -1.8257931], 3.2735211849212646 meters away.)"}
{"file_name": "images/scenario_168_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.2 meters away at (-2.7, -1.8). A vehicle with ID 24 is 3.9 meters away at (0.0, 3.9). A vehicle with ID 16 is 7.1 meters away at (3.9, -5.9). A pedestrian with ID 4 is 7.5 meters away at (-1.3, -7.3). A pedestrian with ID 21 is 11.3 meters away at (-9.3, -6.3). A vehicle with ID 23 is 15.6 meters away at (11.8, -10.1). A vehicle with ID 2 is 26.9 meters away at (-5.9, 26.2). A vehicle with ID 32 is 27.6 meters away at (-11.7, -25.0). A vehicle with ID 30 is 30.1 meters away at (-17.8, -24.3). A vehicle with ID 28 is 48.7 meters away at (-25.4, 41.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.5066527   0.91091645] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00187105  0.00019522] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00079967 0.00359881] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ -4.2378163 -12.192688 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -1.9210061 -13.193771 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 4.182366 11.512601] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.145161    6.1141024]\n [-35.17392    29.284437 ]\n [-15.5111265   3.202689 ]\n [-12.552175   11.741737 ]\n [-34.261932   32.050976 ]\n [-13.287603    8.611111 ]]", "nav_goal": "(103.6594009399414, 248.20193481445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.6907158 -1.8136965], 3.244910955429077 meters away.)"}
{"file_name": "images/scenario_168_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.2 meters away at (-2.7, -1.8). A vehicle with ID 24 is 4.8 meters away at (-1.3, 4.7). A vehicle with ID 16 is 7.1 meters away at (3.9, -5.9). A pedestrian with ID 4 is 7.4 meters away at (-1.3, -7.3). A pedestrian with ID 21 is 11.3 meters away at (-9.3, -6.4). A vehicle with ID 2 is 13.4 meters away at (-13.3, 2.2). A vehicle with ID 23 is 15.6 meters away at (11.8, -10.2). A vehicle with ID 32 is 27.9 meters away at (-11.9, -25.2). A vehicle with ID 27 is 41.0 meters away at (-6.6, 40.5). A vehicle with ID 1 is 45.7 meters away at (-33.4, -31.2).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.00023469 0.00234032] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00689679 -0.00466686] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ -3.1696622 -12.033777 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ -3.9465458 -11.338002 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.3718126 16.416533 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.145161    6.1141024]\n [-35.17392    29.284437 ]\n [-15.5111265   3.202689 ]\n [-12.552175   11.741737 ]\n [-34.261932   32.050976 ]\n [-13.287603    8.611111 ]]", "nav_goal": "(103.6594009399414, 248.20193481445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.6745524 -1.8264539], 3.2386980056762695 meters away.)"}
{"file_name": "images/scenario_169_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.5 meters away at (2.2, 7.2). A vehicle with ID 5 is 7.6 meters away at (-2.6, -7.2). A vehicle with ID 6 is 8.5 meters away at (-5.6, -6.5). A pedestrian with ID 12 is 14.9 meters away at (13.0, 7.3). A vehicle with ID 8 is 15.4 meters away at (-4.9, -14.6). A vehicle with ID 9 is 15.8 meters away at (15.0, -4.9). A pedestrian with ID 11 is 17.7 meters away at (13.5, 11.5). A vehicle with ID 10 is 18.2 meters away at (17.7, -4.1). A vehicle with ID 15 is 24.3 meters away at (-7.5, -23.1). A vehicle with ID 17 is 25.9 meters away at (4.8, 25.5).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.43514618 -1.3173739 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.45757183 -1.1964061 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.154663 -47.858685]\n [-10.195623 -50.01314 ]\n [-14.539185 -47.61447 ]\n [-12.292654 -35.87575 ]\n [-12.489643 -35.834225]]", "nav_goal": "(187.57154846191406, 19.688232421875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.2260609 7.20311  ], 7.539239883422852 meters away.)"}
{"file_name": "images/scenario_169_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.5 meters away at (2.2, 7.2). A vehicle with ID 5 is 7.6 meters away at (-2.5, -7.2). A vehicle with ID 6 is 8.5 meters away at (-5.6, -6.5). A pedestrian with ID 12 is 13.0 meters away at (12.0, 5.0). A vehicle with ID 8 is 15.4 meters away at (-4.9, -14.6). A pedestrian with ID 11 is 15.5 meters away at (12.7, 8.9). A vehicle with ID 9 is 15.8 meters away at (15.0, -4.9). A vehicle with ID 10 is 18.2 meters away at (17.7, -4.1). A vehicle with ID 15 is 24.3 meters away at (-7.5, -23.1). A vehicle with ID 17 is 25.9 meters away at (4.8, 25.4).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.47852653 -1.2818882 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.33489302 -1.2287    ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.154663 -47.858685]\n [-10.195623 -50.01314 ]\n [-14.539185 -47.61447 ]\n [-12.292654 -35.87575 ]\n [-12.489643 -35.834225]]", "nav_goal": "(187.57154846191406, 19.688232421875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.2226644 7.206503 ], 7.54148006439209 meters away.)"}
{"file_name": "images/scenario_169_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.5 meters away at (2.2, 7.2). A vehicle with ID 5 is 7.6 meters away at (-2.5, -7.2). A vehicle with ID 6 is 8.5 meters away at (-5.6, -6.5). A pedestrian with ID 12 is 12.0 meters away at (11.7, 2.5). A pedestrian with ID 11 is 13.5 meters away at (11.9, 6.4). A vehicle with ID 8 is 15.4 meters away at (-4.9, -14.6). A vehicle with ID 9 is 15.8 meters away at (15.0, -4.9). A vehicle with ID 10 is 18.2 meters away at (17.7, -4.1). A vehicle with ID 15 is 24.3 meters away at (-7.5, -23.1). A vehicle with ID 17 is 25.9 meters away at (4.8, 25.4).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.16683607 -1.3309854 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.4057417 -1.3203013] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.154663 -47.858685]\n [-10.195623 -50.01314 ]\n [-14.539185 -47.61447 ]\n [-12.292654 -35.87575 ]\n [-12.489643 -35.834225]]", "nav_goal": "(187.57154846191406, 19.688232421875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.2315137 7.2120414], 7.549383640289307 meters away.)"}
{"file_name": "images/scenario_169_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.5 meters away at (2.2, 7.2). A vehicle with ID 5 is 7.6 meters away at (-2.5, -7.2). A vehicle with ID 6 is 8.5 meters away at (-5.6, -6.5). A pedestrian with ID 11 is 12.1 meters away at (11.5, 3.8). A pedestrian with ID 12 is 13.3 meters away at (13.3, 0.4). A vehicle with ID 8 is 15.4 meters away at (-4.9, -14.6). A vehicle with ID 9 is 15.8 meters away at (15.1, -4.9). A vehicle with ID 10 is 18.2 meters away at (17.7, -4.1). A vehicle with ID 15 is 24.3 meters away at (-7.5, -23.1). A vehicle with ID 17 is 25.9 meters away at (4.8, 25.5).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.14731331 -1.3225459 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1070324  -0.87275684] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.154663 -47.858685]\n [-10.195623 -50.01314 ]\n [-14.539185 -47.61447 ]\n [-12.292654 -35.87575 ]\n [-12.489643 -35.834225]]", "nav_goal": "(187.57154846191406, 19.688232421875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.2157986 7.200858 ], 7.534063816070557 meters away.)"}
{"file_name": "images/scenario_170_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.5) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 5.6 meters away at (-3.7, 4.2). A unknown object with ID 19 is 5.9 meters away at (-5.7, 1.3). A unknown object with ID 17 is 6.8 meters away at (-2.1, 6.5). A unknown object with ID 25 is 8.2 meters away at (-8.1, -0.9). A unknown object with ID 26 is 8.5 meters away at (-8.4, -1.7). A unknown object with ID 27 is 8.8 meters away at (-8.6, -2.0). A unknown object with ID 20 is 9.1 meters away at (-0.5, 9.1). A unknown object with ID 28 is 9.7 meters away at (-9.6, -1.2). A unknown object with ID 30 is 11.0 meters away at (-11.0, -0.4). A unknown object with ID 24 is 11.2 meters away at (0.9, 11.2).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-0.2722928524017334, 194.49229431152344)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-3.6789062  4.2088647], 5.590071201324463 meters away.)"}
{"file_name": "images/scenario_170_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 5.7 meters away at (-3.6, 4.4). A unknown object with ID 19 is 5.9 meters away at (-5.7, 1.5). A unknown object with ID 17 is 6.9 meters away at (-2.0, 6.6). A unknown object with ID 25 is 8.1 meters away at (-8.1, -0.7). A unknown object with ID 26 is 8.5 meters away at (-8.3, -1.6). A unknown object with ID 27 is 8.7 meters away at (-8.5, -1.9). A unknown object with ID 20 is 9.3 meters away at (-0.4, 9.3). A unknown object with ID 28 is 9.7 meters away at (-9.6, -1.1). A unknown object with ID 30 is 10.9 meters away at (-10.9, -0.2). A unknown object with ID 24 is 11.4 meters away at (1.0, 11.4).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-0.2722928524017334, 194.49229431152344)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-3.608577   4.3887644], 5.681820392608643 meters away.)"}
{"file_name": "images/scenario_170_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 5.7 meters away at (-3.6, 4.5). A unknown object with ID 19 is 5.8 meters away at (-5.6, 1.6). A unknown object with ID 17 is 7.0 meters away at (-2.0, 6.7). A unknown object with ID 25 is 8.1 meters away at (-8.1, -0.7). A unknown object with ID 26 is 8.4 meters away at (-8.3, -1.5). A unknown object with ID 27 is 8.7 meters away at (-8.5, -1.8). A unknown object with ID 20 is 9.4 meters away at (-0.4, 9.4). A unknown object with ID 28 is 9.6 meters away at (-9.5, -1.0). A unknown object with ID 30 is 10.9 meters away at (-10.9, -0.2). A unknown object with ID 24 is 11.5 meters away at (1.0, 11.4).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-0.2722928524017334, 194.49229431152344)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-3.572021  4.452711], 5.708412170410156 meters away.)"}
{"file_name": "images/scenario_170_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 5.7 meters away at (-3.6, 4.4). A unknown object with ID 19 is 5.8 meters away at (-5.6, 1.6). A unknown object with ID 17 is 7.0 meters away at (-2.0, 6.7). A unknown object with ID 25 is 8.1 meters away at (-8.1, -0.7). A unknown object with ID 26 is 8.4 meters away at (-8.3, -1.5). A unknown object with ID 27 is 8.7 meters away at (-8.5, -1.8). A unknown object with ID 20 is 9.4 meters away at (-0.4, 9.4). A unknown object with ID 28 is 9.6 meters away at (-9.5, -1.0). A unknown object with ID 30 is 10.9 meters away at (-10.9, -0.2). A unknown object with ID 24 is 11.5 meters away at (1.0, 11.4).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-0.2722928524017334, 194.49229431152344)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-3.5541978  4.4460893], 5.692102432250977 meters away.)"}
{"file_name": "images/scenario_171_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 2.2) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 95 is 7.7 meters away at (-6.8, -3.5). A vehicle with ID 86 is 12.1 meters away at (7.1, -9.7). A vehicle with ID 82 is 12.5 meters away at (1.6, -12.4). A vehicle with ID 89 is 13.2 meters away at (-9.9, -8.7). A vehicle with ID 84 is 15.2 meters away at (14.2, -5.5). A vehicle with ID 81 is 16.1 meters away at (7.1, -14.4). A pedestrian with ID 90 is 16.2 meters away at (-8.6, -13.7). A pedestrian with ID 91 is 16.7 meters away at (-9.9, -13.4). A vehicle with ID 92 is 17.0 meters away at (-15.8, -6.4). A vehicle with ID 94 is 18.3 meters away at (-15.6, 9.6).", "velocity_description": "The vehicle with ID 95 is traveling at a (x, y) velocity of [ 7.285792  -2.0166004] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [ 6.9336753 -2.2592413] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-5.791148   2.0296946] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.62116027 -0.24105123] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.537099   -0.22619155] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(38.24973678588867, 235.50965881347656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.815668  -3.4762802], 7.651003837585449 meters away.)"}
{"file_name": "images/scenario_171_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 2.3) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 94 is 5.4 meters away at (-2.1, 4.9). A vehicle with ID 106 is 7.4 meters away at (-5.0, -5.4). A vehicle with ID 92 is 11.2 meters away at (-2.2, -11.0). A vehicle with ID 98 is 11.8 meters away at (-7.6, -9.1). A vehicle with ID 89 is 13.8 meters away at (3.5, -13.3). A pedestrian with ID 101 is 16.0 meters away at (-9.1, 13.1). A vehicle with ID 84 is 16.3 meters away at (15.2, -5.7). A vehicle with ID 109 is 16.7 meters away at (-16.6, -2.3). A pedestrian with ID 91 is 19.2 meters away at (4.9, -18.6). A vehicle with ID 87 is 20.4 meters away at (-19.3, 6.6).", "velocity_description": "The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [ 5.6199265 -2.040665 ] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [ 0.1483274  -0.14573385] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-6.7662244  2.3399916] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [ 5.9123178 -2.0012374] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.22770062 -0.20913476] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-6.5403395  2.365802 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.51806    8.983919]\n [-59.958675  19.220436]\n [-56.4771    11.138376]\n [-57.86162   11.382587]]", "nav_goal": "(38.24973678588867, 235.50965881347656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.0997734  4.949067 ], 5.376087188720703 meters away.)"}
{"file_name": "images/scenario_171_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 2.2) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 94 is 10.0 meters away at (9.9, 0.7). A vehicle with ID 53 is 10.1 meters away at (-8.4, -5.6). A vehicle with ID 109 is 12.8 meters away at (7.3, -10.5). A vehicle with ID 98 is 14.2 meters away at (4.6, -13.4). A unknown object with ID 24 is 14.6 meters away at (-10.1, -10.6). A vehicle with ID 84 is 14.7 meters away at (13.8, -5.2). A vehicle with ID 92 is 18.3 meters away at (10.1, -15.3). A vehicle with ID 87 is 21.0 meters away at (-19.9, 6.8). A vehicle with ID 89 is 23.7 meters away at (15.9, -17.6). A vehicle with ID 7 is 24.1 meters away at (-16.9, 17.1).", "velocity_description": "The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 6.2339015 -2.0074806] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [ 5.789216  -1.8875735] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-6.8463235  2.438587 ] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-6.601675   2.1653156] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.51806    8.983919]\n [-59.958675  19.220436]\n [-55.61509   23.12131 ]\n [-56.4771    11.138376]\n [-55.81208   23.162834]\n [-57.86162   11.382587]]", "nav_goal": "(38.24973678588867, 235.50965881347656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [9.948864  0.7349682], 9.975975036621094 meters away.)"}
{"file_name": "images/scenario_171_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 3.7) m/s. Its current heading (yaw) is 2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 9.5 meters away at (-2.5, -9.1). A vehicle with ID 84 is 12.0 meters away at (10.2, -6.3). A vehicle with ID 7 is 14.0 meters away at (-8.1, 11.5). A cyclist with ID 35 is 15.4 meters away at (-14.5, -5.1). A vehicle with ID 96 is 16.5 meters away at (-16.5, -0.7). A vehicle with ID 5 is 17.9 meters away at (1.5, 17.8). A vehicle with ID 94 is 19.5 meters away at (18.9, -4.8). A vehicle with ID 53 is 19.5 meters away at (12.6, -14.9). A pedestrian with ID 8 is 19.8 meters away at (-14.6, 13.4). A pedestrian with ID 9 is 20.7 meters away at (-15.4, 13.8).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [ 7.0569897 -2.415975 ] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-6.2405     2.2283652] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [ 6.6275625 -2.5060136] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 5.799786  -1.8640393] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.0677795   0.01449068] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.01307851 -0.00819778] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.51806    8.983919]\n [-59.958675  19.220436]\n [-55.61509   23.12131 ]\n [-56.4771    11.138376]\n [-55.81208   23.162834]\n [-57.86162   11.382587]\n [-62.40683   11.950288]]", "nav_goal": "(38.24973678588867, 235.50965881347656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.482109 -9.137642], 9.468757629394531 meters away.)"}
{"file_name": "images/scenario_172_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.0, -1.2) m/s. Its current heading (yaw) is -0.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 12.0 meters away at (11.6, 3.1). A vehicle with ID 20 is 40.2 meters away at (36.8, -16.3).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-8.686653   2.1323516] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [11.645002   3.0581844], 12.039874076843262 meters away.)"}
{"file_name": "images/scenario_172_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.7, -1.8) m/s. Its current heading (yaw) is -0.18 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 7.9 meters away at (-5.5, 5.6). A vehicle with ID 20 is 9.5 meters away at (-1.8, -9.3). A unknown object with ID 4 is 47.5 meters away at (38.3, -28.1). A unknown object with ID 5 is 47.5 meters away at (38.6, -27.7). A unknown object with ID 6 is 47.6 meters away at (38.3, -28.4). A unknown object with ID 7 is 48.3 meters away at (39.5, -27.8). A unknown object with ID 9 is 49.0 meters away at (39.4, -29.3).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-9.884602  1.850109] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-5.5422554  5.6107917], 7.886544227600098 meters away.)"}
{"file_name": "images/scenario_172_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -1.8) m/s. Its current heading (yaw) is -0.21 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 25.8 meters away at (-24.1, 9.2). A unknown object with ID 3 is 31.3 meters away at (20.1, -24.1). A unknown object with ID 4 is 31.6 meters away at (19.8, -24.6). A unknown object with ID 6 is 31.6 meters away at (19.7, -24.7). A unknown object with ID 5 is 32.1 meters away at (21.0, -24.3). A unknown object with ID 7 is 32.6 meters away at (21.2, -24.8). A unknown object with ID 9 is 33.0 meters away at (21.0, -25.4). A vehicle with ID 20 is 41.5 meters away at (-41.5, -2.0). A pedestrian with ID 14 is 68.1 meters away at (40.0, -55.1).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-10.963832    1.7517403] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.02914213 0.0127429 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-24.077106   9.208164], 25.77784538269043 meters away.)"}
{"file_name": "images/scenario_172_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -0.5) m/s. Its current heading (yaw) is -0.08 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 21.8 meters away at (5.4, -21.2). A unknown object with ID 4 is 22.2 meters away at (5.0, -21.6). A unknown object with ID 5 is 22.3 meters away at (6.0, -21.5). A unknown object with ID 6 is 22.6 meters away at (4.9, -22.1). A unknown object with ID 7 is 22.9 meters away at (6.5, -21.9). A unknown object with ID 8 is 23.3 meters away at (6.3, -22.4). A unknown object with ID 9 is 23.5 meters away at (6.1, -22.7). A unknown object with ID 11 is 40.6 meters away at (-38.7, 12.1). A pedestrian with ID 14 is 58.0 meters away at (24.9, -52.4). A pedestrian with ID 10 is 62.9 meters away at (19.6, -59.8).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.047058   -0.03355907] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.3832263   0.36716613] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [  5.358551 -21.182465], 21.849733352661133 meters away.)"}
{"file_name": "images/scenario_173_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -3.6) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 9.8 meters away at (-5.4, -8.2). A vehicle with ID 65 is 14.3 meters away at (-3.2, -13.9). A vehicle with ID 82 is 17.3 meters away at (-5.1, 16.5). A unknown object with ID 22 is 17.3 meters away at (-6.1, -16.2). A vehicle with ID 62 is 17.6 meters away at (1.0, 17.5). A vehicle with ID 63 is 21.1 meters away at (3.1, 20.9). A vehicle with ID 61 is 21.3 meters away at (-7.1, -20.1). A vehicle with ID 19 is 24.1 meters away at (-12.8, -20.4). A unknown object with ID 74 is 25.0 meters away at (-20.6, -14.2). A vehicle with ID 66 is 27.0 meters away at (5.7, 26.4).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.6861417 -4.557786 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [10.336342  -7.2438865] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-8.365089  5.136875] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.1341085 -5.324041 ] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-3.3643105  -0.04297301] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.163148 21.314247]\n [10.148647 21.322905]\n [16.366117  2.78952 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.362727 -8.167372], 9.770608901977539 meters away.)"}
{"file_name": "images/scenario_173_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -4.8) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 6.0 meters away at (2.4, -5.5). A unknown object with ID 22 is 7.7 meters away at (-0.5, -7.6). A vehicle with ID 61 is 11.6 meters away at (-1.4, -11.6). A vehicle with ID 11 is 12.6 meters away at (-6.7, -10.7). A unknown object with ID 33 is 14.2 meters away at (-4.0, -13.7). A unknown object with ID 76 is 17.3 meters away at (-12.4, -12.0). A vehicle with ID 59 is 18.2 meters away at (-4.8, -17.6). A pedestrian with ID 77 is 19.7 meters away at (-16.5, -10.9). A pedestrian with ID 78 is 20.0 meters away at (-15.7, -12.3). A pedestrian with ID 79 is 20.8 meters away at (-16.8, -12.4).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-3.6170466 -5.8824706] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.00211012 0.01168631] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0.02456622 0.0514744 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.00148875 0.01840894] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.945386  23.16088  ]\n [10.163148  21.314247 ]\n [16.69884    3.446076 ]\n [10.148647  21.322905 ]\n [18.778074   5.6545715]\n [16.366117   2.78952  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.3615503 -5.4642   ], 5.9526801109313965 meters away.)"}
{"file_name": "images/scenario_173_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -6.0) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 4.2 meters away at (3.1, -2.8). A vehicle with ID 61 is 5.5 meters away at (5.5, -0.7). A unknown object with ID 76 is 5.6 meters away at (-5.5, -1.2). A vehicle with ID 59 is 7.0 meters away at (2.1, -6.6). A unknown object with ID 22 is 7.2 meters away at (6.4, 3.2). A pedestrian with ID 44 is 8.6 meters away at (8.3, 2.3). A unknown object with ID 27 is 9.4 meters away at (-9.4, -0.2). A pedestrian with ID 77 is 9.5 meters away at (-9.5, 0.1). A vehicle with ID 60 is 9.6 meters away at (-8.6, -4.4). A vehicle with ID 65 is 10.7 meters away at (9.2, 5.3).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.00485727 -0.0717985 ] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 0.01177882 -0.02079877] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.945386  23.16088  ]\n [16.69884    3.446076 ]\n [18.778074   5.6545715]\n [16.366117   2.78952  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 3.0963955 -2.7945766], 4.1710100173950195 meters away.)"}
{"file_name": "images/scenario_173_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -6.1) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 6.2 meters away at (6.2, -0.4). A vehicle with ID 60 is 7.7 meters away at (-0.8, 7.7). A vehicle with ID 21 is 9.4 meters away at (-8.4, -4.3). A unknown object with ID 35 is 9.6 meters away at (8.6, -4.3). A vehicle with ID 59 is 10.8 meters away at (9.6, 5.1). A unknown object with ID 76 is 11.0 meters away at (2.1, 10.8). A vehicle with ID 11 is 13.6 meters away at (-7.3, -11.5). A unknown object with ID 33 is 14.0 meters away at (10.7, 9.1). A vehicle with ID 61 is 17.3 meters away at (13.2, 11.2). A unknown object with ID 22 is 20.6 meters away at (14.0, 15.1).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-4.1362767 -6.1937056] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.69884    3.446076 ]\n [18.778074   5.6545715]\n [16.366117   2.78952  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.2119827  -0.39852905], 6.224753379821777 meters away.)"}
{"file_name": "images/scenario_174_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.2) m/s. Its current heading (yaw) is 0.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 8.4 meters away at (-6.7, -5.0). A vehicle with ID 18 is 13.6 meters away at (-11.9, -6.5). A vehicle with ID 19 is 15.0 meters away at (-14.8, 1.9). A unknown object with ID 20 is 16.0 meters away at (15.6, 3.8). A unknown object with ID 22 is 16.2 meters away at (16.1, 1.4). A unknown object with ID 23 is 16.7 meters away at (14.4, 8.5). A vehicle with ID 24 is 18.7 meters away at (-16.9, -7.9). A vehicle with ID 25 is 19.5 meters away at (-19.5, 0.5). A vehicle with ID 16 is 23.8 meters away at (2.1, 23.7). A vehicle with ID 26 is 24.3 meters away at (-22.4, -9.4).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-70.6827621459961, 279.01953125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.7303066 -4.9865236], 8.376302719116211 meters away.)"}
{"file_name": "images/scenario_174_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.8) m/s. Its current heading (yaw) is 0.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 11.3 meters away at (11.2, 2.1). A unknown object with ID 22 is 11.7 meters away at (11.7, -0.2). A unknown object with ID 23 is 12.1 meters away at (10.0, 6.8). A vehicle with ID 17 is 13.0 meters away at (-11.2, -6.5). A vehicle with ID 18 is 18.3 meters away at (-16.4, -8.0). A vehicle with ID 19 is 19.2 meters away at (-19.2, 0.5). A vehicle with ID 16 is 22.2 meters away at (-2.1, 22.1). A unknown object with ID 14 is 22.2 meters away at (22.1, -2.5). A vehicle with ID 24 is 23.3 meters away at (-21.4, -9.3). A vehicle with ID 25 is 23.9 meters away at (-23.9, -0.9).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-70.6827621459961, 279.01953125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [11.157439  2.07472 ], 11.3486967086792 meters away.)"}
{"file_name": "images/scenario_174_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 5.3) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 9.6 meters away at (6.4, -7.2). A vehicle with ID 16 is 16.9 meters away at (-7.2, 15.3). A vehicle with ID 17 is 21.2 meters away at (-16.5, -13.3). A vehicle with ID 7 is 23.2 meters away at (-8.6, 21.5). A vehicle with ID 19 is 25.3 meters away at (-24.5, -6.3). A vehicle with ID 18 is 26.2 meters away at (-21.7, -14.7). A vehicle with ID 6 is 29.4 meters away at (-10.1, 27.6). A vehicle with ID 25 is 30.3 meters away at (-29.3, -7.6). A vehicle with ID 24 is 31.1 meters away at (-26.7, -16.1). A vehicle with ID 27 is 35.8 meters away at (-34.6, -9.0).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-70.6827621459961, 279.01953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 6.413205  -7.1636395], 9.614933013916016 meters away.)"}
{"file_name": "images/scenario_174_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 6.8) m/s. Its current heading (yaw) is 1.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 7.5 meters away at (-6.9, 3.0). A vehicle with ID 7 is 12.3 meters away at (-8.3, 9.1). A vehicle with ID 6 is 18.1 meters away at (-9.8, 15.2). A vehicle with ID 17 is 30.3 meters away at (-16.0, -25.7). A vehicle with ID 19 is 30.4 meters away at (-24.1, -18.6). A vehicle with ID 18 is 34.5 meters away at (-21.2, -27.2). A vehicle with ID 25 is 35.1 meters away at (-28.9, -20.0). A vehicle with ID 24 is 38.8 meters away at (-26.2, -28.6). A vehicle with ID 27 is 40.4 meters away at (-34.2, -21.5). A vehicle with ID 26 is 43.6 meters away at (-31.7, -30.0).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-70.6827621459961, 279.01953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.882881  2.967247], 7.495238780975342 meters away.)"}
{"file_name": "images/scenario_175_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 9.5) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 3.2 meters away at (3.2, 0.2). A vehicle with ID 31 is 13.1 meters away at (0.2, 13.1). A vehicle with ID 32 is 32.4 meters away at (-10.0, 30.8). A pedestrian with ID 11 is 72.6 meters away at (-3.3, 72.5).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 1.2306265 -5.696804 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.8968496  -0.05591843] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-158.0336456298828, 9.49133014678955)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.1666684 0.2235508], 3.1745495796203613 meters away.)"}
{"file_name": "images/scenario_175_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 9.6) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 3.3 meters away at (-3.2, 0.7). A vehicle with ID 31 is 7.5 meters away at (4.6, -6.0). A vehicle with ID 30 is 20.4 meters away at (7.5, -19.0). A unknown object with ID 26 is 59.7 meters away at (-23.3, 54.9). A vehicle with ID 6 is 69.1 meters away at (-39.6, 56.7).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [ 1.1503848 -5.1214747] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-158.0336456298828, 9.49133014678955)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.2403803  0.67379  ], 3.3096914291381836 meters away.)"}
{"file_name": "images/scenario_175_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 9.8) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 27.1 meters away at (9.2, -25.5). A vehicle with ID 32 is 29.7 meters away at (3.9, -29.4). A vehicle with ID 30 is 40.3 meters away at (12.1, -38.5). A vehicle with ID 6 is 50.9 meters away at (-35.0, 37.1). A vehicle with ID 10 is 53.4 meters away at (-39.8, 35.6). A vehicle with ID 13 is 61.8 meters away at (-17.7, 59.2). A pedestrian with ID 19 is 62.5 meters away at (-16.9, 60.2).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 1.4116503 -5.4742823] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.03919169  0.00359239] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-158.0336456298828, 9.49133014678955)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  9.163336 -25.519491], 27.114778518676758 meters away.)"}
{"file_name": "images/scenario_175_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 10.0) m/s. Its current heading (yaw) is 1.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 29.7 meters away at (-28.5, 8.6). A vehicle with ID 12 is 34.1 meters away at (-33.4, 7.2). A vehicle with ID 6 is 35.7 meters away at (-31.4, 17.1). A vehicle with ID 7 is 39.4 meters away at (-38.9, 5.8). A vehicle with ID 10 is 39.4 meters away at (-36.1, 15.8). A vehicle with ID 13 is 41.9 meters away at (-14.2, 39.4). A pedestrian with ID 19 is 42.5 meters away at (-13.4, 40.3). A vehicle with ID 16 is 43.9 meters away at (-41.5, 14.3). A vehicle with ID 9 is 45.6 meters away at (-45.4, 4.2). A vehicle with ID 31 is 47.1 meters away at (12.8, -45.3).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.02431935 0.01756978] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-158.0336456298828, 9.49133014678955)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-28.472998   8.58979 ], 29.740478515625 meters away.)"}
{"file_name": "images/scenario_176_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, -5.1) m/s. Its current heading (yaw) is -2.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 26.6 meters away at (-20.6, 16.9). A unknown object with ID 23 is 30.9 meters away at (-26.5, 15.8). A unknown object with ID 34 is 31.7 meters away at (-28.0, 14.8). A unknown object with ID 35 is 32.7 meters away at (-29.7, 13.6). A unknown object with ID 36 is 33.7 meters away at (-31.3, 12.4). A unknown object with ID 37 is 34.9 meters away at (-33.0, 11.2). A unknown object with ID 38 is 36.3 meters away at (-34.9, 9.9). A unknown object with ID 18 is 38.3 meters away at (-36.8, 10.7). A vehicle with ID 29 is 52.6 meters away at (-50.3, -15.4). A vehicle with ID 31 is 74.6 meters away at (50.6, 54.8).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [10.172553  9.328669] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [15.686627 10.029146] m/s.", "light_description": "There are active red lights at the following coordinates: [[-87.82315 -62.97984]]", "nav_goal": "(-148.93951416015625, -245.55328369140625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-20.636522  16.855831], 26.645545959472656 meters away.)"}
{"file_name": "images/scenario_176_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, -5.4) m/s. Its current heading (yaw) is -2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 20.0 meters away at (-15.4, 12.8). A vehicle with ID 19 is 27.3 meters away at (-8.8, 25.8). A vehicle with ID 33 is 28.0 meters away at (-6.8, 27.2). A unknown object with ID 36 is 28.6 meters away at (-17.3, 22.8). A unknown object with ID 35 is 28.7 meters away at (-15.8, 23.9). A unknown object with ID 34 is 28.8 meters away at (-14.3, 25.0). A unknown object with ID 37 is 28.8 meters away at (-19.1, 21.6). A unknown object with ID 23 is 29.0 meters away at (-12.9, 26.0). A unknown object with ID 38 is 29.2 meters away at (-21.0, 20.3). A unknown object with ID 13 is 35.1 meters away at (-33.0, 11.9).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [10.878678  8.237297] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-87.82315 -62.97984]]", "nav_goal": "(-148.93951416015625, -245.55328369140625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-15.387678  12.78062 ], 20.003122329711914 meters away.)"}
{"file_name": "images/scenario_176_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, -5.7) m/s. Its current heading (yaw) is -2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 25.1 meters away at (-22.7, 10.8). A unknown object with ID 38 is 32.3 meters away at (-8.2, 31.2). A unknown object with ID 37 is 33.1 meters away at (-6.3, 32.5). A unknown object with ID 36 is 34.0 meters away at (-4.5, 33.7). A unknown object with ID 35 is 35.0 meters away at (-3.1, 34.8). A unknown object with ID 34 is 36.1 meters away at (-1.3, 36.0). A vehicle with ID 19 is 37.1 meters away at (4.2, 36.9). A unknown object with ID 23 is 37.2 meters away at (0.2, 37.2). A unknown object with ID 30 is 38.4 meters away at (1.9, 38.4). A vehicle with ID 33 is 38.7 meters away at (6.1, 38.2).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [9.320181 8.264968] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-87.82315 -62.97984]]", "nav_goal": "(-148.93951416015625, -245.55328369140625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-22.683746  10.802132], 25.12445831298828 meters away.)"}
{"file_name": "images/scenario_176_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -5.7) m/s. Its current heading (yaw) is -2.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 19.6 meters away at (-10.7, 16.4). A vehicle with ID 4 is 28.5 meters away at (-25.8, -12.0). A vehicle with ID 12 is 38.7 meters away at (8.7, 37.7). A unknown object with ID 38 is 42.7 meters away at (3.8, 42.5). A unknown object with ID 20 is 43.5 meters away at (1.9, 43.4). A unknown object with ID 37 is 44.0 meters away at (5.5, 43.7). A unknown object with ID 36 is 45.6 meters away at (7.3, 45.0). A unknown object with ID 25 is 45.8 meters away at (7.6, 45.1). A unknown object with ID 35 is 46.9 meters away at (8.9, 46.0). A unknown object with ID 34 is 48.5 meters away at (10.6, 47.3).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [14.750621 12.750341] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [10.4704485  7.7201867] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-111.20789  -77.08217]\n [ -87.82315  -62.97984]\n [-107.34081  -78.20598]\n [-114.82483  -76.50221]]", "nav_goal": "(-148.93951416015625, -245.55328369140625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.684402  16.447878], 19.613494873046875 meters away.)"}
{"file_name": "images/scenario_177_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -3.2) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 5.0 meters away at (-2.6, 4.2). A unknown object with ID 29 is 9.5 meters away at (7.6, -5.7). A unknown object with ID 30 is 9.8 meters away at (7.0, -6.9). A unknown object with ID 25 is 14.0 meters away at (-11.7, -7.8). A unknown object with ID 26 is 14.4 meters away at (-10.8, -9.4). A unknown object with ID 24 is 15.8 meters away at (-13.6, -8.0). A vehicle with ID 27 is 16.8 meters away at (-16.6, -2.2). A vehicle with ID 6 is 68.7 meters away at (55.9, -39.9).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.1449761  -0.43750277] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-7.6972613  3.3964417] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-2.6175737  4.2412596], 4.983972072601318 meters away.)"}
{"file_name": "images/scenario_177_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -3.3) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 8.1 meters away at (-8.1, 0.9). A unknown object with ID 30 is 8.6 meters away at (-8.6, -0.3). A pedestrian with ID 23 is 19.0 meters away at (-16.2, 9.9). A unknown object with ID 26 is 26.8 meters away at (-26.7, -2.8). A unknown object with ID 25 is 27.4 meters away at (-27.4, -1.2). A unknown object with ID 11 is 28.8 meters away at (-28.8, -1.7). A unknown object with ID 24 is 29.2 meters away at (-29.1, -1.4). A vehicle with ID 13 is 39.2 meters away at (31.4, -23.5). A vehicle with ID 27 is 46.5 meters away at (-45.4, 9.9). A vehicle with ID 6 is 52.1 meters away at (40.1, -33.3).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.2443898  -0.42539918] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-10.227585    6.8615236] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.2321806  1.7608755] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.096561   0.9013157], 8.146574974060059 meters away.)"}
{"file_name": "images/scenario_177_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -3.7) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 7.0 meters away at (-5.8, -4.0). A unknown object with ID 29 is 25.2 meters away at (-23.9, 7.8). A unknown object with ID 30 is 25.3 meters away at (-24.5, 6.6). A pedestrian with ID 23 is 33.9 meters away at (-30.0, 15.9). A vehicle with ID 6 is 35.8 meters away at (24.4, -26.2). A unknown object with ID 26 is 42.7 meters away at (-42.5, 4.0). A unknown object with ID 25 is 43.6 meters away at (-43.3, 5.7). A unknown object with ID 11 is 44.9 meters away at (-44.6, 5.1). A unknown object with ID 24 is 45.2 meters away at (-44.9, 5.3). A vehicle with ID 19 is 72.5 meters away at (-70.2, 18.1).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [-11.09143   5.3747 ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.0745488  -0.51289356] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.95778    -0.77277017] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.7750816 -3.9669037], 7.006275177001953 meters away.)"}
{"file_name": "images/scenario_177_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -4.6) m/s. Its current heading (yaw) is -0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 20.2 meters away at (9.8, -17.6). A unknown object with ID 29 is 41.8 meters away at (-38.4, 16.4). A unknown object with ID 30 is 41.9 meters away at (-39.0, 15.1). A vehicle with ID 13 is 44.3 meters away at (-42.1, 14.0). A pedestrian with ID 23 is 48.6 meters away at (-42.4, 23.6). A unknown object with ID 26 is 58.5 meters away at (-57.1, 12.7). A unknown object with ID 25 is 59.5 meters away at (-57.8, 14.1). A unknown object with ID 24 is 61.1 meters away at (-59.5, 13.9).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-10.356335    4.2673025] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.98924226 -0.49503246] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  9.810635 -17.638197], 20.183027267456055 meters away.)"}
{"file_name": "images/scenario_178_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -6.2) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 5.9 meters away at (4.9, 3.3). A vehicle with ID 30 is 6.7 meters away at (-0.2, 6.7). A unknown object with ID 33 is 11.7 meters away at (-11.6, 1.7). A unknown object with ID 35 is 12.3 meters away at (-12.2, 1.1). A unknown object with ID 34 is 12.5 meters away at (-12.3, 2.1). A vehicle with ID 4 is 14.3 meters away at (8.1, 11.8). A vehicle with ID 37 is 20.0 meters away at (-13.0, -15.2). A vehicle with ID 36 is 24.9 meters away at (-19.3, 15.7). A unknown object with ID 38 is 30.6 meters away at (-19.4, 23.6). A vehicle with ID 50 is 32.5 meters away at (27.5, 17.5).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.0445786 -4.1263356] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.5474685 -3.6177824] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0.9397632 2.7971232] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-5.4317856  2.3627224] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.831428   12.105279  ]\n [-2.6294613  10.683244  ]\n [ 1.0325098   9.31587   ]\n [10.783773   12.005178  ]\n [ 0.68681467  9.495972  ]\n [ 1.2482756   9.177204  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.8689156 3.2860508], 5.874050617218018 meters away.)"}
{"file_name": "images/scenario_178_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.4) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 6.2 meters away at (-5.6, 2.6). A vehicle with ID 6 is 9.5 meters away at (6.1, 7.3). A unknown object with ID 35 is 15.6 meters away at (-6.5, 14.2). A unknown object with ID 33 is 16.0 meters away at (-5.9, 14.8). A unknown object with ID 34 is 16.6 meters away at (-6.6, 15.2). A vehicle with ID 4 is 20.4 meters away at (10.3, 17.6). A vehicle with ID 30 is 20.6 meters away at (5.6, 19.9). A pedestrian with ID 31 is 23.3 meters away at (-19.6, -12.6). A pedestrian with ID 32 is 23.8 meters away at (-20.4, -12.3). A pedestrian with ID 25 is 34.8 meters away at (-9.8, -33.4).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0.80988383 2.052008  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.3830068 -4.90895  ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.059429  -4.1092587] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.24417198 0.5225494 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.3052309 0.5749833] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.03561591  0.03665322] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.6294613  10.683244  ]\n [ 1.0325098   9.31587   ]\n [ 0.68681467  9.495972  ]\n [ 1.2482756   9.177204  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.59838    2.5734673], 6.16154146194458 meters away.)"}
{"file_name": "images/scenario_178_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.2) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 12.7 meters away at (7.2, 10.4). A pedestrian with ID 31 is 13.3 meters away at (-13.3, 1.3). A pedestrian with ID 32 is 14.1 meters away at (-14.0, 1.7). A vehicle with ID 37 is 19.7 meters away at (1.9, 19.6). A pedestrian with ID 25 is 20.7 meters away at (-4.1, -20.3). A vehicle with ID 3 is 24.0 meters away at (-6.5, -23.1). A vehicle with ID 4 is 24.6 meters away at (11.5, 21.8). A vehicle with ID 14 is 26.8 meters away at (-26.0, -6.4). A unknown object with ID 35 is 27.2 meters away at (-0.7, 27.2). A unknown object with ID 33 is 27.8 meters away at (-0.2, 27.8).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.277226  -4.9056735] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.16026163 0.30296925] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.2308664  0.52161723] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0.9245088 2.1463766] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.08862595  0.09047642] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.4772663 -4.5927973] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.6294613  10.683244  ]\n [ 1.0325098   9.31587   ]\n [ 0.68681467  9.495972  ]\n [ 1.2482756   9.177204  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.2244167 10.423841 ], 12.682612419128418 meters away.)"}
{"file_name": "images/scenario_178_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -5.2) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 25 is 8.8 meters away at (1.2, -8.7). A vehicle with ID 3 is 11.6 meters away at (-1.2, -11.6). A vehicle with ID 6 is 15.3 meters away at (8.5, 12.7). A pedestrian with ID 31 is 15.6 meters away at (-8.0, 13.3). A pedestrian with ID 32 is 16.2 meters away at (-8.5, 13.8). A pedestrian with ID 20 is 23.2 meters away at (0.4, -23.2). A vehicle with ID 29 is 23.6 meters away at (-18.3, -15.0). A unknown object with ID 72 is 26.5 meters away at (-22.3, -14.3). A unknown object with ID 22 is 26.7 meters away at (-22.6, -14.2). A vehicle with ID 4 is 27.1 meters away at (12.0, 24.2).", "velocity_description": "The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.07204109  0.09078831] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.4024596 -4.217123 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.00525895 0.03740534] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00967986  0.0820494 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.01456889 -0.01903517] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.3110888 -4.6396785] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.6294613  10.683244  ]\n [ 1.0325098   9.31587   ]\n [ 0.68681467  9.495972  ]\n [ 1.2482756   9.177204  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 1.1948166 -8.721935 ], 8.803393363952637 meters away.)"}
{"file_name": "images/scenario_179_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 2.5) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 12.4 meters away at (5.8, -11.0). A pedestrian with ID 29 is 13.2 meters away at (12.3, 4.8). A pedestrian with ID 28 is 13.5 meters away at (12.8, 4.3). A pedestrian with ID 30 is 13.8 meters away at (12.7, 5.4). A pedestrian with ID 32 is 31.1 meters away at (-29.3, 10.5). A pedestrian with ID 19 is 31.4 meters away at (31.1, 4.2). A pedestrian with ID 33 is 55.0 meters away at (51.9, -18.1). A unknown object with ID 35 is 58.5 meters away at (56.0, -17.1). A vehicle with ID 2 is 72.1 meters away at (-58.5, 42.1). A pedestrian with ID 1 is 73.4 meters away at (-58.7, 44.1).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.0872883 -0.9138862] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1641783   0.09001581] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0848283  0.1838735] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.20799     0.12971304] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.41805938 -1.4919144 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.792885  -0.9554315] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.13349338 -0.1586919 ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.02592678 -0.02807277] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  5.822241 -10.98364 ], 12.431365013122559 meters away.)"}
{"file_name": "images/scenario_179_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 3.1) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 29 is 19.1 meters away at (19.0, -1.0). A pedestrian with ID 30 is 19.6 meters away at (19.6, -0.1). A pedestrian with ID 28 is 19.8 meters away at (19.8, -0.8). A pedestrian with ID 27 is 25.3 meters away at (17.2, -18.5). A pedestrian with ID 19 is 39.2 meters away at (39.1, -3.2). A pedestrian with ID 9 is 41.4 meters away at (41.4, 0.5). A vehicle with ID 2 is 61.4 meters away at (-49.5, 36.4). A pedestrian with ID 1 is 62.0 meters away at (-49.0, 38.0). A pedestrian with ID 26 is 67.8 meters away at (-48.9, 47.1). A pedestrian with ID 25 is 67.9 meters away at (-48.3, 47.7).", "velocity_description": "The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.2117903   0.17029883] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.2177175   0.11757085] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.1964326   0.12032296] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.1168898  -0.71032184] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.24984762 -1.0842738 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.4146437 -1.3610766] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.21172492 -0.20126949] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.9757004  0.7671441] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.0206612   0.79770935] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [19.025465  -1.0222702], 19.05290985107422 meters away.)"}
{"file_name": "images/scenario_179_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.6) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 14.4 meters away at (-0.5, 14.3). A pedestrian with ID 11 is 15.3 meters away at (0.1, 15.2). A pedestrian with ID 6 is 21.2 meters away at (-7.8, 19.7). A pedestrian with ID 29 is 27.2 meters away at (26.2, -7.5). A pedestrian with ID 30 is 27.4 meters away at (26.6, -6.6). A pedestrian with ID 28 is 27.8 meters away at (26.8, -7.3). A pedestrian with ID 27 is 39.5 meters away at (29.0, -26.8). A pedestrian with ID 19 is 49.6 meters away at (48.1, -12.3). A vehicle with ID 2 is 49.8 meters away at (-40.2, 29.4). A pedestrian with ID 9 is 50.0 meters away at (49.3, -8.7).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00912854 -0.03454467] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.02516319 -0.00936118] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.8682831  -0.91176546] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1355889   0.16893911] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1293628  0.0949704] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.1261325  0.1243613] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.8280343 -0.9439221] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01016017 -1.510919  ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.54515105 -1.2233031 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-0.504549  14.3455105], 14.35438060760498 meters away.)"}
{"file_name": "images/scenario_179_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.9) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 10.5 meters away at (2.9, 10.0). A pedestrian with ID 13 is 11.0 meters away at (8.7, 6.7). A pedestrian with ID 11 is 12.1 meters away at (9.4, 7.5). A pedestrian with ID 20 is 15.6 meters away at (0.5, -15.6). A pedestrian with ID 29 is 36.0 meters away at (33.0, -14.3). A pedestrian with ID 30 is 36.5 meters away at (33.8, -13.6). A pedestrian with ID 28 is 36.7 meters away at (33.9, -14.1). A vehicle with ID 2 is 37.8 meters away at (-30.9, 21.8). A pedestrian with ID 1 is 39.2 meters away at (-31.5, 23.3). A pedestrian with ID 25 is 49.2 meters away at (-33.0, 36.4).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.88794875 -0.9039883 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00608099 0.00527106] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.0175907  -0.02520316] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.44865546 -0.7534491 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1472869   0.45217368] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1132871   0.39067072] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0931271   0.41651478] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00010009 -0.00944227] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.71267974  0.9558173 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 2.9457588 10.043179 ], 10.466276168823242 meters away.)"}
{"file_name": "images/scenario_180_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.82 ", "actor_description": " The most relevant actors are: A unknown object with ID 52 is 8.3 meters away at (-7.3, 4.1). A unknown object with ID 53 is 8.7 meters away at (-8.7, 1.2). A unknown object with ID 54 is 9.2 meters away at (-6.3, 6.7). A unknown object with ID 55 is 10.3 meters away at (-10.2, -1.4). A unknown object with ID 56 is 10.9 meters away at (-5.8, 9.3). A unknown object with ID 57 is 12.5 meters away at (-11.9, -3.9). A unknown object with ID 58 is 15.0 meters away at (-13.7, -6.2). A unknown object with ID 59 is 16.1 meters away at (-14.4, -7.1). A unknown object with ID 61 is 18.0 meters away at (-15.8, -8.7). A unknown object with ID 62 is 19.7 meters away at (-17.0, -9.9).", "velocity_description": "The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-213.8289794921875, 115.96829223632812)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-7.2535763  4.115601 ], 8.339816093444824 meters away.)"}
{"file_name": "images/scenario_180_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 2.6) m/s. Its current heading (yaw) is 1.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 52 is 9.2 meters away at (-9.0, 1.7). A unknown object with ID 54 is 9.2 meters away at (-8.0, 4.7). A unknown object with ID 56 is 10.2 meters away at (-7.4, 7.1). A unknown object with ID 53 is 10.4 meters away at (-10.3, -1.0). A unknown object with ID 55 is 12.4 meters away at (-11.9, -3.6). A unknown object with ID 44 is 12.9 meters away at (-7.5, 10.6). A unknown object with ID 30 is 14.0 meters away at (-12.7, 5.9). A unknown object with ID 57 is 15.2 meters away at (-13.8, -6.4). A unknown object with ID 39 is 16.2 meters away at (-12.3, 10.5). A unknown object with ID 58 is 17.0 meters away at (-15.0, -8.0).", "velocity_description": "The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-213.8289794921875, 115.96829223632812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.998496   1.7018943], 9.1580228805542 meters away.)"}
{"file_name": "images/scenario_180_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 4.9) m/s. Its current heading (yaw) is 1.77 ", "actor_description": " The most relevant actors are: A unknown object with ID 56 is 8.9 meters away at (-8.9, -0.4). A unknown object with ID 44 is 9.3 meters away at (-9.0, 2.7). A unknown object with ID 54 is 9.8 meters away at (-9.4, -2.9). A unknown object with ID 52 is 12.0 meters away at (-10.4, -5.9). A unknown object with ID 30 is 14.4 meters away at (-14.3, -1.8). A vehicle with ID 65 is 14.5 meters away at (5.4, 13.4). A unknown object with ID 53 is 14.6 meters away at (-11.8, -8.5). A vehicle with ID 64 is 16.6 meters away at (16.1, 3.9). A unknown object with ID 55 is 17.5 meters away at (-13.4, -11.2). A unknown object with ID 57 is 20.5 meters away at (-15.2, -13.8).", "velocity_description": "The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-213.8289794921875, 115.96829223632812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.897421   -0.39249516], 8.906073570251465 meters away.)"}
{"file_name": "images/scenario_180_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 5.7) m/s. Its current heading (yaw) is 2.16 ", "actor_description": " The most relevant actors are: A unknown object with ID 44 is 8.6 meters away at (-3.8, -7.7). A vehicle with ID 65 is 10.8 meters away at (10.4, 2.8). A unknown object with ID 56 is 12.1 meters away at (-3.8, -11.4). A unknown object with ID 54 is 14.8 meters away at (-4.4, -14.1). A unknown object with ID 27 is 15.2 meters away at (-4.5, -14.5). A unknown object with ID 52 is 18.2 meters away at (-5.6, -17.3). A unknown object with ID 53 is 20.3 meters away at (-6.6, -19.2). A vehicle with ID 64 is 22.3 meters away at (21.2, -6.7). A unknown object with ID 55 is 23.2 meters away at (-8.0, -21.8). A unknown object with ID 42 is 24.4 meters away at (-8.7, -22.8).", "velocity_description": "The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-213.8289794921875, 115.96829223632812)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-3.8364525 -7.7205486], 8.621209144592285 meters away.)"}
{"file_name": "images/scenario_181_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -1.1) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 76 is 16.3 meters away at (2.0, -16.2). A vehicle with ID 80 is 29.0 meters away at (4.5, -28.6). A pedestrian with ID 81 is 29.2 meters away at (24.1, -16.5). A vehicle with ID 82 is 31.8 meters away at (24.8, -19.8). A vehicle with ID 79 is 33.4 meters away at (0.5, -33.4). A vehicle with ID 78 is 37.9 meters away at (-3.3, -37.7). A vehicle with ID 83 is 41.3 meters away at (15.7, 38.2). A vehicle with ID 17 is 42.0 meters away at (-6.7, -41.5). A vehicle with ID 84 is 42.4 meters away at (11.4, 40.9). A vehicle with ID 85 is 44.7 meters away at (6.1, 44.3).", "velocity_description": "The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.17577255 -0.34604546] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.533832550048828, -35.7348747253418)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  2.040194 -16.178139], 16.3062744140625 meters away.)"}
{"file_name": "images/scenario_181_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.5) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 76 is 12.7 meters away at (-2.9, -12.4). A vehicle with ID 26 is 22.0 meters away at (-9.4, -19.9). A pedestrian with ID 81 is 23.2 meters away at (19.0, -13.2). A vehicle with ID 80 is 24.7 meters away at (-0.4, -24.7). A vehicle with ID 82 is 25.2 meters away at (19.6, -15.9). A vehicle with ID 23 is 29.1 meters away at (-14.3, -25.4). A vehicle with ID 79 is 29.9 meters away at (-4.4, -29.6). A vehicle with ID 78 is 34.9 meters away at (-8.2, -33.9). A vehicle with ID 16 is 36.5 meters away at (-18.8, -31.3). A pedestrian with ID 18 is 36.5 meters away at (-23.6, -27.9).", "velocity_description": "The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.13247201 -0.05676945] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.39587536 0.25725693] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.533832550048828, -35.7348747253418)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -2.8910205 -12.394714 ], 12.727409362792969 meters away.)"}
{"file_name": "images/scenario_181_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -4.0) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 76 is 8.8 meters away at (-6.5, -6.0). A pedestrian with ID 81 is 16.9 meters away at (15.6, -6.5). A vehicle with ID 80 is 18.6 meters away at (-3.9, -18.2). A vehicle with ID 26 is 18.6 meters away at (-12.8, -13.5). A vehicle with ID 82 is 18.7 meters away at (16.2, -9.3). A vehicle with ID 79 is 24.5 meters away at (-7.9, -23.2). A vehicle with ID 23 is 26.0 meters away at (-17.7, -19.1). A vehicle with ID 50 is 27.1 meters away at (22.6, -14.9). A vehicle with ID 78 is 29.8 meters away at (-11.7, -27.4). A vehicle with ID 77 is 32.8 meters away at (23.5, 22.9).", "velocity_description": "The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.0043695  -0.00925516] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-3.2478855 -1.56161  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.533832550048828, -35.7348747253418)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.463929 -5.975086], 8.802501678466797 meters away.)"}
{"file_name": "images/scenario_181_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.7) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 76 is 3.5 meters away at (-2.6, 2.4). A vehicle with ID 80 is 9.8 meters away at (-0.0, -9.8). A vehicle with ID 26 is 10.3 meters away at (-9.0, -5.0). A vehicle with ID 79 is 15.2 meters away at (-4.1, -14.7). A vehicle with ID 23 is 17.4 meters away at (-13.9, -10.5). A pedestrian with ID 81 is 19.5 meters away at (19.4, 1.8). A vehicle with ID 82 is 20.0 meters away at (20.0, -1.0). A vehicle with ID 78 is 20.5 meters away at (-7.9, -18.9). A vehicle with ID 16 is 24.7 meters away at (-18.6, -16.4). A vehicle with ID 17 is 25.5 meters away at (-11.3, -22.8).", "velocity_description": "The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.00594443 -0.00697428] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.533832550048828, -35.7348747253418)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.5925574  2.4014664], 3.5338923931121826 meters away.)"}
{"file_name": "images/scenario_182_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 44 is 9.7 meters away at (-7.1, 6.6). A unknown object with ID 54 is 10.6 meters away at (-9.5, 4.7). A unknown object with ID 49 is 11.4 meters away at (-9.0, 7.0). A unknown object with ID 51 is 12.6 meters away at (-11.5, 5.0). A unknown object with ID 61 is 12.6 meters away at (-11.0, 6.1). A unknown object with ID 33 is 12.9 meters away at (-9.9, 8.3). A unknown object with ID 52 is 13.0 meters away at (-10.0, 8.3). A unknown object with ID 53 is 13.1 meters away at (-11.2, 6.8). A unknown object with ID 63 is 13.2 meters away at (-12.0, 5.5). A pedestrian with ID 57 is 13.7 meters away at (-12.4, 6.0).", "velocity_description": "The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.00790561  0.00337439] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.5539425e+01  1.9983292e-02]\n [-2.5537643e+01 -1.8037786e-01]\n [-2.5477888e+01  5.4223818e-01]\n [-2.5515833e+01 -5.3464687e-01]\n [-2.5491449e+01  3.8898742e-01]]", "nav_goal": "(-194.84637451171875, -215.33413696289062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.1267805  6.640641 ], 9.741104125976562 meters away.)"}
{"file_name": "images/scenario_182_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 44 is 7.6 meters away at (-3.7, 6.7). A unknown object with ID 54 is 7.7 meters away at (-6.0, 4.7). A unknown object with ID 49 is 9.0 meters away at (-5.6, 7.1). A unknown object with ID 51 is 9.5 meters away at (-8.1, 5.1). A unknown object with ID 53 is 10.1 meters away at (-7.5, 6.8). A unknown object with ID 33 is 10.6 meters away at (-6.5, 8.4). A unknown object with ID 52 is 10.6 meters away at (-6.6, 8.3). A pedestrian with ID 57 is 10.8 meters away at (-8.9, 6.1). A pedestrian with ID 30 is 10.9 meters away at (-9.0, 6.1). A pedestrian with ID 60 is 11.3 meters away at (-9.0, 6.9).", "velocity_description": "The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.02301586 0.02322985] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.02328021 0.01247773] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.00346849 0.00845036] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.5539425e+01  1.9983292e-02]\n [-2.5537643e+01 -1.8037786e-01]\n [-2.5477888e+01  5.4223818e-01]\n [-2.5515833e+01 -5.3464687e-01]\n [-2.5491449e+01  3.8898742e-01]]", "nav_goal": "(-194.84637451171875, -215.33413696289062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.6700926  6.674911 ], 7.617349624633789 meters away.)"}
{"file_name": "images/scenario_182_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 54 is 7.4 meters away at (-5.7, 4.7). A unknown object with ID 44 is 7.5 meters away at (-3.4, 6.7). A unknown object with ID 49 is 8.9 meters away at (-5.4, 7.0). A unknown object with ID 51 is 9.4 meters away at (-7.9, 5.1). A unknown object with ID 53 is 9.9 meters away at (-7.3, 6.8). A unknown object with ID 52 is 10.4 meters away at (-6.3, 8.3). A pedestrian with ID 57 is 10.6 meters away at (-8.7, 6.1). A pedestrian with ID 60 is 11.1 meters away at (-8.7, 6.8). A unknown object with ID 50 is 16.8 meters away at (10.6, 13.1). A unknown object with ID 62 is 17.9 meters away at (9.6, 15.2).", "velocity_description": "The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.00205934  0.00116883] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.00544145 -0.00112471] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.5539425e+01  1.9983292e-02]\n [-2.5537643e+01 -1.8037786e-01]\n [-2.5477888e+01  5.4223818e-01]\n [-2.5515833e+01 -5.3464687e-01]\n [-2.5491449e+01  3.8898742e-01]]", "nav_goal": "(-194.84637451171875, -215.33413696289062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-5.7449017  4.702145 ], 7.423884868621826 meters away.)"}
{"file_name": "images/scenario_182_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 44 is 7.4 meters away at (-3.3, 6.7). A unknown object with ID 16 is 8.6 meters away at (-6.7, 5.5). A unknown object with ID 49 is 8.8 meters away at (-5.3, 7.0). A unknown object with ID 51 is 9.4 meters away at (-7.8, 5.1). A vehicle with ID 7 is 9.7 meters away at (-9.2, 3.0). A vehicle with ID 117 is 9.8 meters away at (-9.3, 3.0). A unknown object with ID 8 is 9.9 meters away at (-8.1, 5.6). A unknown object with ID 53 is 9.9 meters away at (-7.3, 6.8). A unknown object with ID 52 is 10.4 meters away at (-6.3, 8.3). A pedestrian with ID 57 is 10.5 meters away at (-8.6, 6.1).", "velocity_description": "The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 4.8502917  -0.01520871] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [ 4.718907   -0.08179083] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.0021899  -0.00284149] m/s.", "light_description": "There are active red lights at the following coordinates: [[-4.1479492e+01  1.3594030e-02]\n [-2.5539425e+01  1.9983292e-02]\n [-2.5537643e+01 -1.8037786e-01]\n [-2.5477888e+01  5.4223818e-01]\n [-4.2425098e+01  1.0347674e+00]\n [-2.5515833e+01 -5.3464687e-01]\n [-2.5491449e+01  3.8898742e-01]]", "nav_goal": "(-194.84637451171875, -215.33413696289062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.3249722  6.6576433], 7.441750526428223 meters away.)"}
{"file_name": "images/scenario_183_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -0.3) m/s. Its current heading (yaw) is -0.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 39.3 meters away at (21.1, 33.2). A pedestrian with ID 11 is 44.3 meters away at (38.2, -22.5). A vehicle with ID 14 is 70.5 meters away at (-49.4, -50.3).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.05107599 1.5545644 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.10699987 1.2002498 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-30.282997131347656, -37.75136947631836)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [21.054825 33.231205], 39.33978271484375 meters away.)"}
{"file_name": "images/scenario_183_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 0.9) m/s. Its current heading (yaw) is 0.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 37.4 meters away at (31.5, -20.1). A pedestrian with ID 8 is 39.2 meters away at (15.9, 35.9).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.22286506 1.3438302 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.78031915 1.3227552 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-30.282997131347656, -37.75136947631836)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 31.486639 -20.121683], 37.36697006225586 meters away.)"}
{"file_name": "images/scenario_183_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.3) m/s. Its current heading (yaw) is 0.91 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 27.4 meters away at (-5.4, 26.8). A pedestrian with ID 11 is 33.4 meters away at (24.3, -22.9). A pedestrian with ID 8 is 34.2 meters away at (9.0, 32.9). A vehicle with ID 1 is 68.4 meters away at (56.6, -38.5).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.638671  1.4558932] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.03525028  1.296486  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.9440856  3.2816157] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-30.282997131347656, -37.75136947631836)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-5.4107685 26.84074  ], 27.38068199157715 meters away.)"}
{"file_name": "images/scenario_183_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 3.9) m/s. Its current heading (yaw) is 1.05 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 27.5 meters away at (3.5, 27.3). A pedestrian with ID 11 is 35.0 meters away at (20.4, -28.4). A vehicle with ID 1 is 59.1 meters away at (42.3, -41.3).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.23586683  1.4664016 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.6369782 1.1895715] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.031512   2.6299827] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-30.282997131347656, -37.75136947631836)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.4607468 27.30692  ], 27.525344848632812 meters away.)"}
{"file_name": "images/scenario_184_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -0.6) m/s. Its current heading (yaw) is -0.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 4.3 meters away at (0.8, 4.2). A vehicle with ID 21 is 8.2 meters away at (7.4, 3.5). A vehicle with ID 28 is 19.4 meters away at (19.2, 2.4). A pedestrian with ID 19 is 20.6 meters away at (-13.8, -15.3). A unknown object with ID 4 is 46.1 meters away at (-44.5, -11.9). A unknown object with ID 22 is 46.8 meters away at (-45.6, -10.3). A unknown object with ID 23 is 48.5 meters away at (-47.6, -9.3). A unknown object with ID 24 is 50.1 meters away at (-49.4, -8.7). A unknown object with ID 25 is 50.5 meters away at (-49.4, -10.7). A unknown object with ID 26 is 51.5 meters away at (-49.9, -12.7).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.09230371 0.20708546] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-11.28623104095459, -106.97967529296875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.83156395 4.213813  ], 4.295080184936523 meters away.)"}
{"file_name": "images/scenario_184_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.0, -0.8) m/s. Its current heading (yaw) is -0.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 4.4 meters away at (2.1, 3.8). A vehicle with ID 21 is 11.0 meters away at (-9.8, 5.0). A vehicle with ID 20 is 17.4 meters away at (-16.5, 5.6). A unknown object with ID 8 is 29.2 meters away at (-29.2, -1.3). A pedestrian with ID 19 is 34.1 meters away at (-31.2, -13.8). A pedestrian with ID 6 is 35.0 meters away at (-32.1, -14.0). A unknown object with ID 11 is 56.8 meters away at (56.8, -0.2). A unknown object with ID 22 is 63.6 meters away at (-63.0, -8.9). A unknown object with ID 23 is 65.5 meters away at (-65.1, -8.0). A unknown object with ID 24 is 67.1 meters away at (-66.7, -7.4).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01022851 -0.00369747] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.06713761 0.01879776] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-11.28623104095459, -106.97967529296875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.0584373 3.8463473], 4.362516403198242 meters away.)"}
{"file_name": "images/scenario_184_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.0, -1.0) m/s. Its current heading (yaw) is -0.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 16.6 meters away at (-15.7, 5.5). A vehicle with ID 21 is 28.4 meters away at (-27.7, 6.6). A vehicle with ID 20 is 35.1 meters away at (-34.4, 7.2). A unknown object with ID 11 is 38.9 meters away at (38.9, 1.6). A unknown object with ID 15 is 40.0 meters away at (40.0, 0.5). A pedestrian with ID 19 is 50.5 meters away at (-49.0, -12.1).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.02075949 -0.05193111] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-11.28623104095459, -106.97967529296875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-15.6929245   5.4517946], 16.612945556640625 meters away.)"}
{"file_name": "images/scenario_184_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -1.0) m/s. Its current heading (yaw) is -0.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 34.3 meters away at (-33.4, 7.5). A vehicle with ID 21 is 46.2 meters away at (-45.5, 8.5). A vehicle with ID 20 is 53.0 meters away at (-52.1, 9.2). A unknown object with ID 17 is 67.6 meters away at (-66.8, -10.1). A pedestrian with ID 19 is 67.7 meters away at (-66.9, -10.2).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.03089785  0.00198902] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-11.28623104095459, -106.97967529296875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-33.427788    7.4974484], 34.25826644897461 meters away.)"}
{"file_name": "images/scenario_185_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 4.9) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 5.0 meters away at (4.6, 1.9). A vehicle with ID 15 is 16.4 meters away at (16.0, -3.7). A vehicle with ID 16 is 18.1 meters away at (13.5, -12.2). A vehicle with ID 17 is 39.8 meters away at (2.9, -39.7). A pedestrian with ID 18 is 40.6 meters away at (30.1, 27.3). A unknown object with ID 19 is 45.3 meters away at (13.7, 43.2). A unknown object with ID 7 is 67.3 meters away at (26.2, 62.0).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [1.9403427 6.8714952] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.35586888 1.6049103 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.51665  27.365265]\n [10.312739 28.233685]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.5699015 1.9453535], 4.966729164123535 meters away.)"}
{"file_name": "images/scenario_185_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 3.9) m/s. Its current heading (yaw) is 1.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 8.4 meters away at (6.9, 4.8). A vehicle with ID 15 is 18.8 meters away at (14.2, -12.4). A vehicle with ID 16 is 24.0 meters away at (11.7, -20.9). A pedestrian with ID 18 is 35.8 meters away at (28.5, 21.6). A unknown object with ID 19 is 36.5 meters away at (12.0, 34.5). A vehicle with ID 17 is 48.5 meters away at (1.1, -48.5). A unknown object with ID 7 is 58.5 meters away at (24.2, 53.3). A vehicle with ID 9 is 61.7 meters away at (61.7, -1.3). A pedestrian with ID 8 is 66.7 meters away at (66.1, 9.2).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [2.6498702 4.424139 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.16139275 1.3768209 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.03049784 -0.03362791] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [6.8599796 4.790844 ], 8.367287635803223 meters away.)"}
{"file_name": "images/scenario_185_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 4.0) m/s. Its current heading (yaw) is 1.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 14.0 meters away at (13.7, 2.5). A vehicle with ID 15 is 24.7 meters away at (14.1, -20.3). A unknown object with ID 19 is 29.0 meters away at (11.9, 26.5). A vehicle with ID 16 is 31.0 meters away at (11.5, -28.8). A unknown object with ID 3 is 31.2 meters away at (12.6, 28.5). A pedestrian with ID 18 is 33.3 meters away at (28.8, 16.6). A pedestrian with ID 6 is 53.9 meters away at (52.1, -13.6). A vehicle with ID 17 is 56.4 meters away at (0.9, -56.4). A vehicle with ID 9 is 62.3 meters away at (61.6, -9.2).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [4.502285  1.4377855] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.21381995 1.5739655 ] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.6788798  -0.77785283] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [13.738547   2.4973946], 13.963690757751465 meters away.)"}
{"file_name": "images/scenario_185_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 3.3) m/s. Its current heading (yaw) is 2.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 24.1 meters away at (14.8, 19.0). A unknown object with ID 2 is 25.0 meters away at (14.9, 20.1). A unknown object with ID 3 is 26.2 meters away at (15.5, 21.2). A vehicle with ID 13 is 27.7 meters away at (27.2, -5.0). A vehicle with ID 15 is 32.6 meters away at (17.2, -27.7). A pedestrian with ID 18 is 34.4 meters away at (32.2, 12.3). A vehicle with ID 16 is 39.1 meters away at (14.6, -36.3). A unknown object with ID 10 is 59.1 meters away at (54.3, -23.2). A vehicle with ID 17 is 64.0 meters away at (4.0, -63.9). A vehicle with ID 9 is 66.8 meters away at (64.7, -16.5).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 5.529115  -1.0930129] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.14743109 1.5042936 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [14.81379  19.040218], 24.124225616455078 meters away.)"}
{"file_name": "images/scenario_186_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -8.1) m/s. Its current heading (yaw) is -1.24 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(55.17892837524414, -282.2708740234375)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_186_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -8.5) m/s. Its current heading (yaw) is -1.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 43.0 meters away at (21.8, -37.1). A pedestrian with ID 9 is 59.9 meters away at (22.0, -55.7).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.5218714  -0.20213881] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.5727136 -1.4308844] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(55.17892837524414, -282.2708740234375)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 21.780775 -37.095627], 43.017295837402344 meters away.)"}
{"file_name": "images/scenario_186_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -8.8) m/s. Its current heading (yaw) is -1.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 27.2 meters away at (18.3, -20.2).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.03080184 -0.01667926] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(55.17892837524414, -282.2708740234375)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 18.272774 -20.158756], 27.207897186279297 meters away.)"}
{"file_name": "images/scenario_186_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -8.4) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 17.2 meters away at (16.9, -3.1). A pedestrian with ID 11 is 29.8 meters away at (17.1, -24.4). A pedestrian with ID 8 is 31.5 meters away at (16.6, -26.7).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.0073726  0.11933722] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.07882468 1.3724324 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00497771 -1.3557031 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(55.17892837524414, -282.2708740234375)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [16.941486  -3.1008835], 17.222932815551758 meters away.)"}
{"file_name": "images/scenario_187_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.2) m/s. Its current heading (yaw) is -0.12 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 15.2 meters away at (7.9, 13.0). A pedestrian with ID 3 is 16.9 meters away at (11.5, 12.3). A vehicle with ID 15 is 22.5 meters away at (18.4, 12.8). A pedestrian with ID 16 is 48.0 meters away at (-34.5, -33.4). A vehicle with ID 22 is 56.7 meters away at (51.4, -24.0). A vehicle with ID 18 is 67.7 meters away at (-44.2, -51.3). A vehicle with ID 20 is 68.4 meters away at (-39.1, -56.1). A vehicle with ID 19 is 68.7 meters away at (-46.6, -50.6).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.09566644 1.0521477 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.58168125 1.1055928 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.0228417 -4.1943545] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.03312398  0.06479241] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.20977783203125, -161.333251953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 7.8684993 13.033567 ], 15.224557876586914 meters away.)"}
{"file_name": "images/scenario_187_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 17.2 meters away at (15.2, 8.1). A pedestrian with ID 3 is 18.6 meters away at (11.8, 14.3). A unknown object with ID 10 is 44.5 meters away at (30.0, 32.9). A pedestrian with ID 16 is 48.4 meters away at (-35.2, -33.2). A vehicle with ID 22 is 56.0 meters away at (50.7, -23.8). A vehicle with ID 18 is 68.1 meters away at (-44.9, -51.2). A vehicle with ID 19 is 69.2 meters away at (-47.3, -50.5).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.5704105  -0.75817573] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.37765092 0.9486196 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.00646649 -0.00055597] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.20977783203125, -161.333251953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [15.221876  8.070509], 17.229005813598633 meters away.)"}
{"file_name": "images/scenario_187_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.3) m/s. Its current heading (yaw) is -0.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 14.3 meters away at (12.8, 6.3). A pedestrian with ID 3 is 19.6 meters away at (11.3, 16.1). A pedestrian with ID 16 is 49.0 meters away at (-35.8, -33.5). A vehicle with ID 22 is 55.0 meters away at (49.9, -23.2). A vehicle with ID 19 is 69.7 meters away at (-47.8, -50.7).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.6417649 -1.6857277] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.3075997  0.84954166] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.04379373 -0.15819319] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.20977783203125, -161.333251953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.790367  6.285362], 14.251289367675781 meters away.)"}
{"file_name": "images/scenario_187_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -0.6) m/s. Its current heading (yaw) is -0.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 5.2 meters away at (2.3, 4.6). A pedestrian with ID 3 is 20.3 meters away at (7.8, 18.7). A vehicle with ID 22 is 50.7 meters away at (45.4, -22.5).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.5042915  -0.36066794] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.5131997  0.65330184] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.21291716 -0.38287708] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.20977783203125, -161.333251953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.3219824 4.5984325], 5.151425361633301 meters away.)"}
{"file_name": "images/scenario_188_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 0.3) m/s. Its current heading (yaw) is 2.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 6.6 meters away at (1.2, -6.5). A unknown object with ID 36 is 6.7 meters away at (-1.4, -6.6). A unknown object with ID 38 is 7.8 meters away at (-3.8, -6.8). A vehicle with ID 54 is 10.1 meters away at (-10.1, -0.8). A vehicle with ID 9 is 16.6 meters away at (-4.7, -15.9). A vehicle with ID 42 is 17.1 meters away at (12.6, -11.7). A vehicle with ID 58 is 19.9 meters away at (-2.4, 19.7). A vehicle with ID 37 is 22.0 meters away at (-6.6, -21.0). A vehicle with ID 45 is 22.8 meters away at (18.4, -13.3). A unknown object with ID 49 is 23.4 meters away at (-10.2, 21.0).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 9.024122  -2.6800418] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(122.81668090820312, -151.99551391601562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 1.1803432 -6.5443077], 6.649900436401367 meters away.)"}
{"file_name": "images/scenario_188_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 6.8 meters away at (-0.7, -6.8). A unknown object with ID 10 is 7.0 meters away at (1.9, -6.7). A unknown object with ID 38 is 7.7 meters away at (-3.1, -7.0). A vehicle with ID 54 is 11.3 meters away at (9.2, -6.6). A vehicle with ID 9 is 16.6 meters away at (-4.0, -16.1). A vehicle with ID 42 is 17.9 meters away at (13.4, -11.9). A vehicle with ID 58 is 19.6 meters away at (-1.7, 19.5). A vehicle with ID 37 is 21.9 meters away at (-6.0, -21.1). A unknown object with ID 49 is 22.8 meters away at (-9.4, 20.8). A vehicle with ID 45 is 23.5 meters away at (19.2, -13.6).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 9.301164  -2.8320615] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(122.81668090820312, -151.99551391601562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-0.6754303 -6.8008137], 6.8342719078063965 meters away.)"}
{"file_name": "images/scenario_188_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 6.9 meters away at (-0.6, -6.8). A unknown object with ID 10 is 7.1 meters away at (2.0, -6.8). A unknown object with ID 38 is 7.7 meters away at (-3.0, -7.1). A vehicle with ID 73 is 8.2 meters away at (-8.1, -1.3). A vehicle with ID 9 is 16.6 meters away at (-3.9, -16.1). A vehicle with ID 42 is 18.0 meters away at (13.4, -12.0). A vehicle with ID 58 is 19.6 meters away at (-1.6, 19.5). A vehicle with ID 37 is 21.9 meters away at (-6.0, -21.1). A unknown object with ID 49 is 22.8 meters away at (-9.3, 20.8). A vehicle with ID 12 is 23.1 meters away at (-22.8, 3.9).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [ 9.02283   -2.7920477] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 8.763422  -2.9049122] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(122.81668090820312, -151.99551391601562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-0.58728266 -6.84403   ], 6.869180679321289 meters away.)"}
{"file_name": "images/scenario_188_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 0.5) m/s. Its current heading (yaw) is 2.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 4.3 meters away at (-3.7, -2.2). A unknown object with ID 36 is 7.3 meters away at (0.8, -7.3). A unknown object with ID 38 is 7.6 meters away at (-1.6, -7.5). A unknown object with ID 10 is 8.0 meters away at (3.4, -7.2). A vehicle with ID 73 is 13.3 meters away at (11.1, -7.3). A vehicle with ID 9 is 16.7 meters away at (-2.6, -16.5). A vehicle with ID 58 is 19.1 meters away at (-0.1, 19.1). A vehicle with ID 42 is 19.3 meters away at (14.7, -12.4). A unknown object with ID 49 is 21.8 meters away at (-7.8, 20.4). A vehicle with ID 37 is 21.9 meters away at (-4.7, -21.4).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [ 8.95686 -2.61784] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [ 8.644203 -2.795154] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(122.81668090820312, -151.99551391601562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.6714025 -2.1653435], 4.262382984161377 meters away.)"}
{"file_name": "images/scenario_189_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 4.6) m/s. Its current heading (yaw) is 2.35 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 26.9 meters away at (-26.9, 0.6). A vehicle with ID 31 is 28.7 meters away at (-20.5, 20.0). A pedestrian with ID 41 is 29.1 meters away at (-29.1, 0.4). A vehicle with ID 34 is 29.7 meters away at (-29.5, 3.2). A pedestrian with ID 42 is 29.8 meters away at (-29.8, 0.4). A vehicle with ID 37 is 34.8 meters away at (-34.1, 7.2). A vehicle with ID 32 is 34.9 meters away at (33.6, -9.2). A vehicle with ID 44 is 36.0 meters away at (-26.3, 24.5). A vehicle with ID 43 is 38.2 meters away at (18.7, -33.2). A vehicle with ID 4 is 38.2 meters away at (-38.1, 2.2).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.9393722  0.96691453] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.86888754 -0.70614165] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.5340687 -0.6799707] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 19.370886   -6.0764375]\n [ 19.047901   -5.862422 ]\n [ 12.407698  -15.774797 ]\n [ 14.2711    -16.676174 ]\n [ 16.789705  -18.783222 ]\n [ 17.897984  -20.489334 ]]", "nav_goal": "(-236.72474670410156, 131.9869842529297)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-26.853909    0.6261854], 26.861207962036133 meters away.)"}
{"file_name": "images/scenario_189_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 3.2) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 4.3 meters away at (-0.3, 4.2). A vehicle with ID 31 is 18.1 meters away at (-13.4, 12.1). A pedestrian with ID 1 is 18.8 meters away at (-18.1, -5.0). A vehicle with ID 34 is 23.1 meters away at (-22.6, -4.7). A pedestrian with ID 41 is 25.1 meters away at (-23.4, -9.2). A vehicle with ID 44 is 25.3 meters away at (-19.2, 16.5). A pedestrian with ID 42 is 25.9 meters away at (-24.3, -9.0). A vehicle with ID 37 is 27.0 meters away at (-27.0, -0.7). A vehicle with ID 3 is 28.1 meters away at (-26.4, -9.4). A pedestrian with ID 27 is 28.8 meters away at (-26.5, -11.2).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.8477418 1.3538066] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.6860374  -0.78838354] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.69301677 -0.7894649 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.68362683 -0.5529671 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 12.407698 -15.774797]\n [ 14.2711   -16.676174]\n [ 16.789705 -18.783222]\n [ 17.897984 -20.489334]]", "nav_goal": "(-236.72474670410156, 131.9869842529297)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.31845665  4.238756  ], 4.250701904296875 meters away.)"}
{"file_name": "images/scenario_189_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 1.0) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 12.4 meters away at (-9.4, 8.1). A pedestrian with ID 1 is 14.2 meters away at (-12.7, -6.5). A vehicle with ID 34 is 20.6 meters away at (-18.7, -8.7). A vehicle with ID 37 is 23.5 meters away at (-23.0, -4.7). A pedestrian with ID 41 is 25.6 meters away at (-20.8, -14.9). A pedestrian with ID 24 is 26.0 meters away at (-20.6, -15.9). A vehicle with ID 3 is 26.3 meters away at (-22.5, -13.5). A pedestrian with ID 42 is 26.4 meters away at (-21.9, -14.8). A vehicle with ID 4 is 28.9 meters away at (-27.2, -9.7). A pedestrian with ID 27 is 29.4 meters away at (-24.0, -16.9).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.7340038 1.0984571] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.75486046 -0.9069452 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.7184623 -0.9503372] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.7901897 -0.8412315] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.7776856 -0.8597907] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 12.407698 -15.774797]\n [ 14.2711   -16.676174]\n [ 16.789705 -18.783222]\n [ 17.897984 -20.489334]]", "nav_goal": "(-236.72474670410156, 131.9869842529297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.413816   8.0657215], 12.396604537963867 meters away.)"}
{"file_name": "images/scenario_189_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 11.3 meters away at (-8.6, 7.4). A pedestrian with ID 1 is 12.5 meters away at (-11.2, -5.7). A vehicle with ID 20 is 18.6 meters away at (-14.2, 12.1). A vehicle with ID 34 is 20.1 meters away at (-17.8, -9.3). A vehicle with ID 37 is 22.8 meters away at (-22.2, -5.3). A vehicle with ID 3 is 25.9 meters away at (-21.6, -14.2). A pedestrian with ID 41 is 27.7 meters away at (-21.5, -17.4). A pedestrian with ID 24 is 28.0 meters away at (-21.1, -18.4). A vehicle with ID 4 is 28.3 meters away at (-26.3, -10.3). A pedestrian with ID 42 is 28.4 meters away at (-22.6, -17.2).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.17128271 0.26495424] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.7474325  -0.96394914] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.79371405 -0.8962859 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.81190014 -0.96562225] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 12.407698 -15.774797]\n [ 14.2711   -16.676174]\n [ 16.789705 -18.783222]\n [ 17.897984 -20.489334]]", "nav_goal": "(-236.72474670410156, 131.9869842529297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.559153  7.382086], 11.302844047546387 meters away.)"}
{"file_name": "images/scenario_190_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 19.7 meters away at (-8.5, 17.8). A pedestrian with ID 5 is 21.2 meters away at (3.2, 20.9). A pedestrian with ID 6 is 21.5 meters away at (2.5, 21.3). A pedestrian with ID 10 is 23.7 meters away at (-21.1, -10.7). A pedestrian with ID 12 is 24.0 meters away at (-21.1, -11.4). A cyclist with ID 11 is 24.4 meters away at (-6.4, 23.6). A unknown object with ID 1 is 24.6 meters away at (-17.7, -17.2). A vehicle with ID 13 is 30.3 meters away at (-5.8, 29.8). A pedestrian with ID 17 is 39.3 meters away at (-39.1, 3.6). A pedestrian with ID 16 is 39.4 meters away at (-20.9, 33.4).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.30860025 0.99518204] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.2661015  0.98022896] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00192385  0.00074167] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00396325 -0.00968929] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.0070733   0.00297634] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.5798585 -1.1956961] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.1471766  -0.32158577] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.53426254 -1.2040006 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.654618    17.352869  ]\n [ -8.207749    -0.5185077 ]\n [-34.543625    -8.018386  ]\n [ -8.187409     0.20056896]\n [ -8.206454    -0.5472346 ]\n [-34.30068     -8.184805  ]\n [ -8.217549    -0.23402452]\n [ -8.206454    -0.5472339 ]\n [ -6.506361    16.566236  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.5375395 17.801088 ], 19.742551803588867 meters away.)"}
{"file_name": "images/scenario_190_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 19.7 meters away at (-8.5, 17.8). A pedestrian with ID 10 is 23.7 meters away at (-21.1, -10.6). A pedestrian with ID 12 is 24.1 meters away at (-21.2, -11.4). A cyclist with ID 11 is 24.4 meters away at (-6.4, 23.6). A vehicle with ID 13 is 27.3 meters away at (-7.6, 26.2). A pedestrian with ID 16 is 38.3 meters away at (-22.3, 31.1). A pedestrian with ID 2 is 40.2 meters away at (-22.1, 33.6). A pedestrian with ID 4 is 41.2 meters away at (-21.6, 35.1). A pedestrian with ID 17 is 41.6 meters away at (-41.5, 3.1). A vehicle with ID 18 is 45.2 meters away at (-41.1, -18.8).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00049198 0.01406871] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.02675318  0.01211814] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.00186177 -0.00269253] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.030032 -1.863614] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.64704585 -1.1419865 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.03482242 -0.02528988] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00724991 -0.02889475] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.0581099  -0.05134307] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.01684     11.165504  ]\n [ -8.654618    17.352869  ]\n [ -8.207749    -0.5185077 ]\n [-34.543625    -8.018386  ]\n [ -8.187409     0.20056896]\n [-14.802691    11.338454  ]\n [ -8.206454    -0.5472346 ]\n [-34.30068     -8.184805  ]\n [ -8.217549    -0.23402452]\n [ -8.206454    -0.5472339 ]\n [ -6.506361    16.566236  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.548822 17.795023], 19.741966247558594 meters away.)"}
{"file_name": "images/scenario_190_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 19.7 meters away at (-8.5, 17.8). A pedestrian with ID 10 is 23.6 meters away at (-21.1, -10.5). A pedestrian with ID 12 is 24.2 meters away at (-21.4, -11.3). A cyclist with ID 11 is 24.4 meters away at (-6.4, 23.6). A vehicle with ID 13 is 24.5 meters away at (-9.9, 22.4). A pedestrian with ID 16 is 37.3 meters away at (-23.6, 28.9). A pedestrian with ID 2 is 40.3 meters away at (-22.1, 33.7). A pedestrian with ID 4 is 41.1 meters away at (-21.6, 35.0). A pedestrian with ID 17 is 43.7 meters away at (-43.6, 2.9). A vehicle with ID 18 is 45.2 meters away at (-41.1, -18.9).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00752943  0.00099652] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.01104855 0.00195168] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.00753719  0.00915473] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.3833678 -2.5299177] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.60590076 -1.093309  ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00690764 -0.00280031] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.0183201  -0.01129886] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.1265881  -0.09939892] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.01684     11.165504  ]\n [ -8.654618    17.352869  ]\n [ -8.207749    -0.5185077 ]\n [-34.543625    -8.018386  ]\n [ -8.187409     0.20056896]\n [-14.802691    11.338454  ]\n [ -8.206454    -0.5472346 ]\n [-34.30068     -8.184805  ]\n [ -8.217549    -0.23402452]\n [ -8.206454    -0.5472339 ]\n [ -6.506361    16.566236  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.53838 17.80652], 19.747812271118164 meters away.)"}
{"file_name": "images/scenario_190_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 19.7 meters away at (-8.6, 17.8). A vehicle with ID 13 is 22.2 meters away at (-11.3, 19.1). A pedestrian with ID 10 is 23.6 meters away at (-21.2, -10.4). A pedestrian with ID 12 is 24.4 meters away at (-21.5, -11.4). A cyclist with ID 11 is 24.4 meters away at (-6.4, 23.6). A pedestrian with ID 16 is 36.1 meters away at (-24.7, 26.4). A vehicle with ID 18 is 45.2 meters away at (-41.1, -18.8). A pedestrian with ID 17 is 45.8 meters away at (-45.8, 2.8). A pedestrian with ID 15 is 50.5 meters away at (50.2, -4.7). A pedestrian with ID 19 is 51.6 meters away at (-51.5, 2.5).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.38759208 -0.93785447] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00819088  0.00212459] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.06733234  0.00864785] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.00490305 -0.00490053] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.4015602 -1.1547565] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.1414037  -0.00312016] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.98002034 -0.41390258] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0444584   0.01203571] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.01684     11.165504  ]\n [ -8.654618    17.352869  ]\n [ -8.207749    -0.5185077 ]\n [-34.543625    -8.018386  ]\n [ -8.187409     0.20056896]\n [-14.802691    11.338454  ]\n [ -8.206454    -0.5472346 ]\n [-34.30068     -8.184805  ]\n [ -8.217549    -0.23402452]\n [ -8.206454    -0.5472339 ]\n [ -6.506361    16.566236  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.550308 17.787937], 19.736223220825195 meters away.)"}
{"file_name": "images/scenario_191_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 6.5) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 7.1 meters away at (-2.8, -6.5). A unknown object with ID 20 is 27.5 meters away at (-7.9, -26.4). A pedestrian with ID 6 is 39.7 meters away at (6.4, 39.1). A pedestrian with ID 21 is 41.2 meters away at (-7.0, -40.6). A unknown object with ID 16 is 42.4 meters away at (-7.2, -41.8). A vehicle with ID 14 is 46.6 meters away at (46.4, 5.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.65887016 0.9505915 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.20495088 -1.5419277 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.810948  -6.4774365], 7.061063289642334 meters away.)"}
{"file_name": "images/scenario_191_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 6.7) m/s. Its current heading (yaw) is 1.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 19.7 meters away at (-1.9, -19.6). A pedestrian with ID 6 is 28.6 meters away at (8.4, 27.4). A vehicle with ID 14 is 48.0 meters away at (47.3, -8.0).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.37774283 0.46993753] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -1.889632 -19.58917 ], 19.680099487304688 meters away.)"}
{"file_name": "images/scenario_191_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 6.9) m/s. Its current heading (yaw) is 1.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 16.9 meters away at (9.5, 14.0). A vehicle with ID 18 is 33.1 meters away at (-0.7, -33.1). A vehicle with ID 14 is 53.0 meters away at (48.5, -21.5). A pedestrian with ID 15 is 74.4 meters away at (-4.1, -74.3). A vehicle with ID 12 is 76.4 meters away at (-3.8, 76.3).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00748347  0.01008435] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.08211464 -1.2571197 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 9.500936 13.951084], 16.878995895385742 meters away.)"}
{"file_name": "images/scenario_191_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 7.1) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 10.4 meters away at (10.4, 0.0). A pedestrian with ID 7 is 23.7 meters away at (17.0, 16.6). A vehicle with ID 18 is 47.1 meters away at (0.3, -47.1). A vehicle with ID 12 is 62.3 meters away at (-2.8, 62.2). A vehicle with ID 8 is 62.4 meters away at (-2.8, 62.4).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.0111892   0.00064483] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.0033123  -0.01146801] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [10.401674    0.01868057], 10.401691436767578 meters away.)"}
{"file_name": "images/scenario_192_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -5.0) m/s. Its current heading (yaw) is -1.36 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 36.1 meters away at (-32.2, 16.4). A vehicle with ID 21 is 38.0 meters away at (0.7, -38.0). A vehicle with ID 22 is 49.9 meters away at (-33.9, 36.6). A vehicle with ID 24 is 58.7 meters away at (6.2, -58.4).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.65967786 -0.88096607] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.18483748  2.3930292 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-9.374647 11.211336] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ -0.35741803 -16.310658  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.59311294555664, -275.2400817871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-32.184822  16.354952], 36.101898193359375 meters away.)"}
{"file_name": "images/scenario_192_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -5.3) m/s. Its current heading (yaw) is -1.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 23.6 meters away at (-2.2, -23.5). A vehicle with ID 18 is 68.7 meters away at (19.3, -66.0).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0.11264563 1.0541077 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.59311294555664, -275.2400817871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -2.198431 -23.501122], 23.603723526000977 meters away.)"}
{"file_name": "images/scenario_192_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -5.3) m/s. Its current heading (yaw) is -1.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 13.2 meters away at (-4.7, -12.3). A vehicle with ID 18 is 58.2 meters away at (16.5, -55.8). A vehicle with ID 1 is 74.1 meters away at (-33.1, 66.3). A vehicle with ID 11 is 74.4 meters away at (-10.2, -73.7).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 7.7503858 -9.112937 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.94186383 11.376824  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.59311294555664, -275.2400817871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -4.68701  -12.303452], 13.16597843170166 meters away.)"}
{"file_name": "images/scenario_192_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -4.3) m/s. Its current heading (yaw) is -1.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 7.8 meters away at (-7.4, -2.4). A vehicle with ID 11 is 42.9 meters away at (-11.3, -41.4). A vehicle with ID 18 is 48.0 meters away at (13.8, -46.0). A vehicle with ID 2 is 49.3 meters away at (13.8, -47.4). A pedestrian with ID 15 is 55.4 meters away at (-37.3, 40.9). A vehicle with ID 1 is 60.8 meters away at (-21.7, 56.8). A vehicle with ID 10 is 68.0 meters away at (-15.0, -66.4).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.71489084 10.979743  ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.62463593 -1.0007362 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [  6.2538977 -10.603763 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 1.0411509 13.100003 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.59311294555664, -275.2400817871094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.4247026 -2.4342117], 7.813552379608154 meters away.)"}
{"file_name": "images/scenario_193_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.8) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 3.2 meters away at (-2.4, -2.0). A vehicle with ID 17 is 5.6 meters away at (2.7, 4.9). A vehicle with ID 73 is 6.9 meters away at (-6.8, 1.4). A vehicle with ID 74 is 8.7 meters away at (-1.7, 8.6). A vehicle with ID 76 is 9.9 meters away at (-7.6, 6.4). A vehicle with ID 75 is 12.4 meters away at (-11.3, 5.2). A vehicle with ID 77 is 17.0 meters away at (-4.8, -16.3). A unknown object with ID 80 is 18.7 meters away at (-4.2, 18.2). A vehicle with ID 79 is 18.8 meters away at (-10.4, 15.7). A unknown object with ID 82 is 19.0 meters away at (-4.5, 18.4).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 1.6600442 -1.3439059] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.52003860473633, 111.37248992919922)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.4035215 -2.0474048], 3.1573379039764404 meters away.)"}
{"file_name": "images/scenario_193_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -0.2) m/s. Its current heading (yaw) is -0.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 6.9 meters away at (-2.2, 6.5). A vehicle with ID 71 is 7.4 meters away at (-7.4, -0.5). A vehicle with ID 76 is 10.9 meters away at (-9.4, 5.5). A vehicle with ID 73 is 12.1 meters away at (-11.7, 3.1). A vehicle with ID 74 is 12.2 meters away at (-6.6, 10.2). A unknown object with ID 25 is 15.3 meters away at (-4.6, 14.6). A vehicle with ID 84 is 16.0 meters away at (8.5, -13.6). A vehicle with ID 70 is 16.3 meters away at (11.6, 11.4). A vehicle with ID 81 is 17.4 meters away at (15.6, -7.7). A vehicle with ID 77 is 17.5 meters away at (-9.7, -14.5).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 1.6318132 -1.405433 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.52003860473633, 111.37248992919922)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.205653  6.526422], 6.8890557289123535 meters away.)"}
{"file_name": "images/scenario_193_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 3.1) m/s. Its current heading (yaw) is 0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 8.9 meters away at (3.4, 8.3). A vehicle with ID 17 is 10.9 meters away at (-10.4, 3.3). A vehicle with ID 81 is 13.1 meters away at (7.4, -10.8). A vehicle with ID 69 is 14.2 meters away at (6.7, 12.6). A vehicle with ID 76 is 14.6 meters away at (-14.6, -0.4). A vehicle with ID 71 is 16.1 meters away at (-15.6, -3.8). A vehicle with ID 74 is 16.5 meters away at (-14.9, 7.0). A vehicle with ID 84 is 16.7 meters away at (0.3, -16.7). A vehicle with ID 88 is 19.0 meters away at (11.9, -14.7). A vehicle with ID 20 is 19.2 meters away at (9.8, 16.5).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 1.3839854 -1.1885395] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.52003860473633, 111.37248992919922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.3590593 8.292155 ], 8.94668197631836 meters away.)"}
{"file_name": "images/scenario_193_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 4.9) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 69 is 4.3 meters away at (-1.6, 4.0). A vehicle with ID 70 is 4.8 meters away at (-4.8, -0.2). A vehicle with ID 20 is 8.1 meters away at (1.6, 7.9). A vehicle with ID 18 is 13.2 meters away at (5.1, 12.1). A vehicle with ID 19 is 18.8 meters away at (8.5, 16.8). A vehicle with ID 17 is 19.4 meters away at (-18.7, -5.3). A vehicle with ID 81 is 19.5 meters away at (-0.9, -19.5). A vehicle with ID 14 is 22.1 meters away at (-2.2, -22.0). A vehicle with ID 76 is 23.2 meters away at (-20.4, -11.1). A vehicle with ID 74 is 23.4 meters away at (-23.4, -1.4).", "velocity_description": "The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.1418512  2.9007888] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 1.9750247 -1.6481447] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.52003860473633, 111.37248992919922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.5902119  3.99512  ], 4.299971580505371 meters away.)"}
{"file_name": "images/scenario_194_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) m/s. Its current heading (yaw) is 2.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.7 meters away at (-2.1, -3.1). A pedestrian with ID 17 is 4.9 meters away at (3.1, 3.8). A vehicle with ID 15 is 6.7 meters away at (5.9, -3.1). A pedestrian with ID 23 is 14.5 meters away at (-14.4, -1.5). A pedestrian with ID 44 is 16.5 meters away at (-15.9, -4.6). A pedestrian with ID 22 is 16.7 meters away at (-16.7, 0.6). A pedestrian with ID 24 is 17.0 meters away at (-17.0, 1.1). A pedestrian with ID 31 is 17.3 meters away at (-17.2, -1.0). A pedestrian with ID 32 is 17.6 meters away at (-17.6, -0.4). A pedestrian with ID 34 is 17.6 meters away at (-17.6, 1.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.9139693  1.0946639] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.00491453 0.01089108] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.8998063  1.1420255] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00642905 0.00988501] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.01700438 -0.00032267] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.02288704 0.00462469] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.00365426 0.00791319] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00327178  0.00627544] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.581991  27.005623]\n [-30.267082  12.749043]\n [ -8.242689  15.276402]\n [-28.363829  10.247055]\n [-30.351849  16.63534 ]\n [-12.222447  12.217814]\n [-22.696203  25.345203]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.0890403 -3.0821915], 3.7234385013580322 meters away.)"}
{"file_name": "images/scenario_194_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.8 meters away at (-1.9, -3.3). A pedestrian with ID 17 is 5.7 meters away at (1.5, 5.5). A vehicle with ID 15 is 7.0 meters away at (6.2, -3.4). A pedestrian with ID 23 is 14.2 meters away at (-14.1, -1.8). A pedestrian with ID 22 is 16.5 meters away at (-16.5, 0.4). A pedestrian with ID 24 is 16.9 meters away at (-16.8, 0.9). A pedestrian with ID 31 is 17.1 meters away at (-17.1, -1.3). A pedestrian with ID 44 is 17.4 meters away at (-17.2, -2.6). A pedestrian with ID 32 is 17.4 meters away at (-17.4, -0.6). A pedestrian with ID 34 is 17.5 meters away at (-17.5, 1.2).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.960317  0.969778] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.00347939 -0.00931822] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.03987611 -0.03097514] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.01029364 -0.00679241] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00263897  0.00404876] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.79670036  0.94630474] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00133578 -0.00020169] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00869399 -0.01580002] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.581991  27.005623]\n [-30.267082  12.749043]\n [ -8.242689  15.276402]\n [-28.363829  10.247055]\n [-30.351849  16.63534 ]\n [-12.222447  12.217814]\n [-22.696203  25.345203]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.92554   -3.2828054], 3.8058528900146484 meters away.)"}
{"file_name": "images/scenario_194_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.8 meters away at (-1.9, -3.3). A pedestrian with ID 17 is 7.0 meters away at (-0.2, 7.0). A vehicle with ID 15 is 7.1 meters away at (6.2, -3.4). A vehicle with ID 43 is 11.3 meters away at (3.1, -10.9). A pedestrian with ID 23 is 14.1 meters away at (-14.0, -1.8). A vehicle with ID 62 is 14.8 meters away at (-14.5, 2.9). A pedestrian with ID 31 is 17.1 meters away at (-17.0, -1.3). A pedestrian with ID 34 is 17.3 meters away at (-17.3, 1.1). A pedestrian with ID 32 is 17.4 meters away at (-17.4, -0.9). A pedestrian with ID 44 is 18.5 meters away at (-18.5, -0.9).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.8017218  0.6304772] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.1082801  1.553515 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.04466172 0.0335224 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 4.489185  -6.1348968] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.03544345  0.21873745] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.08320938 -0.04133509] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.0923291  -0.31230086] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.49391568  0.57925725] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.581991  27.005623]\n [-30.267082  12.749043]\n [ -8.242689  15.276402]\n [-28.363829  10.247055]\n [-30.351849  16.63534 ]\n [-12.222447  12.217814]\n [-22.696203  25.345203]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.8997483 -3.3265202], 3.8307676315307617 meters away.)"}
{"file_name": "images/scenario_194_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.8 meters away at (-1.9, -3.3). A vehicle with ID 15 is 7.1 meters away at (6.2, -3.5). A pedestrian with ID 17 is 7.3 meters away at (-1.1, 7.2). A vehicle with ID 43 is 9.2 meters away at (1.8, -9.0). A vehicle with ID 62 is 11.3 meters away at (-5.3, -10.0). A pedestrian with ID 23 is 14.2 meters away at (-14.1, -1.7). A vehicle with ID 4 is 15.7 meters away at (-1.0, -15.7). A pedestrian with ID 19 is 16.7 meters away at (-16.6, 0.2). A pedestrian with ID 18 is 16.8 meters away at (-16.8, 0.9). A pedestrian with ID 32 is 17.0 meters away at (-17.0, -1.3).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.11149218  0.03141895] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-0.38081393  0.5098298 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 4.7324314 -6.615689 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.10297568 0.2136614 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 4.8037734 -6.6198454] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.085077    0.00505169] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.01096363 0.0263102 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00304672 -0.0029443 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.581991  27.005623]\n [-30.267082  12.749043]\n [ -8.242689  15.276402]\n [-28.363829  10.247055]\n [-30.351849  16.63534 ]\n [-12.222447  12.217814]\n [-22.696203  25.345203]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.8914461 -3.3311725], 3.830702066421509 meters away.)"}
{"file_name": "images/scenario_195_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 5.2) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 30.2 meters away at (-17.6, 24.6). A vehicle with ID 56 is 43.1 meters away at (-29.7, 31.3). A unknown object with ID 6 is 44.1 meters away at (-42.0, 13.4). A unknown object with ID 19 is 45.9 meters away at (-43.5, 14.6). A vehicle with ID 58 is 47.3 meters away at (-30.8, 36.0). A vehicle with ID 57 is 50.9 meters away at (-47.1, 19.1). A vehicle with ID 32 is 51.8 meters away at (-34.7, 38.5). A vehicle with ID 21 is 52.0 meters away at (-38.2, 35.2). A vehicle with ID 60 is 54.3 meters away at (-52.3, 14.8). A vehicle with ID 39 is 56.4 meters away at (-53.0, 19.2).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 5.2838    -7.2067513] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.117085  41.58103 ]\n [-48.777775  34.51695 ]\n [-49.01567   35.02777 ]\n [-50.947365  41.449318]]", "nav_goal": "(-230.6915283203125, -96.90596008300781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-17.577393  24.570328], 30.210357666015625 meters away.)"}
{"file_name": "images/scenario_195_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 3.4) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 19.1 meters away at (-10.2, 16.2). A vehicle with ID 21 is 21.9 meters away at (-17.8, 12.7). A vehicle with ID 56 is 31.7 meters away at (-22.1, 22.7). A unknown object with ID 6 is 34.8 meters away at (-34.5, 4.9). A vehicle with ID 58 is 36.0 meters away at (-23.3, 27.5). A vehicle with ID 32 is 40.5 meters away at (-27.4, 29.8). A vehicle with ID 57 is 41.1 meters away at (-39.7, 10.6). A vehicle with ID 60 is 45.2 meters away at (-44.7, 6.3). A vehicle with ID 15 is 46.1 meters away at (-33.7, 31.5). A vehicle with ID 20 is 46.4 meters away at (-28.6, 36.5).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 8.11668  -7.614768] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 5.4623737 -7.753474 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.83606905  1.2629575 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.117085  41.58103 ]\n [-30.526289  36.87455 ]\n [-48.777775  34.51695 ]\n [-49.01567   35.02777 ]\n [-50.947365  41.449318]]", "nav_goal": "(-230.6915283203125, -96.90596008300781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.211325  16.187511], 19.13913917541504 meters away.)"}
{"file_name": "images/scenario_195_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.6) m/s. Its current heading (yaw) is 2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 11.5 meters away at (4.6, -10.5). A vehicle with ID 59 is 13.4 meters away at (-6.4, 11.8). A vehicle with ID 15 is 18.6 meters away at (-16.2, 9.2). A vehicle with ID 56 is 25.1 meters away at (-17.7, 17.9). A vehicle with ID 58 is 29.5 meters away at (-18.9, 22.6). A unknown object with ID 6 is 30.0 meters away at (-30.0, -0.1). A vehicle with ID 32 is 33.9 meters away at (-22.9, 25.0). A vehicle with ID 57 is 35.8 meters away at (-35.3, 5.7). A vehicle with ID 60 is 40.3 meters away at (-40.3, 1.4). A vehicle with ID 39 is 41.6 meters away at (-41.2, 5.6).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [  9.538294 -10.422125] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 8.2824   -9.483367] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.00912285  0.76029384] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.117085  41.58103 ]\n [-30.526289  36.87455 ]\n [-48.777775  34.51695 ]\n [-49.01567   35.02777 ]\n [-50.947365  41.449318]]", "nav_goal": "(-230.6915283203125, -96.90596008300781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  4.564026 -10.548938], 11.493929862976074 meters away.)"}
{"file_name": "images/scenario_195_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.1) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 12.7 meters away at (-5.8, 11.3). A vehicle with ID 15 is 13.4 meters away at (3.6, -12.9). A vehicle with ID 56 is 23.6 meters away at (-16.0, 17.4). A unknown object with ID 6 is 28.7 meters away at (-28.6, -1.7). A vehicle with ID 58 is 29.6 meters away at (-18.0, 23.5). A vehicle with ID 57 is 34.1 meters away at (-33.9, 4.1). A vehicle with ID 23 is 34.3 meters away at (-25.5, 23.0). A vehicle with ID 32 is 35.5 meters away at (-22.2, 27.7). A vehicle with ID 60 is 39.0 meters away at (-39.0, -0.2). A vehicle with ID 39 is 40.1 meters away at (-39.9, 3.9).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [-0.4056514   0.47212824] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [  9.877219 -11.166384] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0.31941044 1.4775596 ] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-0.54166126  2.051987  ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 4.27396  -4.941875] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.99190664  2.7494798 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.117085  41.58103 ]\n [-30.526289  36.87455 ]\n [-48.777775  34.51695 ]\n [-49.01567   35.02777 ]\n [-50.947365  41.449318]]", "nav_goal": "(-230.6915283203125, -96.90596008300781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.8075123 11.258842 ], 12.668415069580078 meters away.)"}
{"file_name": "images/scenario_196_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.5) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 17 is 23.2 meters away at (21.0, 9.8). A unknown object with ID 18 is 25.3 meters away at (22.4, 11.7). A unknown object with ID 19 is 26.9 meters away at (23.3, 13.5). A unknown object with ID 21 is 28.8 meters away at (24.8, 14.7). A unknown object with ID 26 is 40.8 meters away at (16.5, 37.3). A unknown object with ID 28 is 41.1 meters away at (15.8, 38.0). A unknown object with ID 29 is 41.8 meters away at (17.2, 38.1). A unknown object with ID 22 is 47.7 meters away at (-44.6, -17.0). A unknown object with ID 20 is 47.8 meters away at (-45.7, -14.1). A pedestrian with ID 23 is 48.0 meters away at (-44.7, -17.4).", "velocity_description": "The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.17190999  0.19100524] m/s.", "light_description": "There are active red lights at the following coordinates: [[37.919838 65.818665]]", "nav_goal": "(-195.9472198486328, 163.2241668701172)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [21.007584  9.754379], 23.161746978759766 meters away.)"}
{"file_name": "images/scenario_196_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.6) m/s. Its current heading (yaw) is -2.22 ", "actor_description": " The most relevant actors are: A unknown object with ID 17 is 30.1 meters away at (25.7, 15.7). A unknown object with ID 18 is 32.3 meters away at (27.1, 17.7). A unknown object with ID 19 is 34.0 meters away at (27.9, 19.4). A unknown object with ID 21 is 35.9 meters away at (29.4, 20.6). A unknown object with ID 22 is 41.5 meters away at (-39.9, -11.1). A pedestrian with ID 23 is 41.6 meters away at (-40.0, -11.5). A unknown object with ID 20 is 41.8 meters away at (-41.0, -8.2). A unknown object with ID 12 is 42.0 meters away at (-40.8, -9.8). A unknown object with ID 35 is 42.1 meters away at (-40.0, -13.0). A pedestrian with ID 9 is 42.2 meters away at (-40.9, -10.1).", "velocity_description": "The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.05052567 -0.02205524] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.02078719 -0.01505966] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-195.9472198486328, 163.2241668701172)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [25.690388 15.676703], 30.09576416015625 meters away.)"}
{"file_name": "images/scenario_196_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -3.0) m/s. Its current heading (yaw) is -2.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 34.0 meters away at (-33.8, -4.3). A unknown object with ID 25 is 34.2 meters away at (-33.1, -8.7). A pedestrian with ID 23 is 34.2 meters away at (-33.9, -4.7). A unknown object with ID 24 is 34.6 meters away at (-34.0, -6.6). A unknown object with ID 20 is 34.9 meters away at (-34.9, -1.4). A pedestrian with ID 9 is 35.0 meters away at (-34.8, -3.3). A unknown object with ID 31 is 36.7 meters away at (-33.5, -15.0). A unknown object with ID 1 is 36.9 meters away at (-36.8, 2.5). A unknown object with ID 34 is 37.2 meters away at (-37.1, 2.4). A unknown object with ID 17 is 39.1 meters away at (31.7, 22.9).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.03245716 -0.05757306] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00648386 -0.04946743] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-195.9472198486328, 163.2241668701172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-33.7687    -4.304573], 34.04195022583008 meters away.)"}
{"file_name": "images/scenario_196_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -0.4) m/s. Its current heading (yaw) is -3.06 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 25.5 meters away at (-25.0, -5.1). A unknown object with ID 22 is 25.7 meters away at (-25.7, -0.7). A pedestrian with ID 23 is 25.9 meters away at (-25.8, -1.1). A unknown object with ID 24 is 26.1 meters away at (-25.9, -2.9). A pedestrian with ID 9 is 26.8 meters away at (-26.8, 0.2). A unknown object with ID 20 is 27.0 meters away at (-26.9, 2.2). A unknown object with ID 31 is 27.8 meters away at (-25.4, -11.4). A unknown object with ID 1 is 29.4 meters away at (-28.8, 6.2). A unknown object with ID 34 is 29.7 meters away at (-29.1, 6.0). A unknown object with ID 36 is 31.1 meters away at (-26.5, -16.2).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.02830938 0.08593929] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.01109726 0.0222544 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-24.795467 -40.21877 ]\n [-20.790373 -35.012024]\n [-22.90278  -37.662155]]", "nav_goal": "(-195.9472198486328, 163.2241668701172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-25.005516  -5.077902], 25.51589584350586 meters away.)"}
{"file_name": "images/scenario_197_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 2.2) m/s. Its current heading (yaw) is 0.90 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 4.9 meters away at (1.9, -4.6). A vehicle with ID 51 is 8.1 meters away at (0.4, -8.1). A vehicle with ID 55 is 10.0 meters away at (-1.2, -10.0). A vehicle with ID 58 is 12.2 meters away at (-2.7, -11.9). A vehicle with ID 62 is 16.4 meters away at (8.2, -14.3). A vehicle with ID 56 is 16.7 meters away at (-5.7, -15.7). A vehicle with ID 59 is 17.5 meters away at (6.6, -16.2). A vehicle with ID 48 is 18.4 meters away at (15.1, 10.5). A vehicle with ID 57 is 18.9 meters away at (-7.0, -17.6). A vehicle with ID 61 is 19.0 meters away at (5.3, -18.2).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.10518478  1.0149405 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.70708465576172, 72.51415252685547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 1.9182029 -4.5547123], 4.942155838012695 meters away.)"}
{"file_name": "images/scenario_197_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 3.0) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 12.2 meters away at (11.0, 5.3). A vehicle with ID 51 is 13.8 meters away at (-3.6, -13.4). A vehicle with ID 47 is 14.6 meters away at (12.6, 7.3). A vehicle with ID 55 is 16.0 meters away at (-5.2, -15.2). A vehicle with ID 58 is 18.4 meters away at (-6.8, -17.1). A vehicle with ID 53 is 18.8 meters away at (18.8, -0.9). A vehicle with ID 62 is 19.9 meters away at (4.2, -19.5). A vehicle with ID 59 is 21.6 meters away at (2.6, -21.4). A vehicle with ID 50 is 22.0 meters away at (21.8, 3.0). A vehicle with ID 56 is 23.0 meters away at (-9.7, -20.9).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.70708465576172, 72.51415252685547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.037229   5.2684135], 12.230151176452637 meters away.)"}
{"file_name": "images/scenario_197_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 4.5) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 5.5 meters away at (4.9, -2.5). A vehicle with ID 47 is 6.4 meters away at (6.4, -0.6). A vehicle with ID 46 is 14.3 meters away at (12.4, 7.1). A vehicle with ID 53 is 15.3 meters away at (12.6, -8.7). A vehicle with ID 50 is 16.2 meters away at (15.5, -4.7). A vehicle with ID 49 is 20.2 meters away at (20.2, 1.1). A vehicle with ID 51 is 23.4 meters away at (-9.8, -21.2). A unknown object with ID 37 is 24.6 meters away at (22.5, -9.8). A vehicle with ID 52 is 25.4 meters away at (24.6, 6.6). A vehicle with ID 55 is 25.7 meters away at (-11.5, -23.0).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.70708465576172, 72.51415252685547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.8522654 -2.5257006], 5.470250606536865 meters away.)"}
{"file_name": "images/scenario_197_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 4.3) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 5.6 meters away at (5.2, -1.9). A vehicle with ID 47 is 9.5 meters away at (-0.7, -9.5). A vehicle with ID 48 is 11.7 meters away at (-2.3, -11.5). A vehicle with ID 49 is 15.2 meters away at (13.0, -8.0). A vehicle with ID 50 is 16.0 meters away at (8.4, -13.7). A vehicle with ID 52 is 17.6 meters away at (17.4, -2.5). A vehicle with ID 53 is 18.4 meters away at (5.4, -17.6). A unknown object with ID 38 is 23.7 meters away at (18.4, -15.0). A unknown object with ID 37 is 24.3 meters away at (15.4, -18.8). A unknown object with ID 15 is 24.9 meters away at (23.3, -8.7).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.70708465576172, 72.51415252685547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.2320976 -1.9256821], 5.575221538543701 meters away.)"}
{"file_name": "images/scenario_198_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -2.6) m/s. Its current heading (yaw) is -2.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 12.4 meters away at (3.5, 11.9). A vehicle with ID 12 is 26.8 meters away at (26.7, -2.4). A vehicle with ID 18 is 26.9 meters away at (8.3, 25.6). A vehicle with ID 13 is 31.7 meters away at (31.4, -4.0). A vehicle with ID 3 is 34.1 meters away at (33.8, -4.8). A vehicle with ID 6 is 36.6 meters away at (-15.4, -33.2). A vehicle with ID 14 is 36.8 meters away at (36.3, -6.0). A vehicle with ID 17 is 41.7 meters away at (22.0, 35.5). A unknown object with ID 20 is 53.8 meters away at (27.6, 46.2). A pedestrian with ID 21 is 68.4 meters away at (-24.4, -63.8).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 2.9720116  -0.44213015] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.03975767 -0.00866189] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.0398941040039, -153.4420928955078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.4829683 11.948016 ], 12.445326805114746 meters away.)"}
{"file_name": "images/scenario_198_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.5) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 16.0 meters away at (4.8, 15.2). A unknown object with ID 1 is 19.0 meters away at (18.2, -5.7). A vehicle with ID 9 is 21.5 meters away at (6.7, 20.4). A vehicle with ID 12 is 28.0 meters away at (28.0, 0.9). A vehicle with ID 6 is 28.5 meters away at (-6.5, -27.7). A vehicle with ID 18 is 30.5 meters away at (9.6, 28.9). A vehicle with ID 13 is 32.7 meters away at (32.7, -0.8). A vehicle with ID 14 is 37.7 meters away at (37.6, -2.7). A pedestrian with ID 5 is 44.4 meters away at (-22.8, -38.2). A vehicle with ID 17 is 45.2 meters away at (23.2, 38.8).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [4.243821 3.264866] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.0398941040039, -153.4420928955078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.762744 15.242596], 15.969359397888184 meters away.)"}
{"file_name": "images/scenario_198_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 16.2 meters away at (4.9, 15.4). A vehicle with ID 6 is 17.0 meters away at (1.2, -16.9). A vehicle with ID 9 is 21.7 meters away at (6.8, 20.7). A vehicle with ID 12 is 28.1 meters away at (28.0, 1.0). A vehicle with ID 18 is 30.7 meters away at (9.7, 29.1). A vehicle with ID 13 is 32.8 meters away at (32.8, -0.7). A vehicle with ID 14 is 37.9 meters away at (37.8, -2.5). A pedestrian with ID 5 is 44.5 meters away at (-22.9, -38.2). A vehicle with ID 17 is 45.5 meters away at (23.3, 39.1). A unknown object with ID 19 is 53.3 meters away at (16.1, -50.9).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [3.0812697 6.7873926] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.05506436 -0.06296177] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.0398941040039, -153.4420928955078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.888966 15.395428], 16.15305519104004 meters away.)"}
{"file_name": "images/scenario_198_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 7.0 meters away at (6.9, -1.3). A vehicle with ID 11 is 16.2 meters away at (4.9, 15.4). A vehicle with ID 12 is 28.1 meters away at (28.1, 1.0). A vehicle with ID 18 is 30.8 meters away at (9.8, 29.2). A vehicle with ID 13 is 32.8 meters away at (32.8, -0.7). A vehicle with ID 14 is 37.8 meters away at (37.8, -2.5). A vehicle with ID 17 is 45.5 meters away at (23.4, 39.0). A unknown object with ID 19 is 53.3 meters away at (16.0, -50.8).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [2.922159 8.565565] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.0398941040039, -153.4420928955078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.904845  -1.3312836], 7.032012939453125 meters away.)"}
{"file_name": "images/scenario_199_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 3.4) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 41.2 meters away at (-38.5, 14.8). A vehicle with ID 21 is 70.3 meters away at (38.9, -58.6).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-43.181854  29.153557]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-38.490627  14.750013], 41.220035552978516 meters away.)"}
{"file_name": "images/scenario_199_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 3.4) m/s. Its current heading (yaw) is 2.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 31.1 meters away at (-30.0, 8.2). A unknown object with ID 17 is 73.1 meters away at (-60.6, 40.9).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-43.181854  29.153557]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-30.027887   8.173268], 31.120351791381836 meters away.)"}
{"file_name": "images/scenario_199_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, -0.1) m/s. Its current heading (yaw) is -3.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 19.7 meters away at (-19.2, 4.3). A pedestrian with ID 20 is 73.1 meters away at (-58.1, 44.5). A vehicle with ID 13 is 74.9 meters away at (-53.1, 52.9).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.02586355 -0.02690924] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 4.0235763  -0.64214885] m/s.", "light_description": "There are active red lights at the following coordinates: [[-43.181854  29.153557]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-19.180168    4.2729855], 19.650375366210938 meters away.)"}
{"file_name": "images/scenario_199_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -3.6) m/s. Its current heading (yaw) is -2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 12.0 meters away at (-8.9, 8.0). A vehicle with ID 11 is 23.0 meters away at (-21.2, -8.9). A unknown object with ID 1 is 49.5 meters away at (-28.3, -40.6). A unknown object with ID 3 is 51.3 meters away at (-29.7, -41.8). A vehicle with ID 13 is 62.4 meters away at (-34.0, 52.3).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.0914235 2.6716206] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 4.635062  -3.3047583] m/s.", "light_description": "There are active red lights at the following coordinates: [[-43.181854  29.153557]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.876141  8.028888], 11.968663215637207 meters away.)"}
{"file_name": "images/scenario_200_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 2.4) m/s. Its current heading (yaw) is 2.07 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 10.1 meters away at (9.8, -2.5). A unknown object with ID 11 is 12.1 meters away at (-3.5, 11.6). A unknown object with ID 28 is 14.0 meters away at (-13.7, 2.8). A unknown object with ID 26 is 17.0 meters away at (-13.4, 10.4). A vehicle with ID 24 is 26.4 meters away at (-23.9, 11.3). A vehicle with ID 30 is 31.9 meters away at (27.1, 16.8). A vehicle with ID 23 is 32.7 meters away at (-30.4, 11.9). A vehicle with ID 29 is 34.7 meters away at (9.1, -33.5). A vehicle with ID 19 is 37.7 meters away at (32.5, 19.0). A vehicle with ID 22 is 38.1 meters away at (-36.1, 12.1).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.63561946 -1.5237105 ] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-128.24440002441406, 231.465087890625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 9.767704  -2.5297647], 10.089982986450195 meters away.)"}
{"file_name": "images/scenario_200_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 2.1) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 9.1 meters away at (-8.8, -2.1). A unknown object with ID 26 is 10.1 meters away at (-8.4, 5.6). A pedestrian with ID 27 is 18.6 meters away at (15.7, -10.1). A vehicle with ID 24 is 20.0 meters away at (-18.9, 6.5). A vehicle with ID 23 is 26.5 meters away at (-25.6, 6.9). A vehicle with ID 22 is 32.0 meters away at (-31.2, 7.3). A vehicle with ID 30 is 34.1 meters away at (32.0, 11.8). A vehicle with ID 21 is 37.2 meters away at (-36.5, 7.3). A vehicle with ID 19 is 40.1 meters away at (37.5, 14.2). A vehicle with ID 29 is 40.9 meters away at (13.9, -38.5).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.454148  -1.0367447] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-128.24440002441406, 231.465087890625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.843536 -2.120592], 9.094231605529785 meters away.)"}
{"file_name": "images/scenario_200_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 0.6) m/s. Its current heading (yaw) is 3.02 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 3.2 meters away at (1.1, 3.1). A unknown object with ID 28 is 4.6 meters away at (0.7, -4.5). A vehicle with ID 24 is 10.2 meters away at (-9.4, 4.0). A vehicle with ID 23 is 16.6 meters away at (-16.0, 4.5). A vehicle with ID 22 is 22.1 meters away at (-21.6, 4.8). A vehicle with ID 21 is 27.4 meters away at (-27.0, 4.8). A unknown object with ID 16 is 28.8 meters away at (16.2, -23.8). A vehicle with ID 30 is 42.5 meters away at (41.5, 9.6). A vehicle with ID 29 is 47.2 meters away at (23.5, -40.9). A vehicle with ID 19 is 48.4 meters away at (46.9, 11.9).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-128.24440002441406, 231.465087890625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [1.0731192 3.0511951], 3.234405040740967 meters away.)"}
{"file_name": "images/scenario_200_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 0.3) m/s. Its current heading (yaw) is 3.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 3.4 meters away at (1.3, 3.1). A vehicle with ID 23 is 6.3 meters away at (-5.2, 3.6). A vehicle with ID 22 is 11.5 meters away at (-10.8, 3.9). A unknown object with ID 26 is 12.1 meters away at (11.8, 2.3). A unknown object with ID 28 is 12.7 meters away at (11.5, -5.3). A vehicle with ID 21 is 16.7 meters away at (-16.2, 4.0). A vehicle with ID 1 is 39.9 meters away at (-34.8, 19.6). A vehicle with ID 8 is 45.8 meters away at (45.4, 5.7). A vehicle with ID 3 is 46.3 meters away at (-35.4, 29.8). A vehicle with ID 4 is 51.5 meters away at (-35.8, 37.1).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-128.24440002441406, 231.465087890625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.3194828 3.1327505], 3.3992881774902344 meters away.)"}
{"file_name": "images/scenario_201_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 8.6) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 34.8 meters away at (-29.3, 18.7).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-210.80322265625, 86.78765106201172)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-29.296198  18.720041], 34.76646423339844 meters away.)"}
{"file_name": "images/scenario_201_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 8.4) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 15.8 meters away at (-15.7, 1.7).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-210.80322265625, 86.78765106201172)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-15.732733   1.674427], 15.821585655212402 meters away.)"}
{"file_name": "images/scenario_201_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 8.1) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 14.9 meters away at (-2.6, -14.7).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-210.80322265625, 86.78765106201172)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -2.5995483 -14.705681 ], 14.933676719665527 meters away.)"}
{"file_name": "images/scenario_201_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 7.8) m/s. Its current heading (yaw) is 2.26 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 6.5 meters away at (3.4, 5.5). A unknown object with ID 12 is 32.2 meters away at (10.3, -30.6).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-106.96442  135.65413]\n [-114.34898  139.92125]]", "nav_goal": "(-210.80322265625, 86.78765106201172)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [3.4442444 5.524086 ], 6.5098652839660645 meters away.)"}
{"file_name": "images/scenario_202_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -4.7) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 99 is 3.4 meters away at (-1.2, -3.1). A vehicle with ID 93 is 5.0 meters away at (-4.9, 0.2). A vehicle with ID 75 is 5.6 meters away at (3.3, 4.5). A pedestrian with ID 98 is 6.7 meters away at (-6.2, -2.6). A vehicle with ID 76 is 7.3 meters away at (2.9, -6.7). A vehicle with ID 77 is 8.5 meters away at (-1.2, 8.5). A vehicle with ID 88 is 11.3 meters away at (-10.2, 4.8). A pedestrian with ID 110 is 11.9 meters away at (11.8, 1.9). A vehicle with ID 78 is 13.1 meters away at (7.7, -10.6). A pedestrian with ID 37 is 13.5 meters away at (-2.3, 13.3).", "velocity_description": "The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-0.95471543  0.9413346 ] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.947839    0.79453766] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.0432372 -0.4680457] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-3.483522653579712, 124.18108367919922)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.2208385 -3.1226635], 3.352830648422241 meters away.)"}
{"file_name": "images/scenario_202_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -3.9) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 3.0 meters away at (-2.1, -2.1). A vehicle with ID 76 is 7.0 meters away at (-6.8, 1.8). A vehicle with ID 73 is 7.5 meters away at (7.4, 1.3). A vehicle with ID 99 is 12.2 meters away at (-10.9, 5.4). A pedestrian with ID 110 is 12.2 meters away at (0.1, 12.2). A vehicle with ID 74 is 12.9 meters away at (12.5, -2.9). A vehicle with ID 81 is 13.8 meters away at (8.2, -11.1). A vehicle with ID 75 is 14.6 meters away at (-6.5, 13.1). A vehicle with ID 41 is 14.6 meters away at (6.1, 13.3). A vehicle with ID 93 is 17.2 meters away at (-14.8, 8.8).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.6220663  0.8910871] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-3.483522653579712, 124.18108367919922)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.0948353 -2.0884972], 2.958065986633301 meters away.)"}
{"file_name": "images/scenario_202_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -2.8) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 4.0 meters away at (-0.0, -4.0). A vehicle with ID 74 is 5.9 meters away at (4.2, 4.2). A vehicle with ID 73 is 8.3 meters away at (-0.7, 8.3). A vehicle with ID 72 is 8.4 meters away at (8.4, 0.5). A vehicle with ID 83 is 8.6 meters away at (4.0, -7.6). A vehicle with ID 78 is 11.5 meters away at (-10.4, 5.0). A vehicle with ID 76 is 17.6 meters away at (-15.1, 9.0). A vehicle with ID 3 is 19.1 meters away at (5.8, -18.2). A vehicle with ID 41 is 20.5 meters away at (-2.2, 20.4). A vehicle with ID 99 is 22.9 meters away at (-19.2, 12.5).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-3.483522653579712, 124.18108367919922)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.04000092 -4.034786  ], 4.034984588623047 meters away.)"}
{"file_name": "images/scenario_202_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.9) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 3.8 meters away at (-0.4, -3.8). A vehicle with ID 81 is 4.5 meters away at (-4.5, -0.3). A vehicle with ID 72 is 5.8 meters away at (4.0, 4.2). A vehicle with ID 74 is 8.0 meters away at (-0.2, 8.0). A unknown object with ID 53 is 11.1 meters away at (4.3, 10.2). A vehicle with ID 73 is 13.1 meters away at (-5.2, 12.1). A vehicle with ID 3 is 14.3 meters away at (1.5, -14.2). A vehicle with ID 78 is 17.3 meters away at (-14.9, 8.9). A vehicle with ID 1 is 20.2 meters away at (19.2, 6.4). A pedestrian with ID 97 is 22.6 meters away at (21.1, -8.0).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [ 1.0965121  -0.88021415] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-3.483522653579712, 124.18108367919922)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.39726257 -3.7577553 ], 3.778695821762085 meters away.)"}
{"file_name": "images/scenario_203_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 10.5) m/s. Its current heading (yaw) is 1.97 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-142.40423583984375, 263.569580078125)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_203_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.2) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-142.40423583984375, 263.569580078125)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_203_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 10.5) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-142.40423583984375, 263.569580078125)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_203_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.3) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-142.40423583984375, 263.569580078125)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_204_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -4.1) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 17.0 meters away at (8.7, 14.6). A vehicle with ID 23 is 17.1 meters away at (-9.1, -14.5). A vehicle with ID 29 is 21.0 meters away at (-7.4, -19.7). A vehicle with ID 25 is 29.3 meters away at (15.1, 25.1). A vehicle with ID 26 is 31.8 meters away at (-16.6, -27.1). A vehicle with ID 28 is 38.6 meters away at (3.9, -38.4). A pedestrian with ID 27 is 45.0 meters away at (-9.9, -43.9). A pedestrian with ID 30 is 45.5 meters away at (-9.4, -44.6). A pedestrian with ID 31 is 45.9 meters away at (-10.5, -44.7). A unknown object with ID 32 is 46.3 meters away at (-38.5, -25.7).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.78888804 -1.3046403 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-3.6817245 -6.4200897] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [5.306428 8.860045] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.9107381 -1.5848927] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.066455  -7.7878246] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 7.0127525 -5.0017257] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.7821523 -1.2915105] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.8103701 -1.3027974] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.7389898 -1.209214 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(190.60711669921875, -184.21229553222656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.690381 14.556665], 16.95344352722168 meters away.)"}
{"file_name": "images/scenario_204_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -4.5) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 14.8 meters away at (10.7, 10.3). A unknown object with ID 5 is 15.0 meters away at (-13.4, -6.8). A unknown object with ID 6 is 18.5 meters away at (-17.1, -7.1). A vehicle with ID 22 is 22.5 meters away at (11.5, 19.3). A vehicle with ID 23 is 24.1 meters away at (-12.1, -20.8). A vehicle with ID 24 is 34.8 meters away at (-34.5, -4.6). A vehicle with ID 25 is 36.2 meters away at (18.7, 31.0). A pedestrian with ID 27 is 38.1 meters away at (-6.3, -37.6). A pedestrian with ID 30 is 38.7 meters away at (-5.8, -38.3). A pedestrian with ID 31 is 39.1 meters away at (-6.7, -38.5).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [ 7.0399146 11.614105 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.7804012 -2.9984949] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.7142806 -8.845141 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-1.3998057 -2.440344 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.8627159 -1.4395171] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.8469931 -1.4111027] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.79138726 -1.3709174 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(190.60711669921875, -184.21229553222656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.694745 10.257641], 14.818798065185547 meters away.)"}
{"file_name": "images/scenario_204_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -4.1) m/s. Its current heading (yaw) is -1.96 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 9.0 meters away at (-8.8, 1.5). A unknown object with ID 6 is 12.6 meters away at (-12.5, 1.3). A vehicle with ID 22 is 23.1 meters away at (11.6, 20.0). A vehicle with ID 24 is 30.0 meters away at (-29.7, 4.0). A pedestrian with ID 27 is 32.2 meters away at (-3.4, -32.0). A pedestrian with ID 30 is 32.7 meters away at (-2.9, -32.6). A pedestrian with ID 31 is 33.2 meters away at (-3.8, -33.0). A vehicle with ID 23 is 36.1 meters away at (-17.2, -31.7). A vehicle with ID 9 is 38.9 meters away at (28.8, -26.2). A vehicle with ID 25 is 40.1 meters away at (20.6, 34.4).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.7628546 -4.662325 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.72188383 -1.4863058 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.68398666 -1.4331158 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.6837716 -1.4046698] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ -4.8901935 -10.295449 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.312339  3.512609] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-1.7783781 -3.069479 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.193092 -35.612206]\n [ -9.414745 -35.989254]]", "nav_goal": "(190.60711669921875, -184.21229553222656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.830484   1.5025063], 8.9573974609375 meters away.)"}
{"file_name": "images/scenario_204_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -4.7) m/s. Its current heading (yaw) is -1.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 12.6 meters away at (-7.3, 10.3). A unknown object with ID 6 is 14.8 meters away at (-10.9, 10.1). A vehicle with ID 22 is 19.2 meters away at (6.7, 18.0). A vehicle with ID 9 is 22.0 meters away at (19.3, -10.6). A pedestrian with ID 27 is 26.2 meters away at (-3.3, -26.0). A vehicle with ID 24 is 30.9 meters away at (-28.1, 13.0). A pedestrian with ID 1 is 33.0 meters away at (-7.8, -32.1). A vehicle with ID 25 is 40.4 meters away at (17.9, 36.3). A vehicle with ID 23 is 50.4 meters away at (-25.5, -43.4). A vehicle with ID 4 is 55.0 meters away at (25.2, 48.9).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.4635496 -5.8784842] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-4.876407   2.9787853] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.59919894 -1.329378  ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.72396505 1.335943  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-2.2871335 -3.9452446] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ -4.642444 -10.036012] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.0555096 -3.4144993] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(190.60711669921875, -184.21229553222656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.279435 10.259924], 12.579992294311523 meters away.)"}
{"file_name": "images/scenario_205_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -2.5) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 8.6 meters away at (-2.5, 8.2). A vehicle with ID 56 is 9.1 meters away at (-9.1, -1.1). A vehicle with ID 57 is 14.8 meters away at (-14.7, 0.7). A vehicle with ID 64 is 14.9 meters away at (-10.5, 10.6). A vehicle with ID 58 is 18.3 meters away at (-10.4, 15.1). A vehicle with ID 79 is 20.1 meters away at (20.1, -0.7). A vehicle with ID 60 is 21.6 meters away at (-21.4, 2.7). A vehicle with ID 61 is 22.9 meters away at (-15.6, 16.7). A vehicle with ID 76 is 24.1 meters away at (18.7, 15.3). A vehicle with ID 62 is 27.9 meters away at (-27.6, 4.5).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [-10.419864    3.2234993] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-10.397594    3.0969691] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-10.707405   5.491432] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.67182    3.0614705]\n [14.609947  -8.178897 ]\n [16.19342   -5.429648 ]\n [21.186518   4.2256346]\n [22.323656   3.226309 ]\n [23.651962   2.581212 ]]", "nav_goal": "(-101.57101440429688, 8.785602569580078)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.524629  8.196732], 8.576722145080566 meters away.)"}
{"file_name": "images/scenario_205_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -4.1) m/s. Its current heading (yaw) is -1.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 14.8 meters away at (-13.7, 5.5). A vehicle with ID 79 is 16.0 meters away at (-6.2, 14.7). A vehicle with ID 57 is 20.6 meters away at (-19.3, 7.3). A vehicle with ID 36 is 24.9 meters away at (24.9, 0.4). A vehicle with ID 76 is 26.1 meters away at (14.1, 21.9). A vehicle with ID 58 is 26.4 meters away at (-14.9, 21.8). A vehicle with ID 2 is 26.6 meters away at (-8.2, -25.3). A vehicle with ID 60 is 27.7 meters away at (-26.0, 9.4). A vehicle with ID 61 is 30.9 meters away at (-20.1, 23.4). A vehicle with ID 77 is 31.7 meters away at (31.7, 1.0).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-10.525789    3.3810296] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-10.784118   6.882857] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.67182     3.0614705 ]\n [28.444363    0.29166788]\n [21.186518    4.2256346 ]\n [22.323656    3.226309  ]\n [23.651962    2.581212  ]]", "nav_goal": "(-101.57101440429688, 8.785602569580078)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-13.680409    5.5380087], 14.758831977844238 meters away.)"}
{"file_name": "images/scenario_205_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -3.3) m/s. Its current heading (yaw) is -2.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 17.7 meters away at (-12.0, 13.1). A vehicle with ID 2 is 19.0 meters away at (-6.7, -17.7). A vehicle with ID 36 is 19.8 meters away at (5.0, 19.2). A vehicle with ID 57 is 23.0 meters away at (-17.6, 14.9). A vehicle with ID 1 is 24.3 meters away at (-7.9, -22.9). A vehicle with ID 60 is 29.5 meters away at (-24.1, 16.9). A vehicle with ID 3 is 31.6 meters away at (-10.3, -29.9). A vehicle with ID 58 is 32.1 meters away at (-13.1, 29.3). A vehicle with ID 76 is 33.3 meters away at (15.9, 29.2). A vehicle with ID 77 is 34.3 meters away at (33.3, 8.3).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-11.164945   4.300629] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.67182    3.0614705]\n [21.186518   4.2256346]\n [22.323656   3.226309 ]\n [23.651962   2.581212 ]]", "nav_goal": "(-101.57101440429688, 8.785602569580078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.967803  13.051212], 17.70769500732422 meters away.)"}
{"file_name": "images/scenario_205_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -2.2) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A unknown object with ID 41 is 10.2 meters away at (9.0, -4.8). A vehicle with ID 2 is 12.8 meters away at (-4.3, -12.1). A vehicle with ID 1 is 18.0 meters away at (-5.5, -17.2). A vehicle with ID 3 is 25.6 meters away at (-7.8, -24.3). A vehicle with ID 10 is 37.6 meters away at (-1.2, -37.6). A vehicle with ID 40 is 38.1 meters away at (-17.0, -34.2). A vehicle with ID 77 is 38.4 meters away at (35.7, 14.0). A vehicle with ID 76 is 39.4 meters away at (18.3, 34.9). A vehicle with ID 32 is 44.5 meters away at (-13.6, -42.4). A vehicle with ID 18 is 48.9 meters away at (-4.0, -48.7).", "velocity_description": "The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.67182    3.0614705]\n [21.186518   4.2256346]\n [22.323656   3.226309 ]\n [23.651962   2.581212 ]]", "nav_goal": "(-101.57101440429688, 8.785602569580078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 8.964103  -4.8218327], 10.178664207458496 meters away.)"}
{"file_name": "images/scenario_206_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -7.5) m/s. Its current heading (yaw) is -2.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 25 is 9.8 meters away at (9.4, 2.6). A unknown object with ID 22 is 18.6 meters away at (3.3, -18.3). A pedestrian with ID 8 is 20.4 meters away at (-3.8, -20.0). A unknown object with ID 15 is 20.5 meters away at (2.7, -20.3). A pedestrian with ID 7 is 21.4 meters away at (0.3, -21.4). A pedestrian with ID 9 is 24.4 meters away at (-13.8, -20.1). A unknown object with ID 26 is 26.5 meters away at (-20.4, -16.9). A pedestrian with ID 27 is 54.9 meters away at (36.3, 41.3). A unknown object with ID 4 is 58.5 meters away at (-12.0, -57.3). A pedestrian with ID 10 is 58.6 meters away at (-28.7, 51.1).", "velocity_description": "The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.44269064 -0.9613044 ] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.11507168  0.30726594] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.72420746  0.27174783] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.17362775 -0.01871546] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.181988  -0.4194957] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.30558166  0.502937  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [9.428678 2.641159], 9.79161262512207 meters away.)"}
{"file_name": "images/scenario_206_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -8.3) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 5.4 meters away at (3.7, -3.9). A pedestrian with ID 9 is 7.2 meters away at (-5.7, -4.4). A pedestrian with ID 7 is 8.4 meters away at (6.6, -5.3). A unknown object with ID 22 is 11.7 meters away at (11.4, -2.5). A vehicle with ID 16 is 15.7 meters away at (-11.8, -10.4). A pedestrian with ID 17 is 23.0 meters away at (4.6, -22.6). A pedestrian with ID 25 is 23.6 meters away at (16.8, 16.6). A unknown object with ID 4 is 41.7 meters away at (-3.6, -41.5). A vehicle with ID 24 is 71.8 meters away at (-38.6, -60.5).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.5310218  -0.07159302] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.0289582  -0.04824776] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.9694745  -0.00768054] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 6.177468 15.118777] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.00819225 0.02023055] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.5011364 -1.0809867] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [5.4120955 3.8020332] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 3.7132788 -3.8872051], 5.375760555267334 meters away.)"}
{"file_name": "images/scenario_206_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -8.5) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 12.6 meters away at (2.5, 12.3). A pedestrian with ID 17 is 14.1 meters away at (12.8, -5.9). A pedestrian with ID 8 is 16.4 meters away at (9.8, 13.1). A pedestrian with ID 7 is 17.0 meters away at (12.7, 11.3). A unknown object with ID 18 is 22.6 meters away at (19.0, 12.3). A unknown object with ID 4 is 25.1 meters away at (4.5, -24.7). A vehicle with ID 24 is 38.6 meters away at (-21.6, -32.0). A vehicle with ID 16 is 39.1 meters away at (9.3, 38.0). A pedestrian with ID 25 is 39.8 meters away at (24.2, 31.7). A pedestrian with ID 19 is 47.9 meters away at (-1.4, -47.8).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00838542 -0.0462084 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.0129838 0.0011403] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.1833197   0.13547486] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.1735742  -0.24527334] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [3.4178078 7.461144 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 6.7471185 16.262451 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.4791172 -0.9419867] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.75738716  0.9955424 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 2.4653378 12.348633 ], 12.592324256896973 meters away.)"}
{"file_name": "images/scenario_206_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -8.1) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 7.4 meters away at (-7.3, 1.1). A unknown object with ID 4 is 14.3 meters away at (11.7, -8.1). A pedestrian with ID 17 is 22.8 meters away at (20.0, 10.9). A unknown object with ID 2 is 23.1 meters away at (6.0, -22.3). A pedestrian with ID 9 is 30.6 meters away at (9.8, 29.0). A pedestrian with ID 7 is 33.1 meters away at (17.5, 28.1). A pedestrian with ID 8 is 33.3 meters away at (14.9, 29.8). A pedestrian with ID 1 is 40.5 meters away at (3.9, -40.3). A unknown object with ID 13 is 42.9 meters away at (2.8, -42.8). A pedestrian with ID 25 is 55.7 meters away at (30.7, 46.5).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [3.7631166 9.015609 ] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.06619451  0.01244627] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.09286966 -0.03887924] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2333233   0.28298375] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.0831665   0.05374022] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.2330514  -0.01144261] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.42366058 -1.0502424 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.3268642  1.0713387], 7.404776096343994 meters away.)"}
{"file_name": "images/scenario_207_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 9.9 meters away at (-4.1, -9.0). A vehicle with ID 17 is 16.5 meters away at (-14.9, 7.1). A unknown object with ID 19 is 17.6 meters away at (-17.5, -1.2). A unknown object with ID 21 is 17.6 meters away at (-14.1, 10.5). A unknown object with ID 20 is 17.7 meters away at (-17.7, 1.0). A pedestrian with ID 11 is 18.1 meters away at (-17.5, 4.9). A unknown object with ID 22 is 18.5 meters away at (-18.2, -3.3). A unknown object with ID 23 is 20.2 meters away at (-19.6, -5.1). A unknown object with ID 24 is 21.2 meters away at (-20.0, -7.1). A unknown object with ID 8 is 21.4 meters away at (-11.2, 18.2).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.01117748 -0.00899523] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -2.3732421 -10.127548 ]\n [ -4.5214996  -9.340915 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.129344 -8.976258], 9.880520820617676 meters away.)"}
{"file_name": "images/scenario_207_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 9.9 meters away at (-4.1, -9.0). A vehicle with ID 17 is 16.5 meters away at (-14.9, 7.1). A unknown object with ID 19 is 17.6 meters away at (-17.5, -1.2). A unknown object with ID 21 is 17.6 meters away at (-14.1, 10.5). A unknown object with ID 20 is 17.7 meters away at (-17.7, 1.0). A pedestrian with ID 11 is 18.0 meters away at (-17.3, 4.8). A unknown object with ID 22 is 18.5 meters away at (-18.2, -3.3). A unknown object with ID 23 is 20.2 meters away at (-19.6, -5.1). A unknown object with ID 24 is 21.2 meters away at (-20.0, -7.1). A unknown object with ID 27 is 24.0 meters away at (-22.2, -9.1).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.08326413  0.03010134] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -2.3732421 -10.127548 ]\n [ -4.5214996  -9.340915 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.1176724 -8.970988 ], 9.870859146118164 meters away.)"}
{"file_name": "images/scenario_207_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 9.9 meters away at (-4.1, -9.0). A vehicle with ID 17 is 16.5 meters away at (-14.9, 7.1). A unknown object with ID 19 is 17.5 meters away at (-17.5, -1.2). A unknown object with ID 21 is 17.6 meters away at (-14.1, 10.5). A unknown object with ID 20 is 17.7 meters away at (-17.7, 1.0). A unknown object with ID 22 is 18.5 meters away at (-18.2, -3.3). A pedestrian with ID 11 is 18.8 meters away at (-18.0, 5.2). A vehicle with ID 28 is 18.8 meters away at (-16.8, -8.4). A unknown object with ID 23 is 20.2 meters away at (-19.6, -5.1). A unknown object with ID 24 is 21.2 meters away at (-20.0, -7.1).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.6382357   0.41203192] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [3.8634756 7.8069496] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -2.3732421 -10.127548 ]\n [ -4.5214996  -9.340915 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.118474 -8.979896], 9.879289627075195 meters away.)"}
{"file_name": "images/scenario_207_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 9.9 meters away at (-4.1, -9.0). A vehicle with ID 28 is 13.1 meters away at (-9.6, 8.9). A vehicle with ID 17 is 16.5 meters away at (-14.9, 7.2). A unknown object with ID 19 is 17.6 meters away at (-17.5, -1.2). A unknown object with ID 21 is 17.6 meters away at (-14.1, 10.5). A unknown object with ID 20 is 17.7 meters away at (-17.7, 1.0). A unknown object with ID 22 is 18.5 meters away at (-18.2, -3.3). A pedestrian with ID 11 is 19.9 meters away at (-19.0, 6.0). A unknown object with ID 23 is 20.2 meters away at (-19.6, -5.1). A unknown object with ID 24 is 21.2 meters away at (-20.0, -7.1).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [3.2664185 9.437102 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.11082284  0.07176982] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -2.3732421 -10.127548 ]\n [ -4.5214996  -9.340915 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.118209 -8.96546 ], 9.866058349609375 meters away.)"}
{"file_name": "images/scenario_208_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 0.7) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 4.3 meters away at (-0.1, -4.3). A vehicle with ID 23 is 7.5 meters away at (-6.5, 3.7). A vehicle with ID 26 is 12.7 meters away at (-12.3, 3.0). A vehicle with ID 32 is 16.3 meters away at (-14.1, 8.3). A pedestrian with ID 24 is 20.6 meters away at (-10.0, -18.0). A pedestrian with ID 34 is 22.0 meters away at (-17.1, -13.8). A vehicle with ID 10 is 27.5 meters away at (-5.3, 27.0). A vehicle with ID 21 is 29.3 meters away at (20.7, -20.8). A unknown object with ID 29 is 42.0 meters away at (38.4, -17.2). A vehicle with ID 48 is 46.0 meters away at (41.4, -20.1).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.2190405   0.78841954] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3432053   0.82270694] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 6.5005236 -3.866312 ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.294172   9.694388]\n [-26.846945  10.752076]\n [-19.671238  11.275179]\n [-18.846643  12.371716]]", "nav_goal": "(-255.1652069091797, 150.5794677734375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.14709187 -4.3241286 ], 4.326629638671875 meters away.)"}
{"file_name": "images/scenario_208_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 4.6 meters away at (0.3, -4.6). A vehicle with ID 23 is 7.0 meters away at (-6.0, 3.4). A vehicle with ID 26 is 12.2 meters away at (-11.9, 2.8). A vehicle with ID 32 is 15.7 meters away at (-13.5, 7.9). A pedestrian with ID 24 is 20.6 meters away at (-11.7, -16.9). A pedestrian with ID 34 is 22.8 meters away at (-19.0, -12.6). A vehicle with ID 21 is 43.7 meters away at (33.4, -28.3). A vehicle with ID 35 is 45.5 meters away at (-30.7, 33.6). A vehicle with ID 48 is 46.5 meters away at (41.9, -20.3). A vehicle with ID 49 is 50.0 meters away at (33.7, -36.9).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.133521    0.67881644] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.2252979   0.81982535] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 5.526379  -3.2627447] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.294172   9.694388]\n [-26.846945  10.752076]\n [-19.671238  11.275179]\n [-18.846643  12.371716]]", "nav_goal": "(-255.1652069091797, 150.5794677734375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.32176638 -4.5947485 ], 4.606000900268555 meters away.)"}
{"file_name": "images/scenario_208_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 4.6 meters away at (0.4, -4.6). A vehicle with ID 23 is 6.9 meters away at (-6.0, 3.4). A vehicle with ID 26 is 12.2 meters away at (-11.9, 2.7). A vehicle with ID 32 is 15.6 meters away at (-13.5, 7.9). A pedestrian with ID 24 is 21.1 meters away at (-13.9, -15.9). A pedestrian with ID 34 is 24.2 meters away at (-21.4, -11.3). A vehicle with ID 35 is 45.4 meters away at (-30.6, 33.5). A vehicle with ID 48 is 46.5 meters away at (41.9, -20.3). A vehicle with ID 49 is 50.0 meters away at (33.7, -36.9). A pedestrian with ID 28 is 53.3 meters away at (-40.7, 34.3).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0309603   0.56651646] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.1963803   0.80855304] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 1.1088452  -0.63445616] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.294172   9.694388]\n [-26.846945  10.752076]\n [-19.671238  11.275179]\n [-18.846643  12.371716]]", "nav_goal": "(-255.1652069091797, 150.5794677734375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.37928247 -4.624873  ], 4.64039945602417 meters away.)"}
{"file_name": "images/scenario_208_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 4.6 meters away at (0.4, -4.6). A vehicle with ID 23 is 6.9 meters away at (-6.0, 3.4). A vehicle with ID 26 is 12.2 meters away at (-11.8, 2.7). A vehicle with ID 32 is 15.6 meters away at (-13.4, 7.9). A pedestrian with ID 24 is 21.7 meters away at (-16.0, -14.6). A pedestrian with ID 34 is 25.7 meters away at (-23.8, -9.8). A vehicle with ID 48 is 46.5 meters away at (41.8, -20.3). A vehicle with ID 49 is 50.0 meters away at (33.7, -36.9). A pedestrian with ID 28 is 50.6 meters away at (-38.4, 33.0). A vehicle with ID 33 is 53.6 meters away at (48.0, -23.9).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0593443  0.5916225] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0720452  0.8282296] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 1.2249365 -0.6598349] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.294172   9.694388]\n [-26.846945  10.752076]\n [ 22.093534 -16.695883]\n [-19.671238  11.275179]\n [-18.846643  12.371716]]", "nav_goal": "(-255.1652069091797, 150.5794677734375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.3699317 -4.6217713], 4.636552810668945 meters away.)"}
{"file_name": "images/scenario_209_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.8) m/s. Its current heading (yaw) is -2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 4.8 meters away at (0.7, -4.7). A unknown object with ID 24 is 23.3 meters away at (-22.3, 6.7). A unknown object with ID 25 is 36.8 meters away at (-4.3, 36.6). A pedestrian with ID 12 is 44.6 meters away at (-40.2, 19.5). A unknown object with ID 27 is 47.0 meters away at (-1.3, 47.0). A vehicle with ID 28 is 48.0 meters away at (-40.6, 25.5). A unknown object with ID 16 is 53.2 meters away at (-19.2, -49.6). A pedestrian with ID 29 is 62.3 meters away at (60.5, 15.0).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.67935973 -0.11663063] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.7774702 -0.551039 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-89.94817352294922, 99.508544921875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.7250581 -4.7292604], 4.784518241882324 meters away.)"}
{"file_name": "images/scenario_209_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.8) m/s. Its current heading (yaw) is -2.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 5.9 meters away at (5.1, 2.9). A unknown object with ID 16 is 44.0 meters away at (-14.7, -41.5). A vehicle with ID 28 is 49.2 meters away at (-36.2, 33.3). A unknown object with ID 27 is 54.8 meters away at (3.2, 54.7).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-89.94817352294922, 99.508544921875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.120028  2.8582382], 5.863805294036865 meters away.)"}
{"file_name": "images/scenario_209_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.9) m/s. Its current heading (yaw) is -2.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 13.1 meters away at (8.8, 9.7). A cyclist with ID 10 is 31.5 meters away at (-16.1, -27.1). A unknown object with ID 5 is 40.7 meters away at (28.5, 29.0). A vehicle with ID 28 is 51.6 meters away at (-32.5, 40.1). A unknown object with ID 27 is 62.0 meters away at (6.8, 61.6).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [0.01214937 0.02644456] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-89.94817352294922, 99.508544921875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [8.828999 9.659521], 13.086541175842285 meters away.)"}
{"file_name": "images/scenario_209_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.7) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 18.5 meters away at (11.9, 14.2). A cyclist with ID 10 is 26.1 meters away at (-13.0, -22.6). A unknown object with ID 5 is 46.1 meters away at (31.6, 33.5). A unknown object with ID 20 is 62.3 meters away at (-44.7, -43.5). A vehicle with ID 1 is 62.6 meters away at (20.7, 59.1). A unknown object with ID 27 is 66.9 meters away at (9.9, 66.2).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-0.02511431  0.03026445] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.5170875 -5.8272357] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-89.94817352294922, 99.508544921875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [11.885101 14.218993], 18.53200912475586 meters away.)"}
{"file_name": "images/scenario_210_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -9.0) m/s. Its current heading (yaw) is -0.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 45.7 meters away at (26.4, -37.3). A vehicle with ID 16 is 46.6 meters away at (-29.3, 36.2). A vehicle with ID 6 is 67.8 meters away at (40.8, -54.2). A vehicle with ID 5 is 75.9 meters away at (46.2, -60.2).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(173.89614868164062, -244.1075897216797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 26.389614 -37.33067 ], 45.71641540527344 meters away.)"}
{"file_name": "images/scenario_210_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -8.7) m/s. Its current heading (yaw) is -0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 23.1 meters away at (12.3, -19.6). A vehicle with ID 6 is 45.1 meters away at (26.7, -36.4). A vehicle with ID 5 is 53.2 meters away at (32.1, -42.4). A vehicle with ID 8 is 62.2 meters away at (44.8, -43.2). A vehicle with ID 16 is 69.2 meters away at (-43.4, 54.0).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(173.89614868164062, -244.1075897216797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 12.282173 -19.596134], 23.127044677734375 meters away.)"}
{"file_name": "images/scenario_210_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -8.8) m/s. Its current heading (yaw) is -0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 3.2 meters away at (-2.3, -2.2). A vehicle with ID 6 is 22.4 meters away at (12.0, -19.0). A vehicle with ID 5 is 30.4 meters away at (17.4, -25.0). A vehicle with ID 8 is 39.6 meters away at (30.1, -25.8). A vehicle with ID 15 is 74.1 meters away at (45.7, -58.3).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(173.89614868164062, -244.1075897216797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.3237114 -2.1925201], 3.194805145263672 meters away.)"}
{"file_name": "images/scenario_210_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -8.8) m/s. Its current heading (yaw) is -0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 3.4 meters away at (-3.1, -1.5). A vehicle with ID 5 is 7.7 meters away at (2.2, -7.4). A vehicle with ID 8 is 17.2 meters away at (15.0, -8.3). A vehicle with ID 17 is 23.2 meters away at (-17.4, 15.3). A vehicle with ID 15 is 51.0 meters away at (30.7, -40.7). A vehicle with ID 10 is 57.9 meters away at (35.5, -45.7). A unknown object with ID 4 is 61.4 meters away at (45.8, -40.9). A vehicle with ID 2 is 76.8 meters away at (54.6, -54.0).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(173.89614868164062, -244.1075897216797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.066536 -1.470665], 3.4009554386138916 meters away.)"}
{"file_name": "images/scenario_211_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 3.6 meters away at (-3.4, -1.1). A vehicle with ID 13 is 6.3 meters away at (5.8, -2.5). A vehicle with ID 14 is 7.1 meters away at (1.3, -7.0). A pedestrian with ID 15 is 7.6 meters away at (-1.1, 7.6). A pedestrian with ID 17 is 8.1 meters away at (-1.6, 7.9). A pedestrian with ID 19 is 8.5 meters away at (-1.3, 8.4). A vehicle with ID 22 is 8.9 meters away at (5.4, -7.1). A vehicle with ID 23 is 10.9 meters away at (8.9, -6.4). A vehicle with ID 32 is 15.9 meters away at (-15.3, 4.4). A vehicle with ID 28 is 15.9 meters away at (7.1, -14.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00744105  0.00438513] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00257439  0.00091868] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [3.3993032e-03 8.7491069e-05] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.23705234  0.31605378] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 6.480489 -8.949499] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.560741  8.842278]\n [-5.580983 11.900865]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.444018  -1.0644568], 3.604764461517334 meters away.)"}
{"file_name": "images/scenario_211_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 3.6 meters away at (-3.5, -1.1). A vehicle with ID 13 is 6.4 meters away at (5.9, -2.5). A vehicle with ID 14 is 7.1 meters away at (1.3, -7.0). A pedestrian with ID 15 is 7.7 meters away at (-1.1, 7.6). A pedestrian with ID 17 is 8.1 meters away at (-1.6, 7.9). A pedestrian with ID 19 is 8.5 meters away at (-1.3, 8.4). A vehicle with ID 22 is 8.7 meters away at (5.3, -6.9). A vehicle with ID 23 is 10.9 meters away at (8.9, -6.4). A vehicle with ID 32 is 13.9 meters away at (-2.2, -13.8). A vehicle with ID 28 is 15.9 meters away at (7.1, -14.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.01114511 0.03434131] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00329546  0.00506429] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00608471  0.00419031] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 6.6115108 -9.094262 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.560741  8.842278]\n [-5.580983 11.900865]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.4524708 -1.0673047], 3.6136815547943115 meters away.)"}
{"file_name": "images/scenario_211_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 3.6 meters away at (-3.5, -1.1). A vehicle with ID 13 is 6.4 meters away at (5.9, -2.5). A vehicle with ID 14 is 7.1 meters away at (1.3, -7.0). A pedestrian with ID 17 is 8.0 meters away at (-1.7, 7.8). A pedestrian with ID 15 is 8.1 meters away at (-0.9, 8.0). A pedestrian with ID 19 is 8.6 meters away at (-1.3, 8.5). A vehicle with ID 22 is 8.8 meters away at (5.3, -7.0). A vehicle with ID 23 is 10.9 meters away at (8.9, -6.4). A vehicle with ID 28 is 15.9 meters away at (7.1, -14.3). A vehicle with ID 30 is 16.7 meters away at (12.5, -11.1).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.00386669 -0.01777878] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.0112043  0.00338578] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00098848 -0.00534163] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.560741  8.842278]\n [-5.580983 11.900865]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.4529338 -1.079134 ], 3.6176347732543945 meters away.)"}
{"file_name": "images/scenario_211_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 3.6 meters away at (-3.4, -1.1). A vehicle with ID 13 is 6.4 meters away at (5.9, -2.5). A vehicle with ID 14 is 7.1 meters away at (1.3, -7.0). A pedestrian with ID 17 is 7.9 meters away at (-1.6, 7.7). A pedestrian with ID 15 is 8.0 meters away at (-1.0, 8.0). A pedestrian with ID 19 is 8.5 meters away at (-1.3, 8.4). A vehicle with ID 22 is 8.8 meters away at (5.3, -7.0). A vehicle with ID 23 is 10.9 meters away at (8.9, -6.4). A vehicle with ID 2 is 14.0 meters away at (-12.9, 5.4). A vehicle with ID 28 is 15.9 meters away at (7.1, -14.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.00085515 -0.01793965] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.00283653 0.00267611] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00831734 -0.00625896] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [  7.5512013 -10.1403055] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.560741  8.842278]\n [-5.580983 11.900865]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.4498138 -1.0824287], 3.6156420707702637 meters away.)"}
{"file_name": "images/scenario_212_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.7) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A unknown object with ID 31 is 10.7 meters away at (-7.6, -7.5). A unknown object with ID 32 is 14.2 meters away at (-8.8, -11.1). A pedestrian with ID 36 is 16.5 meters away at (-1.2, 16.4). A vehicle with ID 42 is 16.9 meters away at (16.9, -0.5). A vehicle with ID 47 is 19.3 meters away at (18.7, 4.7). A unknown object with ID 57 is 24.1 meters away at (19.8, 13.7). A pedestrian with ID 56 is 25.6 meters away at (23.5, 10.2). A pedestrian with ID 23 is 25.8 meters away at (24.7, 7.7). A unknown object with ID 45 is 26.3 meters away at (22.3, 14.0). A pedestrian with ID 58 is 26.7 meters away at (25.4, 8.4).", "velocity_description": "The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.89541817 -0.4840594 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.10996097  0.03231695] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.91658765  0.39333996] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.90075606  0.30692074] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(186.69422912597656, -149.5064697265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.578666  -7.5373735], 10.68869400024414 meters away.)"}
{"file_name": "images/scenario_212_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A unknown object with ID 31 is 10.4 meters away at (-7.5, -7.2). A unknown object with ID 32 is 13.8 meters away at (-8.6, -10.7). A pedestrian with ID 36 is 16.0 meters away at (0.8, 15.9). A vehicle with ID 42 is 17.0 meters away at (17.0, -0.1). A vehicle with ID 47 is 19.5 meters away at (18.8, 5.1). A vehicle with ID 20 is 24.0 meters away at (3.4, 23.7). A unknown object with ID 57 is 24.5 meters away at (20.0, 14.1). A pedestrian with ID 37 is 25.0 meters away at (23.3, 9.0). A pedestrian with ID 58 is 25.6 meters away at (23.7, 9.6). A pedestrian with ID 56 is 25.7 meters away at (23.4, 10.7).", "velocity_description": "The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.0231878  -0.40867907] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [11.198841 -3.460822] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.82617354  0.41856602] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.8148539   0.33493364] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.4345285   0.08044079] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(186.69422912597656, -149.5064697265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.4774466 -7.172643 ], 10.361419677734375 meters away.)"}
{"file_name": "images/scenario_212_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A unknown object with ID 31 is 10.3 meters away at (-7.4, -7.1). A unknown object with ID 32 is 13.7 meters away at (-8.6, -10.6). A pedestrian with ID 36 is 15.3 meters away at (3.2, 15.0). A vehicle with ID 42 is 17.1 meters away at (17.1, 0.1). A vehicle with ID 47 is 19.5 meters away at (18.8, 5.2). A pedestrian with ID 37 is 23.7 meters away at (21.7, 9.7). A vehicle with ID 26 is 24.2 meters away at (3.3, 23.9). A pedestrian with ID 58 is 24.4 meters away at (22.1, 10.3). A unknown object with ID 57 is 24.6 meters away at (20.0, 14.2). A pedestrian with ID 56 is 25.0 meters away at (22.4, 11.1).", "velocity_description": "The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.3755239  -0.49720043] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.82013357  0.30452257] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [11.306004  -3.3449175] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.77443993  0.32319602] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.7789838  0.2977749] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(186.69422912597656, -149.5064697265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.448721 -7.073865], 10.272439002990723 meters away.)"}
{"file_name": "images/scenario_212_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.7) m/s. Its current heading (yaw) is -1.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 31 is 7.9 meters away at (-6.7, -4.3). A unknown object with ID 32 is 11.1 meters away at (-7.8, -7.9). A vehicle with ID 42 is 18.1 meters away at (17.8, 2.8). A pedestrian with ID 36 is 18.1 meters away at (6.8, 16.8). A vehicle with ID 47 is 21.2 meters away at (19.6, 7.9). A pedestrian with ID 37 is 24.5 meters away at (20.8, 12.9). A pedestrian with ID 58 is 25.2 meters away at (21.3, 13.5). A pedestrian with ID 56 is 25.8 meters away at (21.5, 14.3). A unknown object with ID 57 is 26.9 meters away at (20.8, 17.0). A vehicle with ID 25 is 28.6 meters away at (0.2, 28.6).", "velocity_description": "The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.2195591  -0.44646826] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.0249401  0.425794 ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.92339754  0.4028641 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9306051   0.38304222] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [11.952594  -3.8367574] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(186.69422912597656, -149.5064697265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-6.651078 -4.293235], 7.916357040405273 meters away.)"}
{"file_name": "images/scenario_213_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.3) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 6.2 meters away at (3.3, 5.2). A vehicle with ID 68 is 7.1 meters away at (-1.9, 6.8). A vehicle with ID 65 is 8.6 meters away at (-8.6, -0.5). A vehicle with ID 64 is 17.0 meters away at (-13.4, 10.5). A vehicle with ID 66 is 22.0 meters away at (-18.4, 12.1). A vehicle with ID 75 is 24.8 meters away at (9.0, -23.1). A vehicle with ID 74 is 26.7 meters away at (-25.5, 7.8). A vehicle with ID 67 is 27.6 meters away at (-23.9, 13.7). A vehicle with ID 77 is 29.7 meters away at (16.5, -24.7). A vehicle with ID 69 is 30.0 meters away at (-29.3, 6.2).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 8.94304   -2.9039712] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(257.4943542480469, -98.62078857421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.3152905 5.1855245], 6.154738903045654 meters away.)"}
{"file_name": "images/scenario_213_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -0.9) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 10.1 meters away at (-5.9, 8.2). A vehicle with ID 68 is 14.8 meters away at (-11.2, 9.8). A vehicle with ID 65 is 18.2 meters away at (-18.0, 2.6). A vehicle with ID 75 is 20.1 meters away at (-0.5, -20.1). A vehicle with ID 74 is 20.3 meters away at (-19.4, 6.0). A vehicle with ID 77 is 22.8 meters away at (7.0, -21.7). A vehicle with ID 21 is 22.9 meters away at (15.2, -17.2). A vehicle with ID 47 is 23.6 meters away at (18.8, 14.3). A vehicle with ID 64 is 26.4 meters away at (-22.7, 13.6). A vehicle with ID 82 is 28.1 meters away at (27.6, -5.5).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 6.5441318 -2.136736 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0.63096625 1.7052457 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-5.0467772  1.5756167] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(257.4943542480469, -98.62078857421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.8886986  8.166824 ], 10.068455696105957 meters away.)"}
{"file_name": "images/scenario_213_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 11.5 meters away at (-11.1, 3.2). A vehicle with ID 70 is 12.0 meters away at (-8.1, 8.9). A vehicle with ID 82 is 12.8 meters away at (12.8, -0.5). A vehicle with ID 68 is 17.1 meters away at (-13.4, 10.6). A vehicle with ID 21 is 19.6 meters away at (15.5, -12.1). A vehicle with ID 75 is 19.6 meters away at (-2.7, -19.5). A vehicle with ID 65 is 20.4 meters away at (-20.2, 3.4). A vehicle with ID 77 is 21.5 meters away at (4.8, -20.9). A vehicle with ID 47 is 22.4 meters away at (16.7, 15.0). A vehicle with ID 32 is 27.9 meters away at (18.3, 21.1).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [ 3.5258024 -1.1831234] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-7.0915847  2.3265667] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [2.446335  2.7022984] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(257.4943542480469, -98.62078857421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-11.083975    3.2437825], 11.548879623413086 meters away.)"}
{"file_name": "images/scenario_213_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.6) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 82 is 5.8 meters away at (-3.7, 4.5). A vehicle with ID 74 is 8.0 meters away at (-7.7, 2.2). A vehicle with ID 70 is 12.8 meters away at (-9.0, 9.2). A vehicle with ID 68 is 17.9 meters away at (-14.3, 10.8). A vehicle with ID 75 is 19.7 meters away at (-3.6, -19.3). A vehicle with ID 77 is 21.0 meters away at (3.8, -20.7). A vehicle with ID 65 is 21.3 meters away at (-21.0, 3.6). A vehicle with ID 47 is 21.9 meters away at (15.7, 15.3). A vehicle with ID 21 is 24.1 meters away at (22.6, -8.2). A vehicle with ID 32 is 27.6 meters away at (17.4, 21.5).", "velocity_description": "The vehicle with ID 82 is traveling at a (x, y) velocity of [-8.829651   2.4836674] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 1.1494297 -0.3988307] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [5.2117367 0.2026312] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(257.4943542480469, -98.62078857421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6969738  4.459082 ], 5.792325019836426 meters away.)"}
{"file_name": "images/scenario_214_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 2.8) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 12.4 meters away at (11.5, -4.7). A vehicle with ID 76 is 13.3 meters away at (-12.3, 5.1). A vehicle with ID 27 is 14.3 meters away at (-10.7, 9.5). A vehicle with ID 6 is 16.2 meters away at (12.0, -11.0). A vehicle with ID 71 is 25.9 meters away at (-19.5, 17.1). A vehicle with ID 54 is 28.7 meters away at (-24.8, 14.5). A vehicle with ID 73 is 30.9 meters away at (-29.3, -10.0). A vehicle with ID 58 is 31.5 meters away at (23.9, -20.5). A vehicle with ID 74 is 34.5 meters away at (28.7, -19.2). A vehicle with ID 63 is 35.0 meters away at (-23.4, 26.0).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 5.368244 -4.222119] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-3.2979074  2.841402 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.1653287  1.8623664] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-3.9182048  3.3711643] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 5.5779076 -4.17728  ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 48.053444 -44.179356]\n [ 47.67647  -44.74059 ]]", "nav_goal": "(-8.916261672973633, 221.16140747070312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.511809  -4.7234416], 12.443177223205566 meters away.)"}
{"file_name": "images/scenario_214_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 2.8) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 7.4 meters away at (-7.3, 0.7). A vehicle with ID 76 is 10.5 meters away at (4.9, -9.3). A vehicle with ID 27 is 15.3 meters away at (-11.5, 10.2). A vehicle with ID 94 is 16.9 meters away at (-16.5, 3.6). A vehicle with ID 6 is 17.7 meters away at (13.1, -12.0). A vehicle with ID 67 is 20.8 meters away at (18.0, -10.4). A cyclist with ID 50 is 20.9 meters away at (15.3, -14.3). A vehicle with ID 63 is 26.4 meters away at (-16.9, 20.3). A vehicle with ID 73 is 27.7 meters away at (-22.8, -15.7). A vehicle with ID 71 is 30.0 meters away at (-22.6, 19.7).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [ 5.312395  -4.0825086] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 5.0280833 -4.1634703] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-4.237343  3.714777] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [ 7.2357025 -7.710135 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.1638274  2.782782 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [-3.011139   2.5776486] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-5.341153  4.620414] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 48.053444 -44.179356]\n [ 47.67647  -44.74059 ]]", "nav_goal": "(-8.916261672973633, 221.16140747070312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.3273926  0.6559744], 7.356696605682373 meters away.)"}
{"file_name": "images/scenario_214_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 3.3) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 95 is 12.6 meters away at (-12.0, 3.8). A vehicle with ID 54 is 16.6 meters away at (9.7, -13.5). A vehicle with ID 63 is 17.6 meters away at (-10.1, 14.4). A vehicle with ID 6 is 18.0 meters away at (13.3, -12.1). A vehicle with ID 27 is 19.1 meters away at (-14.4, 12.6). A vehicle with ID 94 is 20.4 meters away at (7.2, -19.1). A vehicle with ID 72 is 24.7 meters away at (-23.5, -7.6). A vehicle with ID 73 is 26.9 meters away at (-16.0, -21.7). A vehicle with ID 67 is 29.6 meters away at (24.7, -16.4). A vehicle with ID 82 is 29.7 meters away at (-27.3, -11.5).", "velocity_description": "The vehicle with ID 95 is traveling at a (x, y) velocity of [ 6.2701735 -4.6748314] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 4.79356   -3.9645455] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.2075105  2.7923234] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.3711166  4.5392456] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [ 9.167711 -8.457998] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-55.41854   35.127884]\n [-43.568096  41.27125 ]]", "nav_goal": "(-8.916261672973633, 221.16140747070312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.979958   3.826044], 12.576087951660156 meters away.)"}
{"file_name": "images/scenario_214_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 4.0) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 7.2 meters away at (-1.5, 7.0). A vehicle with ID 46 is 12.0 meters away at (-11.9, 0.9). A vehicle with ID 95 is 15.6 meters away at (8.8, -12.9). A pedestrian with ID 1 is 20.6 meters away at (-10.4, 17.8). A vehicle with ID 72 is 21.2 meters away at (-15.1, -14.9). A vehicle with ID 6 is 21.2 meters away at (15.8, -14.2). A pedestrian with ID 33 is 21.4 meters away at (-11.1, 18.3). A vehicle with ID 27 is 22.9 meters away at (-17.3, 15.0). A vehicle with ID 82 is 26.7 meters away at (-18.8, -19.0). A vehicle with ID 84 is 29.7 meters away at (-20.4, -21.6).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 6.2299747 -5.4887714] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [ 5.7199745 -4.528894 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.42763397 -0.44961387] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.0383396  2.6101613] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.39664817 -0.44562858] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-6.1118608  5.122192 ] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-55.41854   35.127884]]", "nav_goal": "(-8.916261672973633, 221.16140747070312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.5008888  6.9916096], 7.150892734527588 meters away.)"}
{"file_name": "images/scenario_215_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.1 meters away at (0.5, -4.1). A unknown object with ID 20 is 9.1 meters away at (-8.6, -3.2). A vehicle with ID 23 is 10.2 meters away at (-3.7, -9.5). A vehicle with ID 24 is 17.2 meters away at (8.5, 14.9). A vehicle with ID 38 is 18.2 meters away at (-4.3, 17.7). A vehicle with ID 17 is 20.8 meters away at (19.5, -7.1). A vehicle with ID 31 is 20.9 meters away at (20.1, 5.7). A vehicle with ID 41 is 22.8 meters away at (-12.2, -19.3). A vehicle with ID 42 is 25.6 meters away at (-25.3, -3.9). A unknown object with ID 43 is 25.7 meters away at (14.2, -21.4).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.455387   5.5309505] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [10.817986 -9.018051] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [10.2178755 -8.716083 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-6.874898  5.861736] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [1.9512002 2.3525138] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.5479455   4.083037  ]\n [12.757005   16.110922  ]\n [ 5.069928    6.0187373 ]\n [ 9.204948    1.8385608 ]\n [11.370168   17.823627  ]\n [12.688374   16.475132  ]\n [ 9.21046     0.80264646]]", "nav_goal": "(-101.62059783935547, -25.938940048217773)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.45463476 -4.076471  ], 4.101744651794434 meters away.)"}
{"file_name": "images/scenario_215_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.1 meters away at (0.5, -4.1). A unknown object with ID 20 is 9.1 meters away at (-8.6, -3.2). A vehicle with ID 23 is 10.2 meters away at (-3.7, -9.5). A vehicle with ID 38 is 17.2 meters away at (17.1, -0.3). A vehicle with ID 31 is 18.4 meters away at (6.6, 17.2). A vehicle with ID 41 is 19.0 meters away at (-9.8, -16.3). A vehicle with ID 42 is 25.6 meters away at (-25.3, -3.9). A unknown object with ID 43 is 25.7 meters away at (14.3, -21.4). A vehicle with ID 44 is 26.1 meters away at (26.1, 0.1). A vehicle with ID 24 is 26.5 meters away at (-4.5, 26.1).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [10.365489 -8.88322 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-6.7255554  5.6716166] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0.507237  0.6310266] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-6.5551467  5.8865733] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.584907  5.712987] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.5479455   4.083037  ]\n [12.757005   16.110922  ]\n [ 5.069928    6.0187373 ]\n [ 9.204948    1.8385608 ]\n [11.370168   17.823627  ]\n [12.688374   16.475132  ]\n [ 9.21046     0.80264646]]", "nav_goal": "(-101.62059783935547, -25.938940048217773)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.45951504 -4.0635815 ], 4.089480400085449 meters away.)"}
{"file_name": "images/scenario_215_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.1 meters away at (0.5, -4.1). A unknown object with ID 20 is 9.1 meters away at (-8.6, -3.2). A vehicle with ID 23 is 10.2 meters away at (-3.7, -9.5). A vehicle with ID 13 is 14.5 meters away at (-0.9, 14.5). A vehicle with ID 44 is 17.5 meters away at (12.7, 12.0). A vehicle with ID 41 is 18.6 meters away at (-9.5, -16.0). A vehicle with ID 42 is 25.6 meters away at (-25.3, -3.9). A unknown object with ID 43 is 25.7 meters away at (14.2, -21.4). A vehicle with ID 31 is 29.2 meters away at (-6.7, 28.4). A vehicle with ID 68 is 29.8 meters away at (29.7, -2.9).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 8.779732 -7.325858] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-6.738594   5.7577043] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-6.28829    5.3070745] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-6.487257   5.6045976] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.5479455   4.083037  ]\n [12.757005   16.110922  ]\n [ 5.069928    6.0187373 ]\n [ 9.204948    1.8385608 ]\n [11.370168   17.823627  ]\n [12.688374   16.475132  ]\n [ 9.21046     0.80264646]]", "nav_goal": "(-101.62059783935547, -25.938940048217773)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.45041984 -4.0779886 ], 4.102787971496582 meters away.)"}
{"file_name": "images/scenario_215_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.1 meters away at (0.4, -4.1). A unknown object with ID 20 is 9.1 meters away at (-8.6, -3.2). A vehicle with ID 23 is 10.2 meters away at (-3.7, -9.5). A vehicle with ID 13 is 17.1 meters away at (17.1, -0.2). A vehicle with ID 41 is 18.6 meters away at (-9.5, -16.0). A vehicle with ID 68 is 18.7 meters away at (16.7, 8.3). A vehicle with ID 44 is 23.1 meters away at (-0.7, 23.1). A vehicle with ID 42 is 25.6 meters away at (-25.3, -3.9). A unknown object with ID 43 is 25.7 meters away at (14.3, -21.4). A vehicle with ID 47 is 30.1 meters away at (30.0, 2.3).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 9.190105  -7.3917828] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-6.4851484  5.4760585] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-6.6216183  5.4499364] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.5479455   4.083037  ]\n [12.757005   16.110922  ]\n [ 5.069928    6.0187373 ]\n [ 9.204948    1.8385608 ]\n [11.370168   17.823627  ]\n [12.688374   16.475132  ]\n [ 9.21046     0.80264646]]", "nav_goal": "(-101.62059783935547, -25.938940048217773)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.44344762 -4.085674  ], 4.109668731689453 meters away.)"}
{"file_name": "images/scenario_216_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.5) m/s. Its current heading (yaw) is 1.34 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 16.2 meters away at (2.2, 16.0). A vehicle with ID 17 is 49.8 meters away at (19.9, 45.6). A vehicle with ID 19 is 52.7 meters away at (51.3, 12.0). A pedestrian with ID 7 is 68.1 meters away at (-68.1, -2.8).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [13.166694    0.50011563] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.9782027  0.31306398] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 2.1972923 16.035751 ], 16.185592651367188 meters away.)"}
{"file_name": "images/scenario_216_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.35 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 15.5 meters away at (2.0, 15.3). A vehicle with ID 17 is 48.9 meters away at (19.8, 44.7).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 2.0324817 15.322359 ], 15.456573486328125 meters away.)"}
{"file_name": "images/scenario_216_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.4) m/s. Its current heading (yaw) is 1.33 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 47.1 meters away at (12.0, 45.5). A vehicle with ID 17 is 48.1 meters away at (19.5, 43.9).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [12.029702 45.508804], 47.0719108581543 meters away.)"}
{"file_name": "images/scenario_216_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.3) m/s. Its current heading (yaw) is 1.16 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 40.8 meters away at (9.9, 39.6). A vehicle with ID 17 is 42.0 meters away at (17.5, 38.2). A vehicle with ID 3 is 67.9 meters away at (67.9, 1.7).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-11.537725   1.931783] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 9.927645 39.583504], 40.8094596862793 meters away.)"}
{"file_name": "images/scenario_217_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, 4.5) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 5.8 meters away at (-2.2, 5.3). A pedestrian with ID 82 is 14.5 meters away at (-8.7, -11.6). A pedestrian with ID 81 is 14.7 meters away at (-9.5, -11.2). A pedestrian with ID 72 is 17.3 meters away at (-9.3, 14.6). A cyclist with ID 69 is 17.4 meters away at (-9.3, 14.8). A pedestrian with ID 90 is 20.5 meters away at (20.5, 0.7). A pedestrian with ID 83 is 21.1 meters away at (-13.7, -16.0). A cyclist with ID 85 is 23.5 meters away at (-23.4, 1.4). A pedestrian with ID 84 is 25.1 meters away at (-17.2, -18.3). A pedestrian with ID 44 is 27.3 meters away at (-19.2, -19.4).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [8.962905  5.6202836] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.0728439  -0.79050404] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-1.083661  -0.7642867] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.27465597 -0.7828711 ] m/s.The cyclist with ID 69 is traveling at a (x, y) velocity of [-0.22362052 -0.30830923] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.02060027 -0.01101064] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.0029744  0.02941858] m/s.The cyclist with ID 85 is traveling at a (x, y) velocity of [-1.6657425 -1.3222661] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [0.01480739 0.01479333] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.00981419 -0.00858352] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(240.61871337890625, -26.216325759887695)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.2229223  5.3398924], 5.784101963043213 meters away.)"}
{"file_name": "images/scenario_217_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, 4.8) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.7 meters away at (1.3, 7.6). A pedestrian with ID 90 is 10.4 meters away at (5.8, -8.6). A pedestrian with ID 66 is 15.3 meters away at (14.2, -5.8). A vehicle with ID 37 is 20.0 meters away at (18.7, 6.9). A cyclist with ID 69 is 25.8 meters away at (-25.6, 2.9). A vehicle with ID 36 is 26.0 meters away at (24.6, 8.4). A vehicle with ID 29 is 30.1 meters away at (-27.0, -13.3). A vehicle with ID 95 is 31.3 meters away at (28.8, 12.2). A pedestrian with ID 71 is 34.0 meters away at (-24.9, -23.1). A pedestrian with ID 82 is 34.1 meters away at (-25.8, -22.3).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [9.180786 5.790284] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.0109835  0.00231351] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.5966474   0.24014476] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 69 is traveling at a (x, y) velocity of [-0.86958146 -1.1316122 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0.19754508 0.2719778 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [8.704605  5.3628383] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.28992984 -0.13371669] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.1158546 -0.560291 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(240.61871337890625, -26.216325759887695)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.3161163 7.6190968], 7.73193359375 meters away.)"}
{"file_name": "images/scenario_217_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, 4.4) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 4.8 meters away at (4.3, -2.1). A vehicle with ID 36 is 10.1 meters away at (10.1, -0.6). A vehicle with ID 4 is 10.6 meters away at (4.5, 9.5). A vehicle with ID 95 is 14.7 meters away at (14.3, 3.0). A pedestrian with ID 66 is 15.4 meters away at (0.0, -15.4). A pedestrian with ID 64 is 17.2 meters away at (13.8, -10.3). A vehicle with ID 29 is 26.5 meters away at (-24.0, -11.4). A pedestrian with ID 58 is 32.5 meters away at (31.3, 8.6). A cyclist with ID 69 is 43.1 meters away at (-42.2, -8.9). A pedestrian with ID 70 is 45.8 meters away at (31.5, 33.2).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [8.563526 5.344207] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.05365416  0.00173086] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.00431226  0.01243325] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [8.5262165 5.365    ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.0922174 -1.1434058] m/s.The cyclist with ID 69 is traveling at a (x, y) velocity of [-0.8544467 -1.0310215] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.0597892  -0.69374675] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.182933    2.9694662]\n [116.586716   76.61961  ]\n [ -4.158457    0.6192809]\n [ -8.628175    1.9494148]\n [112.96043    80.933945 ]\n [115.89494    77.41031  ]\n [114.21607    79.605415 ]]", "nav_goal": "(240.61871337890625, -26.216325759887695)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.2929688 -2.146658 ], 4.799762725830078 meters away.)"}
{"file_name": "images/scenario_217_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, 4.1) m/s. Its current heading (yaw) is 0.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 95 is 5.6 meters away at (0.6, -5.5). A vehicle with ID 36 is 9.8 meters away at (-3.7, -9.0). A vehicle with ID 4 is 13.2 meters away at (6.9, 11.2). A vehicle with ID 37 is 14.2 meters away at (-9.5, -10.6). A pedestrian with ID 58 is 15.4 meters away at (15.2, -2.2). A pedestrian with ID 64 is 18.9 meters away at (-0.1, -18.9). A vehicle with ID 29 is 24.1 meters away at (-22.0, -10.0). A pedestrian with ID 66 is 27.6 meters away at (-13.8, -23.9). A pedestrian with ID 70 is 28.0 meters away at (15.5, 23.3). A pedestrian with ID 14 is 28.5 meters away at (15.1, 24.2).", "velocity_description": "The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [7.8253365 4.969888 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.2511798 -1.0571291] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.03381824 -0.00739058] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [7.3010235 4.6301656] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.02769462  0.01560274] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.1680301  -0.64557016] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.1396831  -0.56073934] m/s.", "light_description": "There are active red lights at the following coordinates: [[116.586716  76.61961 ]\n [112.96043   80.933945]\n [115.89494   77.41031 ]\n [114.21607   79.605415]]", "nav_goal": "(240.61871337890625, -26.216325759887695)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.56588745 -5.52178   ], 5.550701141357422 meters away.)"}
{"file_name": "images/scenario_218_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -5.5) m/s. Its current heading (yaw) is -0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 47.4 meters away at (31.5, -35.4). A pedestrian with ID 11 is 67.0 meters away at (3.0, 66.9).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.06073316  0.02629539] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 31.478132 -35.3953  ], 47.367713928222656 meters away.)"}
{"file_name": "images/scenario_218_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -5.3) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 32.0 meters away at (20.4, -24.7).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 20.394411 -24.67626 ], 32.013275146484375 meters away.)"}
{"file_name": "images/scenario_218_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -5.4) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 15.9 meters away at (7.7, -13.9).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  7.6806946 -13.9392395], 15.91525936126709 meters away.)"}
{"file_name": "images/scenario_218_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -5.1) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 6.1 meters away at (-5.0, -3.5). A pedestrian with ID 7 is 23.0 meters away at (-11.4, -19.9).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-3.3663993e-05  5.2380028e-06] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.982498  -3.5494843], 6.117526054382324 meters away.)"}
{"file_name": "images/scenario_219_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 8.2) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 4.2 meters away at (-3.1, 2.8). A pedestrian with ID 29 is 5.9 meters away at (-5.3, 2.4). A unknown object with ID 17 is 6.9 meters away at (-5.2, 4.6). A unknown object with ID 20 is 8.1 meters away at (-4.4, 6.8). A unknown object with ID 15 is 8.7 meters away at (-1.6, 8.5). A unknown object with ID 10 is 8.9 meters away at (-0.4, 8.9). A unknown object with ID 27 is 9.9 meters away at (-7.2, -6.8). A unknown object with ID 32 is 10.5 meters away at (-0.5, 10.5). A unknown object with ID 26 is 11.3 meters away at (-6.9, -8.9). A unknown object with ID 8 is 11.6 meters away at (-2.7, 11.3).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.04399476 0.8699671 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.392959 -27.582502]\n [-13.150012 -27.74892 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-3.1180289  2.8398943], 4.217475891113281 meters away.)"}
{"file_name": "images/scenario_219_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 9.2) m/s. Its current heading (yaw) is 1.28 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 9.5 meters away at (-6.6, -6.8). A unknown object with ID 10 is 10.6 meters away at (-6.6, -8.3). A unknown object with ID 20 is 15.0 meters away at (-10.6, -10.6). A unknown object with ID 17 is 17.0 meters away at (-11.4, -12.6). A unknown object with ID 30 is 17.1 meters away at (-9.3, -14.4). A pedestrian with ID 29 is 17.8 meters away at (-11.1, -13.9). A unknown object with ID 27 is 27.6 meters away at (-13.4, -24.2). A unknown object with ID 26 is 29.3 meters away at (-13.0, -26.3). A unknown object with ID 23 is 31.5 meters away at (-13.7, -28.4). A unknown object with ID 22 is 33.6 meters away at (-15.0, -30.0).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.42345703 0.7052512 ] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.392959 -27.582502]\n [-13.150012 -27.74892 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-6.5632615 -6.8331394], 9.474608421325684 meters away.)"}
{"file_name": "images/scenario_219_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 7.7) m/s. Its current heading (yaw) is 1.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 19.2 meters away at (12.4, 14.6). A pedestrian with ID 29 is 33.7 meters away at (-15.3, -30.0). A unknown object with ID 2 is 45.8 meters away at (2.4, 45.8). A unknown object with ID 26 is 47.5 meters away at (-17.7, -44.1). A vehicle with ID 19 is 71.8 meters away at (57.4, 43.1). A pedestrian with ID 31 is 73.9 meters away at (-9.4, -73.3).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.45018458 -2.605174  ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.38980272 1.0309726 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [11.13453     0.14159016] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.01239662 0.03136784] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 33.976303 106.66413 ]\n [ 34.1049   106.68535 ]\n [ 33.973354 106.66379 ]\n [ 30.713713 103.68707 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [12.446733 14.579399], 19.169769287109375 meters away.)"}
{"file_name": "images/scenario_219_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 3.6) m/s. Its current heading (yaw) is 1.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 9.8 meters away at (9.5, -2.2). A vehicle with ID 13 is 9.8 meters away at (9.5, -2.4). A unknown object with ID 2 is 34.7 meters away at (0.3, 34.7). A vehicle with ID 28 is 50.2 meters away at (15.4, 47.8). A unknown object with ID 5 is 52.2 meters away at (35.6, 38.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.54971707 -2.9388921 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.54185647 -3.0254965 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 3.0559175 -7.9582977] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[21.126041 79.011986]\n [24.3295   79.46278 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 9.506073 -2.244007], 9.767343521118164 meters away.)"}
{"file_name": "images/scenario_220_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.3) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 4.2 meters away at (4.2, -0.3). A vehicle with ID 37 is 6.9 meters away at (6.3, -2.9). A vehicle with ID 38 is 7.4 meters away at (-4.6, -5.7). A vehicle with ID 34 is 10.0 meters away at (-1.9, -9.8). A vehicle with ID 39 is 10.5 meters away at (10.2, 2.2). A vehicle with ID 13 is 16.2 meters away at (14.7, 6.9). A vehicle with ID 41 is 22.7 meters away at (18.7, 12.9). A vehicle with ID 45 is 24.3 meters away at (17.6, 16.8). A vehicle with ID 43 is 30.7 meters away at (23.9, 19.3). A vehicle with ID 46 is 31.6 meters away at (-14.1, -28.3).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.9219517 -2.5575933] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.46516302 -0.5837413 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.1976277 -4.210924 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.1303515 -5.0098047] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.189296  -18.883041 ]\n [ -8.325893  -19.784418 ]\n [ -8.597792   -9.151392 ]\n [ -5.8072877 -21.891466 ]\n [ -4.6990104 -23.597578 ]]", "nav_goal": "(-222.55809020996094, 7.875916481018066)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.1775146  -0.32452577], 4.19010066986084 meters away.)"}
{"file_name": "images/scenario_220_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -1.9) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 5.2 meters away at (1.7, -4.9). A vehicle with ID 37 is 8.0 meters away at (7.9, -1.0). A vehicle with ID 39 is 12.4 meters away at (11.7, 4.1). A vehicle with ID 38 is 12.9 meters away at (-8.0, -10.1). A vehicle with ID 45 is 14.2 meters away at (11.0, 8.9). A vehicle with ID 34 is 18.0 meters away at (1.0, -18.0). A vehicle with ID 13 is 18.5 meters away at (16.3, 8.9). A vehicle with ID 41 is 25.2 meters away at (20.3, 14.8). A vehicle with ID 52 is 27.5 meters away at (-8.6, -26.1). A vehicle with ID 46 is 29.2 meters away at (-12.5, -26.3).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.7238485 -4.4357567] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.4255314 -5.5900464] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.070364 -4.800586] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.6081862 -4.8317094] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.189296  -18.883041 ]\n [ -8.325893  -19.784418 ]\n [ -5.8072877 -21.891466 ]\n [ -4.6990104 -23.597578 ]]", "nav_goal": "(-222.55809020996094, 7.875916481018066)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.7475026 -4.9220695], 5.223076820373535 meters away.)"}
{"file_name": "images/scenario_220_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -2.3) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 9.0 meters away at (8.1, 4.0). A vehicle with ID 36 is 11.5 meters away at (5.9, -9.9). A vehicle with ID 37 is 13.1 meters away at (12.4, 4.2). A vehicle with ID 39 is 18.9 meters away at (16.3, 9.5). A vehicle with ID 52 is 21.2 meters away at (-3.9, -20.8). A vehicle with ID 46 is 22.5 meters away at (-7.8, -21.1). A vehicle with ID 34 is 25.1 meters away at (13.5, -21.2). A vehicle with ID 13 is 25.2 meters away at (20.7, 14.3). A vehicle with ID 38 is 25.7 meters away at (-15.4, -20.6). A vehicle with ID 53 is 26.8 meters away at (19.2, 18.8).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [-3.0433624 -5.373201 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 1.4777714 -5.393657 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 5.5116262 -4.2584424] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.6316195 -8.888939 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-4.331791 -5.06681 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.189296  -18.883041 ]\n [ -8.325893  -19.784418 ]\n [ -5.8072877 -21.891466 ]\n [ -4.6990104 -23.597578 ]]", "nav_goal": "(-222.55809020996094, 7.875916481018066)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.079931  4.0089893], 9.019826889038086 meters away.)"}
{"file_name": "images/scenario_220_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 1.2) m/s. Its current heading (yaw) is 2.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 13.7 meters away at (12.5, -5.5). A vehicle with ID 52 is 19.2 meters away at (3.1, -19.0). A vehicle with ID 46 is 19.3 meters away at (-0.8, -19.3). A vehicle with ID 53 is 19.9 meters away at (17.3, 9.7). A vehicle with ID 37 is 20.3 meters away at (19.3, 6.1). A vehicle with ID 47 is 25.2 meters away at (-5.3, -24.7). A vehicle with ID 36 is 25.8 meters away at (19.1, -17.3). A vehicle with ID 39 is 25.8 meters away at (23.2, 11.4). A vehicle with ID 13 is 32.0 meters away at (27.7, 16.1). A vehicle with ID 49 is 32.3 meters away at (-10.0, -30.7).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [ 0.8508552 -5.7409883] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-4.256924 -5.600122] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 4.3105803 -3.4470248] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.189296  -18.883041 ]\n [ -8.325893  -19.784418 ]\n [ -5.8072877 -21.891466 ]\n [ -4.6990104 -23.597578 ]]", "nav_goal": "(-222.55809020996094, 7.875916481018066)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.501142 -5.540346], 13.673842430114746 meters away.)"}
{"file_name": "images/scenario_221_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.4) m/s. Its current heading (yaw) is 2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 4.9 meters away at (1.6, 4.7). A vehicle with ID 6 is 6.6 meters away at (3.5, -5.5). A vehicle with ID 8 is 7.7 meters away at (-4.2, 6.4). A vehicle with ID 64 is 7.7 meters away at (6.1, -4.7). A vehicle with ID 53 is 10.1 meters away at (-2.2, 9.9). A vehicle with ID 17 is 14.2 meters away at (-8.2, 11.6). A vehicle with ID 66 is 16.0 meters away at (-5.7, 15.0). A unknown object with ID 23 is 16.9 meters away at (-15.5, -6.8). A vehicle with ID 61 is 17.1 meters away at (-12.1, 12.0). A pedestrian with ID 67 is 20.3 meters away at (-3.2, -20.1).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-1.1824913  1.5925367] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.99965924 -1.0295683 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.630173  41.87444 ]\n [-30.609932  38.81585 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.5929408 4.6852474], 4.948636531829834 meters away.)"}
{"file_name": "images/scenario_221_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 4.7 meters away at (1.8, 4.4). A vehicle with ID 6 is 6.3 meters away at (3.4, -5.3). A vehicle with ID 8 is 7.4 meters away at (-4.0, 6.2). A vehicle with ID 64 is 8.0 meters away at (6.3, -5.0). A vehicle with ID 53 is 9.8 meters away at (-2.0, 9.6). A vehicle with ID 17 is 13.9 meters away at (-8.0, 11.4). A vehicle with ID 66 is 15.6 meters away at (-5.4, 14.6). A vehicle with ID 61 is 18.5 meters away at (-13.0, 13.2). A vehicle with ID 19 is 21.0 meters away at (-9.0, 19.0). A pedestrian with ID 67 is 22.5 meters away at (-1.1, -22.5).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-0.24196613  0.34313747] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 1.0138764 -1.10938  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.7545037 4.405856 ], 4.74234676361084 meters away.)"}
{"file_name": "images/scenario_221_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 4.7 meters away at (1.8, 4.3). A vehicle with ID 6 is 6.4 meters away at (3.4, -5.4). A vehicle with ID 8 is 7.4 meters away at (-4.0, 6.2). A vehicle with ID 64 is 8.1 meters away at (6.3, -5.1). A vehicle with ID 53 is 9.7 meters away at (-2.0, 9.5). A vehicle with ID 17 is 14.7 meters away at (-8.5, 12.0). A vehicle with ID 66 is 15.5 meters away at (-5.4, 14.5). A vehicle with ID 61 is 19.7 meters away at (-13.7, 14.2). A vehicle with ID 19 is 21.0 meters away at (-9.0, 18.9). A pedestrian with ID 67 is 24.7 meters away at (0.6, -24.6).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.6789553   0.94991755] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-0.74043775  0.9961474 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.895281  -1.1394832] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.7930293 4.3467813], 4.7020697593688965 meters away.)"}
{"file_name": "images/scenario_221_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) m/s. Its current heading (yaw) is 2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 4.4 meters away at (2.0, 3.9). A vehicle with ID 6 is 6.9 meters away at (3.7, -5.8). A vehicle with ID 64 is 8.6 meters away at (6.6, -5.5). A vehicle with ID 8 is 8.9 meters away at (-4.9, 7.4). A vehicle with ID 53 is 9.3 meters away at (-1.7, 9.1). A vehicle with ID 66 is 15.0 meters away at (-5.1, 14.1). A unknown object with ID 29 is 18.1 meters away at (-14.7, -10.6). A vehicle with ID 17 is 18.8 meters away at (-10.8, 15.4). A vehicle with ID 19 is 20.5 meters away at (-8.8, 18.6). A vehicle with ID 61 is 23.8 meters away at (-16.2, 17.4).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.277542   1.7699662] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.9133037  2.7009933] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-2.0082428  2.6748836] m/s.", "light_description": "There are active red lights at the following coordinates: [[-48.654568  39.34708 ]\n [-46.751312  36.84509 ]\n [-48.73933   43.233376]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.0363958 3.9453974], 4.439939975738525 meters away.)"}
{"file_name": "images/scenario_222_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.5) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 7.4 meters away at (3.9, 6.3). A vehicle with ID 57 is 8.2 meters away at (8.0, 1.6). A vehicle with ID 68 is 11.5 meters away at (-7.8, -8.5). A vehicle with ID 61 is 13.0 meters away at (11.3, 6.6). A vehicle with ID 53 is 15.9 meters away at (8.0, 13.7). A vehicle with ID 14 is 16.2 meters away at (7.2, -14.6). A vehicle with ID 63 is 18.2 meters away at (14.2, 11.4). A vehicle with ID 65 is 18.3 meters away at (-18.3, 1.4). A pedestrian with ID 18 is 20.0 meters away at (-17.9, 9.0). A pedestrian with ID 75 is 20.2 meters away at (16.4, 11.9).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.712365  -1.1765568] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-2.629588   2.3186576] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-0.49425754 -0.8268648 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-0.33184108  0.30739155] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.02243536 -0.02489964] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.9025667 -1.43885  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.72008     3.8621686]\n [-29.215464    7.2378616]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.911671 6.297142], 7.413175582885742 meters away.)"}
{"file_name": "images/scenario_222_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.3) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 7.2 meters away at (3.8, 6.1). A vehicle with ID 68 is 9.9 meters away at (-9.6, -2.6). A vehicle with ID 57 is 10.7 meters away at (9.8, 4.4). A vehicle with ID 14 is 14.7 meters away at (8.9, -11.7). A vehicle with ID 61 is 16.1 meters away at (13.0, 9.4). A vehicle with ID 53 is 16.2 meters away at (8.2, 14.0). A vehicle with ID 65 is 17.3 meters away at (-16.8, 4.4). A vehicle with ID 13 is 19.9 meters away at (12.9, -15.2). A pedestrian with ID 62 is 20.0 meters away at (-16.6, 11.2). A pedestrian with ID 75 is 20.2 meters away at (16.3, 11.9).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.000582  -1.7720482] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-1.0794162   0.96093035] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-0.9409688 -1.6460763] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.00337036 -0.0692993 ] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.81681585 -1.4033535 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.72008     3.8621686]\n [-29.215464    7.2378616]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.8001661 6.068214 ], 7.159921646118164 meters away.)"}
{"file_name": "images/scenario_222_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -2.6) m/s. Its current heading (yaw) is -1.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 7.3 meters away at (3.5, 6.4). A vehicle with ID 68 is 9.1 meters away at (-8.8, 2.2). A vehicle with ID 14 is 13.2 meters away at (10.6, -8.0). A vehicle with ID 57 is 14.2 meters away at (11.6, 8.2). A vehicle with ID 53 is 16.0 meters away at (7.8, 13.9). A vehicle with ID 65 is 17.2 meters away at (-15.0, 8.4). A vehicle with ID 13 is 18.5 meters away at (14.5, -11.4). A pedestrian with ID 82 is 19.6 meters away at (-18.6, -6.4). A vehicle with ID 61 is 19.9 meters away at (14.9, 13.2). A pedestrian with ID 75 is 20.7 meters away at (16.4, 12.6).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.0697694 -1.7398694] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-1.2280543 -2.1462662] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 0.03275742 -0.03000664] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.81805784 -1.360278  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.72008     3.8621686]\n [-29.215464    7.2378616]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.4787362 6.386881 ], 7.272816181182861 meters away.)"}
{"file_name": "images/scenario_222_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -4.1) m/s. Its current heading (yaw) is -1.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 9.4 meters away at (0.7, 9.4). A vehicle with ID 14 is 10.4 meters away at (10.3, -1.1). A vehicle with ID 68 is 12.9 meters away at (-9.1, 9.1). A vehicle with ID 13 is 15.0 meters away at (14.3, -4.6). A vehicle with ID 58 is 15.0 meters away at (3.9, -14.5). A vehicle with ID 53 is 17.4 meters away at (5.1, 16.7). A vehicle with ID 57 is 18.8 meters away at (11.4, 15.0). A pedestrian with ID 82 is 18.8 meters away at (-18.8, 0.6). A vehicle with ID 87 is 20.0 meters away at (-0.6, -20.0). A vehicle with ID 65 is 21.6 meters away at (-15.2, 15.3).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.4873685 -2.4505858] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-1.3576554 -2.2606025] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.00679283 0.03282404] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.72008     3.8621686]\n [-29.215464    7.2378616]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.7284932 9.392059 ], 9.420269966125488 meters away.)"}
{"file_name": "images/scenario_223_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.5) m/s. Its current heading (yaw) is 2.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 82 is 2.9 meters away at (0.0, -2.9). A unknown object with ID 86 is 3.0 meters away at (-2.3, -2.0). A unknown object with ID 77 is 3.9 meters away at (1.4, -3.6). A unknown object with ID 89 is 4.6 meters away at (-4.5, -1.0). A unknown object with ID 76 is 5.1 meters away at (2.9, -4.2). A unknown object with ID 80 is 5.8 meters away at (0.5, -5.7). A unknown object with ID 92 is 7.2 meters away at (-7.2, 0.2). A unknown object with ID 94 is 10.7 meters away at (-10.6, 1.5). A vehicle with ID 88 is 10.9 meters away at (5.1, 9.7). A vehicle with ID 81 is 13.4 meters away at (11.7, 6.6).", "velocity_description": "The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 31.168966     2.9687047 ]\n [ 31.389118     2.857573  ]\n [ 23.444586     6.5942016 ]\n [ 31.286053     3.1895912 ]\n [ 36.31523    -15.342919  ]\n [ 22.406065     3.1081946 ]\n [ 22.52071      3.339706  ]\n [ 20.381174    -8.367662  ]\n [ 24.043146    -9.735035  ]\n [ 23.69745     -9.5549345 ]\n [ 36.527664   -15.483341  ]\n [ 32.823933   -10.137783  ]\n [ 20.612453     0.14264885]\n [ 24.258911    -9.873702  ]\n [ 35.916344   -16.981312  ]]", "nav_goal": "(-283.7366638183594, 135.2484588623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.01725864 -2.9329689 ], 2.9330196380615234 meters away.)"}
{"file_name": "images/scenario_223_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 4.2) m/s. Its current heading (yaw) is 2.67 ", "actor_description": " The most relevant actors are: A unknown object with ID 99 is 4.1 meters away at (-2.5, -3.2). A unknown object with ID 97 is 4.7 meters away at (1.1, -4.6). A unknown object with ID 94 is 7.8 meters away at (4.8, -6.1). A unknown object with ID 92 is 11.0 meters away at (8.1, -7.4). A vehicle with ID 101 is 13.3 meters away at (5.5, 12.1). A unknown object with ID 89 is 13.9 meters away at (10.9, -8.6). A vehicle with ID 104 is 15.5 meters away at (-1.4, 15.5). A unknown object with ID 86 is 16.3 meters away at (13.1, -9.6). A unknown object with ID 82 is 18.7 meters away at (15.4, -10.5). A vehicle with ID 106 is 19.8 meters away at (-8.5, 17.9).", "velocity_description": "The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.406065    3.1081946 ]\n [20.381174   -8.367662  ]\n [23.69745    -9.5549345 ]\n [20.612453    0.14264885]]", "nav_goal": "(-283.7366638183594, 135.2484588623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.5077496 -3.197031 ], 4.06322717666626 meters away.)"}
{"file_name": "images/scenario_223_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 3.8) m/s. Its current heading (yaw) is 2.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 53 is 10.7 meters away at (-10.7, -0.6). A vehicle with ID 106 is 11.9 meters away at (7.0, 9.6). A vehicle with ID 71 is 12.5 meters away at (1.5, 12.4). A unknown object with ID 54 is 15.8 meters away at (-15.8, 0.3). A vehicle with ID 104 is 16.3 meters away at (14.6, 7.4). A unknown object with ID 99 is 17.5 meters away at (13.4, -11.3). A unknown object with ID 97 is 21.3 meters away at (17.1, -12.7). A pedestrian with ID 27 is 24.6 meters away at (-24.4, 3.3). A unknown object with ID 94 is 25.3 meters away at (20.9, -14.2). A unknown object with ID 92 is 28.7 meters away at (24.2, -15.5).", "velocity_description": "The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.1334503  0.1543285] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[23.444586    6.5942016 ]\n [22.52071     3.339706  ]\n [ 0.42658764  0.1048122 ]]", "nav_goal": "(-283.7366638183594, 135.2484588623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-10.653114  -0.602705], 10.670149803161621 meters away.)"}
{"file_name": "images/scenario_223_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 3.5) m/s. Its current heading (yaw) is 2.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 54 is 6.8 meters away at (-0.5, -6.8). A unknown object with ID 53 is 8.9 meters away at (4.6, -7.7). A pedestrian with ID 27 is 9.8 meters away at (-8.9, -3.9). A vehicle with ID 43 is 11.9 meters away at (6.9, 9.7). A vehicle with ID 48 is 12.5 meters away at (0.4, 12.5). A vehicle with ID 71 is 17.6 meters away at (16.8, 5.3). A pedestrian with ID 29 is 22.3 meters away at (0.3, 22.3). A vehicle with ID 106 is 22.5 meters away at (22.4, 2.5). A unknown object with ID 99 is 34.0 meters away at (28.6, -18.4). A unknown object with ID 97 is 38.0 meters away at (32.3, -19.8).", "velocity_description": "The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.01291958 -0.02594021] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.2572976 -0.5753515] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-283.7366638183594, 135.2484588623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.5308647 -6.7559013], 6.776726722717285 meters away.)"}
{"file_name": "images/scenario_224_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.5) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 8.2 meters away at (-8.2, -0.5). A vehicle with ID 45 is 8.7 meters away at (-4.1, 7.6). A vehicle with ID 55 is 13.3 meters away at (13.3, -0.8). A vehicle with ID 51 is 14.0 meters away at (-13.9, 1.6). A vehicle with ID 5 is 16.1 meters away at (5.3, -15.2). A vehicle with ID 50 is 20.4 meters away at (-20.1, 3.5). A pedestrian with ID 12 is 20.5 meters away at (16.1, -12.7). A unknown object with ID 58 is 21.6 meters away at (14.4, -16.1). A pedestrian with ID 60 is 24.2 meters away at (21.4, 11.4). A vehicle with ID 62 is 24.4 meters away at (-20.9, 12.7).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-1.5012144 -5.3823953] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00907317  0.01273461] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.34826362 1.2790507 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(111.23084259033203, 51.034358978271484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.203483   -0.46811628], 8.216827392578125 meters away.)"}
{"file_name": "images/scenario_224_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.1) m/s. Its current heading (yaw) is -0.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 9.4 meters away at (-9.4, 0.0). A vehicle with ID 45 is 9.7 meters away at (-5.4, 8.1). A vehicle with ID 51 is 15.3 meters away at (-15.2, 2.1). A vehicle with ID 5 is 15.4 meters away at (4.1, -14.8). A vehicle with ID 55 is 15.7 meters away at (8.2, -13.4). A pedestrian with ID 12 is 19.5 meters away at (15.0, -12.5). A unknown object with ID 58 is 20.5 meters away at (13.2, -15.7). A unknown object with ID 16 is 20.9 meters away at (14.7, -14.8). A vehicle with ID 50 is 21.6 meters away at (-21.2, 3.9). A unknown object with ID 35 is 23.5 meters away at (17.2, -16.0).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.4164464 -7.4353743] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.09056556  0.05553192] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(111.23084259033203, 51.034358978271484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.4033289e+00  8.3088875e-04], 9.403328895568848 meters away.)"}
{"file_name": "images/scenario_224_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.2) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 12.7 meters away at (-8.7, 9.2). A vehicle with ID 42 is 12.9 meters away at (-12.8, 1.2). A vehicle with ID 5 is 13.7 meters away at (0.7, -13.7). A pedestrian with ID 12 is 16.1 meters away at (11.6, -11.1). A vehicle with ID 51 is 18.9 meters away at (-18.6, 3.2). A vehicle with ID 6 is 19.1 meters away at (-1.1, -19.1). A vehicle with ID 11 is 24.4 meters away at (11.8, 21.3). A vehicle with ID 50 is 25.1 meters away at (-24.6, 5.1). A pedestrian with ID 60 is 26.1 meters away at (18.3, 18.6). A vehicle with ID 55 is 28.1 meters away at (-0.2, -28.1).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.10807061  0.03255026] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.36173764 1.2556013 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.6731684 -8.403429 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(111.23084259033203, 51.034358978271484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.746096  9.241883], 12.724251747131348 meters away.)"}
{"file_name": "images/scenario_224_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -2.5) m/s. Its current heading (yaw) is -0.54 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 8.5 meters away at (3.9, -7.6). A vehicle with ID 5 is 12.3 meters away at (-6.8, -10.3). A vehicle with ID 6 is 17.8 meters away at (-8.5, -15.7). A vehicle with ID 45 is 20.7 meters away at (-16.5, 12.6). A vehicle with ID 42 is 21.0 meters away at (-20.5, 4.5). A unknown object with ID 46 is 21.9 meters away at (21.1, -5.6). A vehicle with ID 44 is 23.3 meters away at (11.3, -20.4). A vehicle with ID 3 is 23.8 meters away at (-22.3, 8.4). A vehicle with ID 11 is 25.1 meters away at (4.1, 24.8). A unknown object with ID 2 is 25.6 meters away at (24.2, -8.3).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00014113 -0.01942896] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.2293015 -2.3054695] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(111.23084259033203, 51.034358978271484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.8693943 -7.5870743], 8.516801834106445 meters away.)"}
{"file_name": "images/scenario_225_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 4.9 meters away at (4.9, -0.2). A unknown object with ID 2 is 7.1 meters away at (7.1, 0.1). A unknown object with ID 3 is 7.1 meters away at (7.1, -0.5). A unknown object with ID 4 is 51.7 meters away at (-49.4, -15.1).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-91.52909851074219, 59.94568634033203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 4.932379   -0.16378924], 4.9350972175598145 meters away.)"}
{"file_name": "images/scenario_225_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 4.9 meters away at (4.9, -0.2). A unknown object with ID 2 is 7.0 meters away at (7.0, 0.1). A unknown object with ID 3 is 7.1 meters away at (7.1, -0.5). A unknown object with ID 4 is 51.7 meters away at (-49.4, -15.1).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-91.52909851074219, 59.94568634033203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 4.932817   -0.17172995], 4.935805320739746 meters away.)"}
{"file_name": "images/scenario_225_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 4.9 meters away at (4.9, -0.2). A unknown object with ID 2 is 7.1 meters away at (7.1, 0.1). A unknown object with ID 3 is 7.1 meters away at (7.1, -0.5). A unknown object with ID 4 is 51.7 meters away at (-49.4, -15.1).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-91.52909851074219, 59.94568634033203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 4.926547   -0.16202222], 4.929210662841797 meters away.)"}
{"file_name": "images/scenario_225_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 4.9 meters away at (4.9, -0.2). A unknown object with ID 2 is 7.1 meters away at (7.1, 0.1). A unknown object with ID 3 is 7.1 meters away at (7.1, -0.5). A unknown object with ID 4 is 51.7 meters away at (-49.4, -15.1).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-91.52909851074219, 59.94568634033203)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 4.930295  -0.1731648], 4.933334827423096 meters away.)"}
{"file_name": "images/scenario_226_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 5.7 meters away at (-5.6, -1.3). A unknown object with ID 20 is 5.7 meters away at (-5.3, 2.1). A vehicle with ID 24 is 11.6 meters away at (0.6, -11.6). A vehicle with ID 23 is 12.9 meters away at (8.5, 9.7). A vehicle with ID 33 is 19.6 meters away at (-2.6, -19.4). A vehicle with ID 37 is 27.6 meters away at (-27.5, -2.3). A vehicle with ID 27 is 30.1 meters away at (22.0, 20.5). A vehicle with ID 25 is 34.8 meters away at (-34.1, 7.0). A vehicle with ID 38 is 46.9 meters away at (26.4, -38.7). A vehicle with ID 8 is 47.6 meters away at (-44.8, 16.1).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.14957644  5.8649845 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-1.1419826 -1.3906932] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-9.515931   8.0398855] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.130172  2.4708831] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-3.8455017  3.1843865] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-7.2657566  6.1175985] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.51925045  0.47016725] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.922224  -9.450291]\n [ -7.602122  -9.260498]\n [-18.299196 -10.011527]\n [ -6.174507 -10.14945 ]]", "nav_goal": "(201.761474609375, -124.4798812866211)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.5568695 -1.3040062], 5.707821846008301 meters away.)"}
{"file_name": "images/scenario_226_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 5.7 meters away at (5.7, 0.3). A vehicle with ID 21 is 5.7 meters away at (-5.6, -1.3). A unknown object with ID 20 is 5.7 meters away at (-5.3, 2.1). A vehicle with ID 19 is 8.5 meters away at (5.7, 6.4). A vehicle with ID 3 is 19.4 meters away at (12.2, 15.0). A vehicle with ID 33 is 19.8 meters away at (-19.1, -5.3). A vehicle with ID 10 is 26.3 meters away at (-14.4, -22.0). A vehicle with ID 37 is 27.6 meters away at (-27.5, -2.3). A vehicle with ID 38 is 30.0 meters away at (12.3, -27.4). A vehicle with ID 27 is 39.0 meters away at (27.8, 27.3).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [4.426838  6.1032877] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-6.892186   5.9280653] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 17.402601 -14.642385] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.04533    4.7667913] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [3.6768742 4.314224 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.922224    -9.450291  ]\n [ -7.602122    -9.260498  ]\n [-18.299196   -10.011527  ]\n [  0.56398416 -13.067221  ]\n [ -6.174507   -10.14945   ]\n [ -1.3170382  -14.122053  ]]", "nav_goal": "(201.761474609375, -124.4798812866211)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.6590705 0.3413344], 5.6693549156188965 meters away.)"}
{"file_name": "images/scenario_226_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 5.7 meters away at (-5.5, -1.3). A unknown object with ID 20 is 5.7 meters away at (-5.3, 2.1). A vehicle with ID 19 is 8.5 meters away at (5.7, 6.3). A vehicle with ID 3 is 19.2 meters away at (12.1, 14.9). A vehicle with ID 38 is 19.3 meters away at (2.3, -19.2). A vehicle with ID 24 is 21.1 meters away at (16.2, 13.5). A vehicle with ID 37 is 27.6 meters away at (-27.5, -2.3). A vehicle with ID 33 is 29.3 meters away at (-29.1, 3.2). A vehicle with ID 22 is 37.2 meters away at (18.2, -32.5). A vehicle with ID 13 is 54.3 meters away at (-53.2, 10.7).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.4566483  3.79947  ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [5.7155113 6.729405 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.3680165  2.8208468] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-6.2219954  5.248126 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 12.142897 -10.076576] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.922224  -9.450291]\n [ -7.602122  -9.260498]\n [-18.299196 -10.011527]\n [ -6.174507 -10.14945 ]]", "nav_goal": "(201.761474609375, -124.4798812866211)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.547193  -1.2842466], 5.693912506103516 meters away.)"}
{"file_name": "images/scenario_226_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 5.7 meters away at (-5.5, -1.3). A unknown object with ID 20 is 5.7 meters away at (-5.3, 2.1). A vehicle with ID 19 is 8.5 meters away at (5.6, 6.3). A vehicle with ID 38 is 10.9 meters away at (-0.6, -10.9). A vehicle with ID 3 is 19.1 meters away at (12.0, 14.8). A vehicle with ID 22 is 24.6 meters away at (7.4, -23.5). A vehicle with ID 37 is 27.6 meters away at (-27.5, -2.3). A vehicle with ID 11 is 29.5 meters away at (-27.3, -11.2). A vehicle with ID 33 is 35.3 meters away at (-34.4, 7.7). A vehicle with ID 24 is 38.5 meters away at (27.6, 26.9).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.7477547 4.71465  ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.6905184  4.0833907] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 13.281615 -11.09443 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.2930002  1.9705313] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [6.163202  7.2240505] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.922224  -9.450291]\n [ -7.602122  -9.260498]\n [-18.299196 -10.011527]\n [ -6.174507 -10.14945 ]]", "nav_goal": "(201.761474609375, -124.4798812866211)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.5483155 -1.2857666], 5.695349216461182 meters away.)"}
{"file_name": "images/scenario_227_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 2.1) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 10.1 meters away at (-3.1, -9.6). A vehicle with ID 69 is 10.4 meters away at (-10.1, -2.2). A vehicle with ID 73 is 15.7 meters away at (-14.0, -7.0). A vehicle with ID 76 is 15.7 meters away at (-7.1, -14.0). A vehicle with ID 86 is 21.6 meters away at (-11.0, -18.6). A vehicle with ID 87 is 22.5 meters away at (-18.6, -12.8). A vehicle with ID 65 is 24.7 meters away at (24.6, 2.0). A pedestrian with ID 78 is 25.3 meters away at (3.4, 25.0). A vehicle with ID 75 is 25.3 meters away at (-9.5, 23.5). A vehicle with ID 74 is 28.5 meters away at (-15.3, -24.0).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.522027   -0.41214928] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-55.459797 -63.841705]\n [-56.7881   -63.196606]\n [-57.92524  -62.19728 ]\n [-56.439938 -63.361446]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.1328974 -9.5631895], 10.063282012939453 meters away.)"}
{"file_name": "images/scenario_227_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 69 is 16.6 meters away at (-14.7, -7.7). A vehicle with ID 70 is 16.9 meters away at (-7.7, -15.0). A pedestrian with ID 78 is 19.9 meters away at (-4.1, 19.5). A vehicle with ID 65 is 20.3 meters away at (20.0, -3.4). A vehicle with ID 73 is 22.4 meters away at (-18.6, -12.6). A vehicle with ID 76 is 22.8 meters away at (-11.7, -19.5). A vehicle with ID 75 is 22.8 meters away at (-14.0, 18.0). A unknown object with ID 36 is 26.1 meters away at (9.7, 24.2). A vehicle with ID 71 is 26.9 meters away at (26.3, -5.5). A unknown object with ID 53 is 27.0 meters away at (19.8, 18.3).", "velocity_description": "The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.4651707   0.15583342] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-14.661752  -7.74508 ], 16.58171272277832 meters away.)"}
{"file_name": "images/scenario_227_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 17.7 meters away at (14.1, -10.6). A pedestrian with ID 78 is 18.3 meters away at (-13.0, 12.9). A vehicle with ID 75 is 22.6 meters away at (-19.9, 10.8). A vehicle with ID 59 is 23.7 meters away at (9.7, 21.6). A vehicle with ID 71 is 24.0 meters away at (20.4, -12.6). A vehicle with ID 69 is 25.5 meters away at (-20.6, -15.0). A vehicle with ID 70 is 26.0 meters away at (-13.5, -22.2). A vehicle with ID 80 is 28.3 meters away at (-25.4, 12.6). A unknown object with ID 41 is 28.6 meters away at (20.1, 20.3). A vehicle with ID 85 is 29.6 meters away at (25.7, -14.7).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.5374556  0.3789804] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 14.1143465 -10.614753 ], 17.66034507751465 meters away.)"}
{"file_name": "images/scenario_227_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.7) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 14.3 meters away at (3.3, 13.9). A pedestrian with ID 45 is 14.3 meters away at (13.6, -4.7). A unknown object with ID 41 is 18.6 meters away at (13.7, 12.6). A vehicle with ID 65 is 19.9 meters away at (7.8, -18.3). A vehicle with ID 60 is 21.0 meters away at (7.8, 19.5). A pedestrian with ID 78 is 23.1 meters away at (-22.3, 6.0). A vehicle with ID 71 is 24.6 meters away at (14.0, -20.3). A vehicle with ID 75 is 26.5 meters away at (-26.3, 3.2). A unknown object with ID 58 is 26.9 meters away at (19.0, 19.0). A vehicle with ID 72 is 27.2 meters away at (23.6, -13.7).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.4280008   0.49313405] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.3210182 13.8750305], 14.266942024230957 meters away.)"}
{"file_name": "images/scenario_228_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -12.9) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(102.16490173339844, -281.56378173828125)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_228_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -12.2) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(102.16490173339844, -281.56378173828125)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_228_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -13.0) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(102.16490173339844, -281.56378173828125)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_228_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -12.1) m/s. Its current heading (yaw) is -1.26 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 38.9 meters away at (-17.9, 34.5). A unknown object with ID 5 is 42.0 meters away at (-18.8, 37.6). A unknown object with ID 2 is 45.1 meters away at (-19.7, 40.6).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(102.16490173339844, -281.56378173828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-17.886673  34.489502], 38.85175323486328 meters away.)"}
{"file_name": "images/scenario_229_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -3.9) m/s. Its current heading (yaw) is -1.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 12.8 meters away at (4.6, -11.9).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.9766371  3.5964978] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  4.6397943 -11.935873 ], 12.8059663772583 meters away.)"}
{"file_name": "images/scenario_229_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -3.3) m/s. Its current heading (yaw) is -0.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 4.1 meters away at (-4.0, 1.0).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.5623794  2.399316 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-4.857176   2.0657048]\n [-2.193117   2.6757243]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.9846385   0.99899673], 4.107960224151611 meters away.)"}
{"file_name": "images/scenario_229_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -4.1) m/s. Its current heading (yaw) is -0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 16.2 meters away at (-11.6, 11.2).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.3735619   0.60413337] m/s.", "light_description": "There are active red lights at the following coordinates: [[-4.857176   2.0657048]\n [-2.193117   2.6757243]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.628063  11.209683], 16.15143585205078 meters away.)"}
{"file_name": "images/scenario_229_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -4.9) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 28.7 meters away at (-20.2, 20.4). A unknown object with ID 7 is 29.2 meters away at (11.3, -26.9). A unknown object with ID 2 is 38.8 meters away at (19.1, -33.8). A unknown object with ID 12 is 44.2 meters away at (-7.9, 43.5). A pedestrian with ID 1 is 73.8 meters away at (45.1, -58.5).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.9109755  -0.11750527] m/s.", "light_description": "There are active red lights at the following coordinates: [[-4.857176   2.0657048]\n [-2.193117   2.6757243]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-20.210567  20.392094], 28.710704803466797 meters away.)"}
{"file_name": "images/scenario_230_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 3.9) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 12.3 meters away at (9.6, -7.8). A unknown object with ID 14 is 14.2 meters away at (11.0, -9.0). A unknown object with ID 6 is 39.7 meters away at (-23.6, 32.0). A unknown object with ID 15 is 41.2 meters away at (-4.7, -40.9). A unknown object with ID 2 is 43.5 meters away at (-25.7, 35.1). A unknown object with ID 16 is 43.7 meters away at (-8.1, -42.9). A vehicle with ID 27 is 46.5 meters away at (-29.5, 35.9). A vehicle with ID 29 is 59.7 meters away at (11.5, -58.6). A vehicle with ID 19 is 61.2 meters away at (47.5, -38.5). A pedestrian with ID 20 is 65.0 meters away at (51.9, -39.1).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00024778 -0.04064854] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-242.4639129638672, 102.74286651611328)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 9.556274  -7.8154955], 12.345215797424316 meters away.)"}
{"file_name": "images/scenario_230_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.8) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 17.3 meters away at (-17.3, 0.4). A unknown object with ID 13 is 20.2 meters away at (15.1, -13.4). A unknown object with ID 6 is 32.0 meters away at (-17.8, 26.5). A unknown object with ID 2 is 35.8 meters away at (-19.7, 29.9). A vehicle with ID 27 is 38.6 meters away at (-23.8, 30.4). A unknown object with ID 15 is 46.4 meters away at (0.8, -46.4). A unknown object with ID 16 is 48.5 meters away at (-2.6, -48.5). A vehicle with ID 30 is 66.2 meters away at (-64.9, -13.1). A vehicle with ID 29 is 66.4 meters away at (17.1, -64.2). A vehicle with ID 5 is 67.5 meters away at (-53.6, 41.0).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-242.4639129638672, 102.74286651611328)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-17.313477    0.3630886], 17.317283630371094 meters away.)"}
{"file_name": "images/scenario_230_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 22.9 meters away at (17.2, -15.0). A unknown object with ID 6 is 29.5 meters away at (-15.8, 24.9). A vehicle with ID 27 is 36.0 meters away at (-21.8, 28.7). A unknown object with ID 15 is 48.0 meters away at (2.8, -47.9). A pedestrian with ID 11 is 49.7 meters away at (-34.9, 35.4). A unknown object with ID 16 is 50.1 meters away at (-0.6, -50.1). A vehicle with ID 30 is 64.6 meters away at (-63.0, -14.5). A vehicle with ID 5 is 64.9 meters away at (-51.6, 39.4). A vehicle with ID 29 is 68.7 meters away at (19.2, -65.9). A vehicle with ID 10 is 70.2 meters away at (-56.4, 41.9).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-242.4639129638672, 102.74286651611328)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 17.214708 -15.029431], 22.852352142333984 meters away.)"}
{"file_name": "images/scenario_230_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 23.0 meters away at (17.3, -15.2). A vehicle with ID 27 is 35.8 meters away at (-21.6, 28.6). A pedestrian with ID 11 is 49.6 meters away at (-34.9, 35.3). A vehicle with ID 30 is 64.5 meters away at (-62.8, -14.6). A vehicle with ID 29 is 68.7 meters away at (19.3, -66.0). A pedestrian with ID 12 is 76.3 meters away at (28.3, -70.9).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.0006738  -0.01280447] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.85265535  0.9467216 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-242.4639129638672, 102.74286651611328)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 17.310707 -15.206859], 23.041465759277344 meters away.)"}
{"file_name": "images/scenario_231_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 10.7) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 15.1 meters away at (10.7, -10.6). A vehicle with ID 11 is 41.4 meters away at (22.3, -34.8). A vehicle with ID 5 is 47.6 meters away at (30.7, -36.4). A vehicle with ID 10 is 73.4 meters away at (-47.8, 55.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-8.923874 12.754868] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 4.8089104 -6.944118 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.373232  9.360623] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [  7.859612 -10.189787] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 24.04519  -37.965473]\n [ 21.415543 -39.90349 ]]", "nav_goal": "(-190.9808349609375, 232.15689086914062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 10.716965 -10.579634], 15.059282302856445 meters away.)"}
{"file_name": "images/scenario_231_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, 11.3) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 10.5 meters away at (8.5, -6.2). A vehicle with ID 10 is 20.0 meters away at (-14.8, 13.4). A vehicle with ID 5 is 51.7 meters away at (33.8, -39.1).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-10.5297    13.574684] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [  7.7403383 -10.132276 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.837205 10.232908] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-190.9808349609375, 232.15689086914062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.47867 -6.18943], 10.49747085571289 meters away.)"}
{"file_name": "images/scenario_231_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 11.8) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 5.1 meters away at (4.9, -1.4). A vehicle with ID 10 is 35.1 meters away at (19.1, -29.4). A vehicle with ID 5 is 53.9 meters away at (35.4, -40.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-11.317183  14.326751] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 7.4577246 -9.480915 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-8.826245 11.199901] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-190.9808349609375, 232.15689086914062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.944622 -1.419548], 5.144356727600098 meters away.)"}
{"file_name": "images/scenario_231_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 11.9) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 5.0 meters away at (0.1, 5.0). A unknown object with ID 4 is 51.7 meters away at (-40.1, 32.7). A vehicle with ID 5 is 54.2 meters away at (35.6, -40.9).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-12.272835  15.386202] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.571259 12.089332] m/s.", "light_description": "There are active red lights at the following coordinates: [[-95.06515 119.2325 ]\n [-92.77161 121.07866]]", "nav_goal": "(-190.9808349609375, 232.15689086914062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.0521698 4.9640656], 4.964339733123779 meters away.)"}
{"file_name": "images/scenario_232_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.2, 0.1) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 8.0 meters away at (1.5, -7.9). A pedestrian with ID 82 is 10.7 meters away at (6.8, 8.3). A vehicle with ID 83 is 14.6 meters away at (13.6, -5.4). A pedestrian with ID 76 is 17.5 meters away at (-12.5, 12.2). A pedestrian with ID 77 is 17.8 meters away at (-12.2, 12.9). A vehicle with ID 81 is 22.4 meters away at (-22.0, 3.9). A unknown object with ID 89 is 30.5 meters away at (25.6, 16.5). A unknown object with ID 91 is 33.5 meters away at (29.4, 15.9). A pedestrian with ID 79 is 33.9 meters away at (-32.8, 8.8). A vehicle with ID 93 is 35.1 meters away at (27.0, -22.4).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.4262106   0.11978523] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.0713181  0.8566781] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.0743151  0.8674387] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-15.599263     0.15492228] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 1.3043425 -0.4279614] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.56570816040039, 3.6108875274658203)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.5106869 -7.892131 ], 8.035415649414062 meters away.)"}
{"file_name": "images/scenario_232_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 82 is 17.4 meters away at (-15.3, 8.3). A unknown object with ID 89 is 17.7 meters away at (6.5, 16.5). A unknown object with ID 91 is 18.9 meters away at (10.4, 15.8). A vehicle with ID 78 is 19.2 meters away at (-17.5, -7.9). A vehicle with ID 72 is 22.8 meters away at (20.7, -9.6). A vehicle with ID 93 is 23.7 meters away at (7.9, -22.4). A pedestrian with ID 30 is 24.7 meters away at (9.7, -22.7). A vehicle with ID 97 is 24.8 meters away at (10.9, -22.3). A unknown object with ID 35 is 27.4 meters away at (14.7, 23.1). A vehicle with ID 73 is 27.5 meters away at (25.8, -9.5).", "velocity_description": "The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.4847237   0.05748365] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.05324761 0.25992584] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.56570816040039, 3.6108875274658203)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-15.320862   8.29566 ], 17.42259407043457 meters away.)"}
{"file_name": "images/scenario_232_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.1, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 9.7 meters away at (0.7, -9.6). A vehicle with ID 73 is 11.1 meters away at (5.7, -9.5). A pedestrian with ID 32 is 14.4 meters away at (11.9, 8.0). A unknown object with ID 66 is 14.6 meters away at (10.5, 10.1). A vehicle with ID 65 is 14.8 meters away at (10.7, -10.3). A unknown object with ID 91 is 18.7 meters away at (-9.8, 15.9). A unknown object with ID 89 is 21.3 meters away at (-13.5, 16.5). A vehicle with ID 75 is 22.7 meters away at (-0.7, -22.7). A pedestrian with ID 30 is 23.2 meters away at (-10.4, -20.7). A vehicle with ID 74 is 23.9 meters away at (7.8, -22.6).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.8070744  -0.05293944] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.1305793 1.2058829] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.56570816040039, 3.6108875274658203)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.6623802 -9.638424 ], 9.661157608032227 meters away.)"}
{"file_name": "images/scenario_232_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.3, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 12.5 meters away at (7.7, -9.9). A vehicle with ID 65 is 13.9 meters away at (-9.6, -10.1). A unknown object with ID 66 is 14.0 meters away at (-9.7, 10.2). A pedestrian with ID 32 is 14.6 meters away at (-12.1, 8.2). A vehicle with ID 73 is 17.3 meters away at (-14.5, -9.4). A unknown object with ID 56 is 18.1 meters away at (-15.7, 9.0). A unknown object with ID 63 is 20.1 meters away at (10.5, 17.1). A vehicle with ID 72 is 21.7 meters away at (-19.6, -9.4). A unknown object with ID 43 is 23.0 meters away at (3.4, -22.7). A unknown object with ID 59 is 23.0 meters away at (17.8, 14.6).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.7918651   0.26922274] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.56570816040039, 3.6108875274658203)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.7143707 -9.8609295], 12.519962310791016 meters away.)"}
{"file_name": "images/scenario_233_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 5.8) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A cyclist with ID 8 is 19.3 meters away at (-10.3, 16.2). A pedestrian with ID 20 is 51.8 meters away at (8.5, 51.1). A vehicle with ID 22 is 52.9 meters away at (39.3, -35.4). A vehicle with ID 12 is 53.8 meters away at (13.7, 52.1). A vehicle with ID 23 is 55.5 meters away at (-46.5, 30.4). A vehicle with ID 17 is 67.3 meters away at (18.5, 64.7).", "velocity_description": "The cyclist with ID 8 is traveling at a (x, y) velocity of [-0.03819716 -0.04456342] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.0044919  -0.01542639] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-11.083177    7.4808493] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 29.196962 -15.916911]\n [ 30.142569 -16.938086]]", "nav_goal": "(-281.01239013671875, 64.23136138916016)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-10.339615  16.241226], 19.253183364868164 meters away.)"}
{"file_name": "images/scenario_233_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, 6.3) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A cyclist with ID 8 is 7.3 meters away at (6.6, 3.1). A pedestrian with ID 20 is 47.1 meters away at (26.5, 39.0). A vehicle with ID 12 is 50.9 meters away at (31.5, 39.9). A vehicle with ID 23 is 60.4 meters away at (-50.7, 32.9). A vehicle with ID 17 is 64.1 meters away at (36.4, 52.7). A vehicle with ID 22 is 74.2 meters away at (57.0, -47.5).", "velocity_description": "The cyclist with ID 8 is traveling at a (x, y) velocity of [-1.2275257  -0.89779526] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.2665364  0.07032203] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-11.493872    6.8282175] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 29.196962 -15.916911]\n [ 30.142569 -16.938086]]", "nav_goal": "(-281.01239013671875, 64.23136138916016)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [6.5755005 3.1431217], 7.2881011962890625 meters away.)"}
{"file_name": "images/scenario_233_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 6.4) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A cyclist with ID 8 is 22.7 meters away at (20.2, -10.3). A vehicle with ID 23 is 64.0 meters away at (-55.8, 31.3).", "velocity_description": "The cyclist with ID 8 is traveling at a (x, y) velocity of [-3.1664038 -0.0185108] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-12.341545    4.1999545] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-281.01239013671875, 64.23136138916016)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [ 20.248741 -10.293827], 22.715068817138672 meters away.)"}
{"file_name": "images/scenario_233_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 6.1) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A cyclist with ID 8 is 37.7 meters away at (31.4, -21.0). A vehicle with ID 23 is 66.4 meters away at (-62.1, 23.5).", "velocity_description": "The cyclist with ID 8 is traveling at a (x, y) velocity of [-4.2091193  1.5853981] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-12.807739     0.62865293] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-281.01239013671875, 64.23136138916016)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [ 31.353455 -20.977533], 37.72394561767578 meters away.)"}
{"file_name": "images/scenario_234_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -4.9) m/s. Its current heading (yaw) is -1.72 ", "actor_description": " The most relevant actors are: A pedestrian with ID 47 is 5.2 meters away at (-5.1, 1.2). A vehicle with ID 12 is 6.0 meters away at (-4.0, -4.5). A pedestrian with ID 10 is 9.6 meters away at (8.7, -4.2). A vehicle with ID 13 is 15.2 meters away at (-6.9, -13.6). A vehicle with ID 49 is 21.5 meters away at (13.4, 16.8). A vehicle with ID 48 is 24.5 meters away at (24.3, -3.0). A vehicle with ID 32 is 29.4 meters away at (29.1, -4.1). A vehicle with ID 25 is 32.0 meters away at (31.6, -5.0). A vehicle with ID 19 is 34.6 meters away at (34.1, -5.9). A vehicle with ID 45 is 55.2 meters away at (-20.2, -51.3).", "velocity_description": "The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.30746493 0.8869902 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.5360008 -1.3336773] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.71963500976562, -155.86557006835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.056625   1.2178879], 5.201221942901611 meters away.)"}
{"file_name": "images/scenario_234_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -4.5) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 5.1 meters away at (-1.7, 4.7). A vehicle with ID 13 is 6.2 meters away at (-4.6, -4.2). A pedestrian with ID 10 is 10.5 meters away at (10.2, 2.5). A pedestrian with ID 47 is 12.7 meters away at (-2.1, 12.5). A vehicle with ID 48 is 27.4 meters away at (26.7, 6.5). A vehicle with ID 49 is 30.5 meters away at (15.7, 26.1). A vehicle with ID 32 is 31.9 meters away at (31.4, 5.4). A unknown object with ID 43 is 34.2 meters away at (3.9, 34.0). A vehicle with ID 25 is 34.2 meters away at (34.0, 4.4). A vehicle with ID 19 is 36.7 meters away at (36.5, 3.6).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.5133737 -1.3357553] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.27067393 1.1338778 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.71963500976562, -155.86557006835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.744581  4.747469], 5.057867527008057 meters away.)"}
{"file_name": "images/scenario_234_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -3.2) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 4.0 meters away at (-1.9, 3.5). A vehicle with ID 12 is 12.6 meters away at (0.9, 12.6). A pedestrian with ID 10 is 14.5 meters away at (12.2, 7.7). A pedestrian with ID 47 is 22.5 meters away at (1.4, 22.5). A vehicle with ID 3 is 27.7 meters away at (-20.9, -18.1). A vehicle with ID 5 is 32.3 meters away at (-28.1, -15.9). A vehicle with ID 45 is 37.3 meters away at (-15.1, -34.1). A vehicle with ID 49 is 38.7 meters away at (18.4, 34.1). A vehicle with ID 1 is 43.7 meters away at (-17.0, -40.2). A vehicle with ID 2 is 50.2 meters away at (-19.1, -46.4).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.46656305 -1.3508584 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.46913514 1.0498167 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.71963500976562, -155.86557006835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.9101753  3.494093 ], 3.982142210006714 meters away.)"}
{"file_name": "images/scenario_234_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.7) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 8.3 meters away at (-0.3, 8.3). A pedestrian with ID 10 is 16.5 meters away at (13.1, 10.0). A vehicle with ID 12 is 17.5 meters away at (2.6, 17.3). A vehicle with ID 3 is 23.4 meters away at (-19.3, -13.3). A vehicle with ID 8 is 24.7 meters away at (-24.6, 2.1). A vehicle with ID 4 is 25.7 meters away at (-22.4, -12.7). A vehicle with ID 5 is 28.7 meters away at (-26.5, -11.1). A pedestrian with ID 47 is 29.6 meters away at (3.8, 29.3). A vehicle with ID 18 is 30.2 meters away at (28.9, 8.5). A vehicle with ID 45 is 32.3 meters away at (-13.5, -29.3).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.40477374 -1.1700753 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.43129116 1.1610813 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.71963500976562, -155.86557006835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.26055384  8.298803  ], 8.302892684936523 meters away.)"}
{"file_name": "images/scenario_235_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 0.2) m/s. Its current heading (yaw) is 0.06 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 10.0 meters away at (7.5, 6.6).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [7.5415325 6.588005 ], 10.013816833496094 meters away.)"}
{"file_name": "images/scenario_235_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -1.4) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 68.8 meters away at (-61.8, 30.2).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-61.828598  30.196846], 68.80860900878906 meters away.)"}
{"file_name": "images/scenario_235_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -3.3) m/s. Its current heading (yaw) is -1.49 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_235_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -4.5) m/s. Its current heading (yaw) is -1.82 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_236_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 4.6) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 34.4 meters away at (31.2, -14.6). A vehicle with ID 27 is 47.0 meters away at (-8.2, -46.2). A vehicle with ID 28 is 48.7 meters away at (-3.9, -48.6). A vehicle with ID 29 is 49.6 meters away at (-9.3, -48.7). A vehicle with ID 26 is 51.2 meters away at (4.1, -51.0). A unknown object with ID 12 is 56.9 meters away at (56.3, -7.8). A vehicle with ID 21 is 60.5 meters away at (-60.1, -7.0). A vehicle with ID 32 is 70.7 meters away at (35.8, -61.0).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-5.965797  4.324608] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-61.89266586303711, 35.91674041748047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 31.150219 -14.558945], 34.38457489013672 meters away.)"}
{"file_name": "images/scenario_236_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.2) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 14.9 meters away at (3.5, -14.5). A vehicle with ID 6 is 44.1 meters away at (41.2, -15.8). A vehicle with ID 21 is 47.9 meters away at (-45.1, -15.9). A vehicle with ID 27 is 55.5 meters away at (6.8, -55.1). A unknown object with ID 7 is 57.0 meters away at (10.8, -56.0). A vehicle with ID 29 is 57.8 meters away at (5.6, -57.6). A vehicle with ID 13 is 57.9 meters away at (5.6, -57.6). A vehicle with ID 26 is 62.9 meters away at (19.1, -59.9). A vehicle with ID 11 is 71.4 meters away at (3.2, -71.3). A vehicle with ID 32 is 73.7 meters away at (39.8, -62.1).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-5.5060277  3.7890813] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-61.89266586303711, 35.91674041748047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  3.4671612 -14.464947 ], 14.874672889709473 meters away.)"}
{"file_name": "images/scenario_236_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 3.7) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 39.2 meters away at (-31.1, -23.9). A vehicle with ID 27 is 66.4 meters away at (20.9, -63.0). A vehicle with ID 29 is 68.4 meters away at (19.7, -65.5). A vehicle with ID 13 is 68.4 meters away at (19.7, -65.5). A unknown object with ID 7 is 68.7 meters away at (25.0, -63.9). A unknown object with ID 19 is 70.9 meters away at (62.3, -33.9). A vehicle with ID 26 is 75.5 meters away at (33.1, -67.9). A vehicle with ID 32 is 77.0 meters away at (43.7, -63.4). A vehicle with ID 11 is 81.0 meters away at (17.2, -79.2).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.569986   2.9055634] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-61.89266586303711, 35.91674041748047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-31.055302 -23.88243 ], 39.176551818847656 meters away.)"}
{"file_name": "images/scenario_236_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 3.3) m/s. Its current heading (yaw) is 2.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 35.8 meters away at (-17.9, -31.0). A vehicle with ID 27 is 78.0 meters away at (34.2, -70.1). A vehicle with ID 29 is 79.6 meters away at (32.7, -72.5). A unknown object with ID 7 is 80.7 meters away at (38.2, -71.1). A vehicle with ID 32 is 81.1 meters away at (48.6, -64.9).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.122898   2.6832163] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-61.89266586303711, 35.91674041748047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-17.87257  -30.991404], 35.775630950927734 meters away.)"}
{"file_name": "images/scenario_237_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.6) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 30.2 meters away at (-6.3, -29.5). A pedestrian with ID 15 is 30.3 meters away at (-17.5, -24.7). A vehicle with ID 16 is 35.4 meters away at (-8.1, -34.5). A vehicle with ID 17 is 39.2 meters away at (-23.7, -31.3). A vehicle with ID 20 is 40.2 meters away at (-26.2, -30.4). A vehicle with ID 18 is 40.6 meters away at (-9.7, -39.4). A vehicle with ID 19 is 41.5 meters away at (-18.7, -37.1). A vehicle with ID 21 is 41.9 meters away at (-29.2, -30.0). A vehicle with ID 23 is 43.2 meters away at (-32.0, -29.0). A vehicle with ID 22 is 46.0 meters away at (-11.2, -44.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.4467786 1.1020164] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(235.82373046875, -99.5875015258789)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -6.317175 -29.516989], 30.185415267944336 meters away.)"}
{"file_name": "images/scenario_237_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 5.1) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 42.3 meters away at (-22.8, -35.6). A vehicle with ID 14 is 44.5 meters away at (-12.6, -42.7). A vehicle with ID 17 is 53.6 meters away at (-30.0, -44.5). A vehicle with ID 20 is 54.4 meters away at (-32.5, -43.7). A vehicle with ID 19 is 56.1 meters away at (-24.9, -50.3). A pedestrian with ID 30 is 63.2 meters away at (-15.6, -61.3). A vehicle with ID 27 is 65.6 meters away at (-27.8, -59.5). A vehicle with ID 32 is 71.1 meters away at (-29.7, -64.5). A vehicle with ID 35 is 76.6 meters away at (-31.7, -69.7).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.66275066 1.0968835 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.54247653 1.3724858 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(235.82373046875, -99.5875015258789)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-22.81372 -35.61553], 42.2957649230957 meters away.)"}
{"file_name": "images/scenario_237_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 1.2) m/s. Its current heading (yaw) is 0.28 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 50.1 meters away at (45.1, -21.8). A pedestrian with ID 15 is 50.4 meters away at (-30.9, -39.8). A pedestrian with ID 5 is 50.8 meters away at (45.6, -22.4). A vehicle with ID 14 is 53.4 meters away at (-21.0, -49.1). A pedestrian with ID 3 is 62.0 meters away at (60.0, -15.6). A vehicle with ID 17 is 63.6 meters away at (-38.4, -50.8). A vehicle with ID 10 is 63.8 meters away at (-24.1, -59.0). A vehicle with ID 20 is 64.6 meters away at (-40.9, -50.0). A vehicle with ID 19 is 65.7 meters away at (-33.5, -56.5). A vehicle with ID 11 is 66.2 meters away at (-43.9, -49.5).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0182923 -0.570522 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.23895553 0.720136  ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.8763201  -0.47082123] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.2440846  -0.74106175] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(235.82373046875, -99.5875015258789)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 45.08349  -21.843018], 50.096290588378906 meters away.)"}
{"file_name": "images/scenario_237_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.3) m/s. Its current heading (yaw) is -0.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 47.4 meters away at (41.2, -23.6). A pedestrian with ID 5 is 48.5 meters away at (42.2, -23.9). A pedestrian with ID 15 is 52.7 meters away at (-36.1, -38.4). A pedestrian with ID 3 is 59.5 meters away at (56.8, -17.7). A vehicle with ID 17 is 67.7 meters away at (-44.3, -51.2). A vehicle with ID 20 is 68.8 meters away at (-46.9, -50.3). A vehicle with ID 19 is 69.2 meters away at (-39.4, -56.9). A vehicle with ID 11 is 70.6 meters away at (-50.0, -49.9).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0024608 -0.6598573] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.0498576 -0.4973373] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.3582351 0.7532799] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.333557   -0.85125804] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(235.82373046875, -99.5875015258789)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 41.16283  -23.602028], 47.44927978515625 meters away.)"}
{"file_name": "images/scenario_238_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.5) m/s. Its current heading (yaw) is -0.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 51.2 meters away at (45.9, -22.7). A vehicle with ID 8 is 69.2 meters away at (-47.0, -50.7). A vehicle with ID 9 is 70.6 meters away at (-49.6, -50.3). A vehicle with ID 1 is 75.8 meters away at (75.3, 8.9).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-27.31827163696289, -36.50519561767578)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 45.891075 -22.728405], 51.21104431152344 meters away.)"}
{"file_name": "images/scenario_238_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 0.2) m/s. Its current heading (yaw) is 0.05 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 43.5 meters away at (37.4, -22.3). A vehicle with ID 6 is 46.5 meters away at (40.7, -22.4). A vehicle with ID 1 is 71.0 meters away at (70.5, 8.9).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.07178612 -0.03004687] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-27.31827163696289, -36.50519561767578)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 37.36616 -22.30596], 43.51765060424805 meters away.)"}
{"file_name": "images/scenario_238_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 3.6) m/s. Its current heading (yaw) is 0.80 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 29.7 meters away at (-3.9, 29.4). A vehicle with ID 6 is 41.7 meters away at (32.7, -25.9). A vehicle with ID 1 is 62.8 meters away at (62.6, 5.3).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-27.31827163696289, -36.50519561767578)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-3.9472065 29.419193 ], 29.68281364440918 meters away.)"}
{"file_name": "images/scenario_238_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 4.6) m/s. Its current heading (yaw) is 1.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 22.8 meters away at (-9.8, 20.7). A vehicle with ID 6 is 43.9 meters away at (27.2, -34.5). A vehicle with ID 1 is 57.0 meters away at (56.9, -3.2).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-27.31827163696289, -36.50519561767578)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-9.757581 20.656113], 22.844810485839844 meters away.)"}
{"file_name": "images/scenario_239_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, -5.9) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 5.5 meters away at (5.4, -0.9). A vehicle with ID 45 is 7.1 meters away at (-1.8, -6.8). A vehicle with ID 42 is 7.8 meters away at (6.6, -4.2). A vehicle with ID 44 is 8.5 meters away at (1.4, -8.4). A vehicle with ID 39 is 12.2 meters away at (12.2, 0.2). A vehicle with ID 38 is 12.2 meters away at (11.5, 4.2). A vehicle with ID 46 is 15.3 meters away at (-5.0, -14.4). A vehicle with ID 47 is 18.0 meters away at (-11.2, -14.1). A unknown object with ID 40 is 22.5 meters away at (22.5, -1.5). A vehicle with ID 23 is 22.8 meters away at (-11.9, -19.5).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0.33255416 0.34906754] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.235693  -3.908789 ]\n [ 9.997798  -3.3979666]\n [ 7.8963847  3.1552927]\n [ 8.066105   3.0235803]]", "nav_goal": "(-236.39956665039062, -185.37171936035156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.401166  -0.9488182], 5.483871936798096 meters away.)"}
{"file_name": "images/scenario_239_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, -7.0) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 5.0 meters away at (4.9, -0.9). A vehicle with ID 49 is 5.4 meters away at (-0.4, -5.4). A vehicle with ID 23 is 7.7 meters away at (4.3, -6.4). A vehicle with ID 46 is 11.1 meters away at (11.0, -1.0). A vehicle with ID 2 is 11.1 meters away at (6.2, -9.2). A vehicle with ID 37 is 11.5 meters away at (-2.1, -11.3). A vehicle with ID 52 is 12.1 meters away at (-6.6, -10.1). A vehicle with ID 45 is 15.7 meters away at (14.3, 6.4). A vehicle with ID 11 is 17.5 meters away at (-7.5, -15.8). A vehicle with ID 44 is 18.1 meters away at (17.5, 4.8).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [9.149366 7.441549] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0.7938036 0.8525013] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[7.8963847 3.1552927]\n [8.066105  3.0235803]]", "nav_goal": "(-236.39956665039062, -185.37171936035156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.9393425  -0.91150093], 5.02274227142334 meters away.)"}
{"file_name": "images/scenario_239_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, -7.8) m/s. Its current heading (yaw) is -2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 6.6 meters away at (5.0, -4.3). A vehicle with ID 11 is 10.0 meters away at (9.9, -0.8). A unknown object with ID 9 is 11.4 meters away at (8.5, -7.6). A vehicle with ID 5 is 11.4 meters away at (-5.9, -9.8). A unknown object with ID 30 is 12.7 meters away at (11.1, -6.1). A vehicle with ID 52 is 13.1 meters away at (11.9, 5.6). A cyclist with ID 25 is 15.6 meters away at (-14.7, -5.1). A vehicle with ID 37 is 15.7 meters away at (15.3, 3.6). A unknown object with ID 22 is 17.1 meters away at (16.9, -2.6). A vehicle with ID 49 is 19.6 meters away at (17.1, 9.6).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [4.392938 4.17984 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-4.674589 -3.575678] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-0.25380534  0.1704795 ] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-236.39956665039062, -185.37171936035156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.9509125 -4.335396 ], 6.580820083618164 meters away.)"}
{"file_name": "images/scenario_239_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, -7.9) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A cyclist with ID 25 is 6.5 meters away at (-4.9, 4.3). A unknown object with ID 20 is 7.1 meters away at (3.4, -6.3). A vehicle with ID 33 is 8.9 meters away at (8.8, 0.6). A vehicle with ID 7 is 14.4 meters away at (-8.2, -11.9). A vehicle with ID 5 is 23.1 meters away at (19.3, 12.6). A vehicle with ID 34 is 25.9 meters away at (23.1, 11.8). A vehicle with ID 1 is 26.2 meters away at (19.9, 17.1). A vehicle with ID 11 is 32.1 meters away at (28.2, 15.5). A vehicle with ID 52 is 37.2 meters away at (30.0, 22.0). A vehicle with ID 37 is 38.9 meters away at (33.4, 19.9).", "velocity_description": "The cyclist with ID 25 is traveling at a (x, y) velocity of [-4.2669234 -3.2773771] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.216667 4.73818 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [8.406195  7.0197473] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [2.4505599 2.4278917] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.2767257   0.18153168] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.835684  -7.3301144] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.227671   0.2285387] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-0.2812807   0.26405525] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-236.39956665039062, -185.37171936035156)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-4.866516   4.3363457], 6.518195629119873 meters away.)"}
{"file_name": "images/scenario_240_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -6.5) m/s. Its current heading (yaw) is -0.82 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 21.7 meters away at (-19.6, 9.4). A vehicle with ID 77 is 23.0 meters away at (22.8, -2.9). A vehicle with ID 55 is 24.2 meters away at (-9.8, 22.1). A unknown object with ID 56 is 28.7 meters away at (-24.3, 15.2). A pedestrian with ID 58 is 28.8 meters away at (-8.8, 27.4). A unknown object with ID 59 is 30.9 meters away at (-26.0, 16.6). A vehicle with ID 60 is 32.1 meters away at (-8.4, 31.0). A vehicle with ID 61 is 35.5 meters away at (-17.0, 31.1). A pedestrian with ID 63 is 40.8 meters away at (-9.2, 39.8). A pedestrian with ID 66 is 42.7 meters away at (-6.1, 42.3).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.21045817 -0.16519855] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-7.66356    6.7555156] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 1.5839412  -0.07489599] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.01023329 -0.01419703] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.37139493  1.0730528 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.359407   32.63379  ]\n [-21.79743    31.723314 ]\n [ -6.396516   18.27794  ]\n [-22.98197    30.26963  ]\n [ -6.1573825  18.456255 ]\n [-17.922495   14.196397 ]\n [-17.544905   13.026595 ]\n [-25.497309   28.164038 ]\n [ -6.5045037  18.202412 ]]", "nav_goal": "(239.210693359375, -154.06422424316406)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-19.587557    9.3712845], 21.713897705078125 meters away.)"}
{"file_name": "images/scenario_240_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -5.4) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 20.5 meters away at (-1.5, 20.5). A vehicle with ID 4 is 24.8 meters away at (23.3, -8.6). A pedestrian with ID 78 is 29.5 meters away at (19.4, -22.3). A vehicle with ID 51 is 37.7 meters away at (33.8, -16.7). A vehicle with ID 27 is 38.6 meters away at (32.8, -20.3). A vehicle with ID 55 is 40.6 meters away at (-21.9, 34.2). A pedestrian with ID 58 is 43.8 meters away at (-18.0, 39.9). A vehicle with ID 60 is 47.5 meters away at (-20.4, 42.9). A unknown object with ID 59 is 47.6 meters away at (-38.0, 28.7). A vehicle with ID 61 is 51.9 meters away at (-29.1, 43.0).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [-4.801292   4.9691525] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-5.4544706  4.037053 ] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.0861251  0.8167945] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-6.910087  4.80406 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 3.7396898 -2.5286653] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [1.1564095  0.87424743] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.396516   18.27794  ]\n [ -6.1573825  18.456255 ]\n [-17.922495   14.196397 ]\n [-17.544905   13.026595 ]\n [ -6.5045037  18.202412 ]]", "nav_goal": "(239.210693359375, -154.06422424316406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.4972534 20.49422  ], 20.54884147644043 meters away.)"}
{"file_name": "images/scenario_240_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -4.7) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.7 meters away at (2.1, 7.4). A vehicle with ID 51 is 10.4 meters away at (10.4, 1.2). A pedestrian with ID 78 is 11.6 meters away at (4.8, -10.5). A vehicle with ID 27 is 32.1 meters away at (28.2, -15.4). A vehicle with ID 77 is 45.4 meters away at (-22.2, 39.7). A pedestrian with ID 23 is 48.1 meters away at (35.3, -32.7). A vehicle with ID 15 is 50.3 meters away at (41.2, -28.8). A vehicle with ID 6 is 50.5 meters away at (43.4, -25.9). A pedestrian with ID 22 is 55.0 meters away at (53.3, -13.6). A vehicle with ID 55 is 56.0 meters away at (-34.1, 44.5).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.841055   1.1770513] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-4.2802734  3.0709803] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.0826979  0.7988639] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 3.5559025 -2.4363153] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-3.215363  3.658921] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2466503  0.8839058] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 4.064001  -2.7564282] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 1.7470932 -1.1280395] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1746953  0.819261 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-6.396516  18.27794  ]\n [-6.1573825 18.456255 ]\n [-3.4041147 19.981007 ]\n [-1.1757926 22.560383 ]\n [-6.5045037 18.202412 ]]", "nav_goal": "(239.210693359375, -154.06422424316406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.1024323 7.355791 ], 7.6503520011901855 meters away.)"}
{"file_name": "images/scenario_240_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -4.6) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A pedestrian with ID 78 is 10.2 meters away at (-10.2, 0.4). A vehicle with ID 51 is 18.8 meters away at (-9.8, 16.1). A vehicle with ID 4 is 21.6 meters away at (-16.1, 14.3). A vehicle with ID 27 is 24.3 meters away at (21.9, -10.5). A pedestrian with ID 23 is 29.6 meters away at (20.2, -21.5). A pedestrian with ID 22 is 38.3 meters away at (38.2, -2.5). A vehicle with ID 6 is 39.5 meters away at (34.4, -19.2). A vehicle with ID 15 is 46.1 meters away at (37.9, -26.2). A pedestrian with ID 1 is 47.4 meters away at (34.3, -32.6). A pedestrian with ID 2 is 47.5 meters away at (33.8, -33.3).", "velocity_description": "The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.950539   0.7350617] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-4.184439   3.3206518] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.99416906 -2.8117568 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 3.0718277 -2.1092339] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0662577  0.9342297] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.0961653  0.8353097] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 2.9488049 -2.049744 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 5.0216627 -3.535344 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2154692  -0.87601906] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2283634 -0.8542299] m/s.", "light_description": "There are active red lights at the following coordinates: [[-6.396516  18.27794  ]\n [-6.1573825 18.456255 ]\n [-3.4041147 19.981007 ]\n [-1.1757926 22.560383 ]\n [-6.5045037 18.202412 ]]", "nav_goal": "(239.210693359375, -154.06422424316406)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-10.18317      0.37913132], 10.190225601196289 meters away.)"}
{"file_name": "images/scenario_241_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 4.4) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 13.6 meters away at (-8.6, -10.6). A vehicle with ID 37 is 21.5 meters away at (14.3, 16.1). A vehicle with ID 46 is 38.1 meters away at (20.5, 32.1). A vehicle with ID 42 is 40.1 meters away at (32.3, 23.6). A vehicle with ID 45 is 44.6 meters away at (13.0, 42.7). A vehicle with ID 41 is 48.9 meters away at (-31.5, -37.5). A vehicle with ID 36 is 49.0 meters away at (-36.4, -32.9). A cyclist with ID 43 is 54.1 meters away at (28.3, 46.1). A pedestrian with ID 21 is 54.1 meters away at (28.2, 46.2). A vehicle with ID 29 is 55.8 meters away at (33.3, 44.8).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [3.4765496 3.9787798] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [4.4610295 4.9908586] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-7.6934    -7.9126964] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.5578465  -0.52397704] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-6.32547    3.1425524] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-5.760264 -6.542539] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [0.02126543 0.00885883] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.05758562 -0.06939305] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-8.031656  -7.5845337] m/s.", "light_description": "There are active red lights at the following coordinates: [[-55.183765 -54.27737 ]\n [-54.859158 -54.621174]]", "nav_goal": "(-41.96318817138672, 43.09210968017578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -8.5632925 -10.56648  ], 13.600752830505371 meters away.)"}
{"file_name": "images/scenario_241_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 4.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 6.5 meters away at (-3.2, 5.7). A vehicle with ID 3 is 13.8 meters away at (-8.6, -10.8). A vehicle with ID 29 is 22.1 meters away at (9.9, 19.8). A vehicle with ID 37 is 23.7 meters away at (16.1, 17.4). A vehicle with ID 4 is 38.1 meters away at (35.4, 14.2). A vehicle with ID 45 is 42.6 meters away at (-8.1, 41.8). A cyclist with ID 43 is 42.7 meters away at (20.7, 37.3). A vehicle with ID 27 is 45.2 meters away at (28.4, 35.1). A vehicle with ID 18 is 48.8 meters away at (34.2, 34.8). A unknown object with ID 13 is 60.3 meters away at (32.8, 50.7).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [-8.229384 -9.390154] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [3.8618083 4.3762474] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-7.6166844 -8.404701 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [5.200006  5.4032826] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.43805265  0.35279933] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-7.2711225  4.2216153] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [0.01590726 0.01630406] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-8.675715 -8.359994] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [7.10732  6.543026] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[38.65416  44.890663]\n [47.66962  31.968117]\n [47.66556  31.962114]\n [48.62645  33.02867 ]]", "nav_goal": "(-41.96318817138672, 43.09210968017578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.19701    5.6987305], 6.534248352050781 meters away.)"}
{"file_name": "images/scenario_241_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 3.3) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 11.2 meters away at (5.0, 10.0). A vehicle with ID 29 is 12.4 meters away at (-11.4, -4.8). A vehicle with ID 3 is 13.0 meters away at (-8.0, -10.3). A vehicle with ID 4 is 29.4 meters away at (28.6, 6.6). A vehicle with ID 37 is 29.4 meters away at (20.7, 20.9). A vehicle with ID 39 is 30.6 meters away at (18.6, 24.4). A cyclist with ID 43 is 32.7 meters away at (14.2, 29.5). A vehicle with ID 46 is 33.3 meters away at (-26.0, -20.8). A vehicle with ID 9 is 35.1 meters away at (35.0, 2.1). A unknown object with ID 35 is 39.2 meters away at (-38.7, 6.4).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [-8.056026 -8.882706] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-7.1584353 -8.21199  ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [3.295577  3.8154423] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [6.238078  5.9861193] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-9.692696 -9.461894] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [ 0.00408369 -0.0076276 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-7.913511 -9.209008] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.303874    0.89475137] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[29.481182 38.37605 ]\n [47.66962  31.968117]\n [47.66556  31.962114]\n [48.62645  33.02867 ]]", "nav_goal": "(-41.96318817138672, 43.09210968017578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.9895477 9.985985 ], 11.163130760192871 meters away.)"}
{"file_name": "images/scenario_241_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 2.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 4.3 meters away at (-4.3, -0.3). A vehicle with ID 3 is 11.4 meters away at (-6.9, -9.1). A vehicle with ID 27 is 19.9 meters away at (-15.1, -13.0). A vehicle with ID 4 is 24.2 meters away at (24.1, 1.3). A cyclist with ID 43 is 26.1 meters away at (9.7, 24.2). A vehicle with ID 9 is 29.7 meters away at (29.6, -2.6). A vehicle with ID 37 is 40.9 meters away at (29.8, 28.0). A unknown object with ID 35 is 43.2 meters away at (-43.1, 1.2). A unknown object with ID 13 is 43.4 meters away at (21.6, 37.7). A vehicle with ID 33 is 43.5 meters away at (-28.1, -33.2).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [-8.533589 -9.623389] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [2.2189069 2.5620728] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-7.539341 -8.763338] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-0.0011303  -0.01777684] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [7.5662603 6.4946117] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [3.5567818 4.20091  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[29.481182 38.37605 ]\n [47.66962  31.968117]\n [47.66556  31.962114]\n [48.62645  33.02867 ]]", "nav_goal": "(-41.96318817138672, 43.09210968017578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.2584133 -0.3492031], 4.272707462310791 meters away.)"}
{"file_name": "images/scenario_242_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.7) m/s. Its current heading (yaw) is 0.98 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 18.4 meters away at (16.1, -8.9). A vehicle with ID 20 is 19.0 meters away at (10.6, 15.8). A vehicle with ID 4 is 19.0 meters away at (-4.4, 18.5). A unknown object with ID 22 is 19.8 meters away at (17.7, 9.0). A vehicle with ID 18 is 20.3 meters away at (6.2, 19.3). A vehicle with ID 16 is 24.0 meters away at (1.0, 24.0). A vehicle with ID 17 is 30.1 meters away at (-5.4, 29.7).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-40.59181594848633, 185.64080810546875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [16.086765 -8.888761], 18.379175186157227 meters away.)"}
{"file_name": "images/scenario_242_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 0.97 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 18.3 meters away at (15.7, -9.3). A vehicle with ID 20 is 18.4 meters away at (10.2, 15.3). A vehicle with ID 4 is 18.7 meters away at (-4.9, 18.0). A unknown object with ID 22 is 19.3 meters away at (17.3, 8.6). A vehicle with ID 18 is 19.7 meters away at (5.8, 18.8). A vehicle with ID 16 is 23.4 meters away at (0.6, 23.4). A vehicle with ID 17 is 29.7 meters away at (-5.9, 29.1). A vehicle with ID 1 is 36.8 meters away at (-20.1, 30.9).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-40.59181594848633, 185.64080810546875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [15.727093 -9.341108], 18.29201316833496 meters away.)"}
{"file_name": "images/scenario_242_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.6) m/s. Its current heading (yaw) is 0.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 16.8 meters away at (9.2, 14.0). A vehicle with ID 4 is 17.6 meters away at (-5.9, 16.6). A unknown object with ID 22 is 17.8 meters away at (16.2, 7.4). A vehicle with ID 18 is 18.1 meters away at (4.7, 17.5). A unknown object with ID 8 is 18.2 meters away at (13.1, -12.7). A unknown object with ID 19 is 18.2 meters away at (14.9, -10.5). A vehicle with ID 16 is 22.1 meters away at (-0.5, 22.1). A vehicle with ID 17 is 28.5 meters away at (-6.9, 27.7). A vehicle with ID 1 is 36.2 meters away at (-20.8, 29.6).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-40.59181594848633, 185.64080810546875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.168747 14.045095], 16.772912979125977 meters away.)"}
{"file_name": "images/scenario_242_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.4) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 9.8 meters away at (-5.2, 8.4). A vehicle with ID 20 is 12.2 meters away at (7.0, 9.9). A vehicle with ID 18 is 13.7 meters away at (2.6, 13.5). A unknown object with ID 22 is 14.5 meters away at (14.1, 3.2). A vehicle with ID 4 is 14.9 meters away at (-7.9, 12.7). A vehicle with ID 16 is 18.3 meters away at (-2.5, 18.2). A unknown object with ID 19 is 19.3 meters away at (12.5, -14.8). A unknown object with ID 8 is 20.0 meters away at (10.7, -16.9). A vehicle with ID 17 is 25.4 meters away at (-8.9, 23.8). A vehicle with ID 1 is 34.4 meters away at (-23.1, 25.6).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-40.59181594848633, 185.64080810546875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-5.1679096  8.355577 ], 9.824609756469727 meters away.)"}
{"file_name": "images/scenario_243_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.9) m/s. Its current heading (yaw) is -1.95 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 14.9 meters away at (-8.8, 12.0). A unknown object with ID 18 is 16.3 meters away at (-13.8, 8.7). A unknown object with ID 19 is 16.7 meters away at (-13.6, 9.7). A pedestrian with ID 17 is 21.1 meters away at (-0.5, -21.1). A unknown object with ID 14 is 21.2 meters away at (-9.7, 18.8). A unknown object with ID 20 is 22.4 meters away at (-8.9, 20.5). A unknown object with ID 21 is 23.6 meters away at (-8.1, 22.2). A unknown object with ID 13 is 23.8 meters away at (-5.5, 23.1). A pedestrian with ID 15 is 23.9 meters away at (-6.9, 22.9). A pedestrian with ID 29 is 37.4 meters away at (-21.5, -30.6).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.462959  -1.1419361] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.4462629  0.60377055] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.7272156 -0.028844 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.1920586 -15.654282 ]\n [ -6.9779096 -15.481332 ]\n [-39.472267  -49.768845 ]\n [-26.718842  -34.838173 ]\n [-26.475895  -35.004593 ]\n [-39.184006  -49.916096 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.84454  12.016764], 14.920740127563477 meters away.)"}
{"file_name": "images/scenario_243_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -1.95 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 8.8 meters away at (-6.4, -6.1). A vehicle with ID 16 is 15.9 meters away at (-8.1, 13.7). A unknown object with ID 18 is 16.6 meters away at (-13.1, 10.2). A unknown object with ID 19 is 17.2 meters away at (-12.9, 11.3). A cyclist with ID 1 is 22.8 meters away at (-5.0, -22.3). A unknown object with ID 20 is 23.6 meters away at (-8.2, 22.1). A unknown object with ID 21 is 24.9 meters away at (-7.3, 23.8). A unknown object with ID 13 is 25.2 meters away at (-4.8, 24.8). A pedestrian with ID 15 is 25.3 meters away at (-5.8, 24.6). A pedestrian with ID 29 is 37.9 meters away at (-24.1, -29.2).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [-2.6446729 -1.1166974] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.04447486 -0.00536668] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.5582736  -0.01535921] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.1920586 -15.654282 ]\n [ -6.9779096 -15.481332 ]\n [-39.472267  -49.768845 ]\n [-26.718842  -34.838173 ]\n [-26.475895  -35.004593 ]\n [-39.184006  -49.916096 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-6.387806  -6.1046796], 8.835789680480957 meters away.)"}
{"file_name": "images/scenario_243_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.95 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 8.7 meters away at (-6.3, -6.0). A unknown object with ID 11 is 15.2 meters away at (-12.2, 9.1). A vehicle with ID 16 is 16.0 meters away at (-8.1, 13.8). A unknown object with ID 18 is 16.6 meters away at (-13.0, 10.4). A unknown object with ID 19 is 17.2 meters away at (-12.9, 11.4). A unknown object with ID 20 is 23.6 meters away at (-8.2, 22.1). A unknown object with ID 21 is 24.9 meters away at (-7.2, 23.8). A unknown object with ID 13 is 25.3 meters away at (-4.7, 24.9). A pedestrian with ID 22 is 26.5 meters away at (-9.9, -24.6). A cyclist with ID 1 is 26.9 meters away at (-10.4, -24.8).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-2.6415675 -1.1608878] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [-2.9524117 -1.4213618] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.1920586 -15.654282 ]\n [ -6.9779096 -15.481332 ]\n [-39.472267  -49.768845 ]\n [-26.718842  -34.838173 ]\n [-26.475895  -35.004593 ]\n [-39.184006  -49.916096 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-6.33428   -5.9865704], 8.715625762939453 meters away.)"}
{"file_name": "images/scenario_243_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.95 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 8.7 meters away at (-6.3, -5.9). A unknown object with ID 11 is 15.3 meters away at (-12.2, 9.2). A vehicle with ID 16 is 16.0 meters away at (-8.1, 13.8). A unknown object with ID 18 is 16.6 meters away at (-13.0, 10.4). A unknown object with ID 19 is 17.2 meters away at (-12.9, 11.5). A unknown object with ID 20 is 23.7 meters away at (-8.1, 22.2). A unknown object with ID 21 is 24.9 meters away at (-7.2, 23.9). A unknown object with ID 13 is 25.4 meters away at (-4.7, 24.9). A pedestrian with ID 22 is 31.2 meters away at (-16.5, -26.4). A pedestrian with ID 29 is 42.8 meters away at (-30.7, -29.9).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-3.1354015  -0.51670283] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.4419858  -0.21123807] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.1920586 -15.654282 ]\n [ -6.9779096 -15.481332 ]\n [-39.472267  -49.768845 ]\n [-26.718842  -34.838173 ]\n [-26.475895  -35.004593 ]\n [-39.184006  -49.916096 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-6.3162365 -5.9483776], 8.676292419433594 meters away.)"}
{"file_name": "images/scenario_244_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -1.3) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 3.9 meters away at (1.2, -3.7). A vehicle with ID 67 is 4.5 meters away at (-4.2, -1.7). A vehicle with ID 66 is 8.1 meters away at (-3.7, 7.2). A vehicle with ID 82 is 11.7 meters away at (11.7, -0.9). A vehicle with ID 20 is 14.5 meters away at (-13.8, 4.5). A unknown object with ID 70 is 14.6 meters away at (-13.6, -5.4). A vehicle with ID 68 is 14.7 meters away at (-11.0, 9.7). A unknown object with ID 72 is 15.1 meters away at (-13.6, -6.5). A unknown object with ID 71 is 15.2 meters away at (-13.7, -6.5). A vehicle with ID 65 is 15.5 meters away at (15.5, 0.9).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-7.8589716  2.553741 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 4.6222887 -1.623488 ] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(257.8619384765625, -99.07234954833984)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.2240658 -3.6613145], 3.8605129718780518 meters away.)"}
{"file_name": "images/scenario_244_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -0.8) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 5.1 meters away at (-4.8, -1.6). A vehicle with ID 65 is 9.8 meters away at (9.3, 3.0). A vehicle with ID 67 is 10.4 meters away at (-10.4, 0.5). A vehicle with ID 77 is 12.7 meters away at (11.9, -4.5). A vehicle with ID 20 is 12.7 meters away at (-12.1, 3.9). A vehicle with ID 66 is 13.6 meters away at (-9.8, 9.4). A vehicle with ID 82 is 14.4 meters away at (-12.5, 7.3). A unknown object with ID 70 is 20.0 meters away at (-19.8, -3.2). A vehicle with ID 68 is 20.9 meters away at (-17.1, 12.0). A vehicle with ID 81 is 22.8 meters away at (4.6, -22.3).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 0.83995754 -0.29782283] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 3.4447477 -1.2535821] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-9.622442   3.2702503] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(257.8619384765625, -99.07234954833984)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.8326006 -1.55796  ], 5.077526092529297 meters away.)"}
{"file_name": "images/scenario_244_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -0.5) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 7.3 meters away at (6.0, 4.2). A vehicle with ID 64 is 8.2 meters away at (-8.2, -0.4). A vehicle with ID 20 is 11.2 meters away at (-10.6, 3.4). A vehicle with ID 77 is 12.5 meters away at (11.7, -4.4). A vehicle with ID 67 is 14.0 meters away at (-13.8, 1.8). A vehicle with ID 66 is 16.9 meters away at (-13.1, 10.6). A vehicle with ID 81 is 21.2 meters away at (1.2, -21.2). A vehicle with ID 69 is 22.5 meters away at (4.9, -21.9). A unknown object with ID 70 is 23.3 meters away at (-23.1, -2.9). A vehicle with ID 68 is 24.3 meters away at (-20.4, 13.1).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.3820463 -0.5016029] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 2.4662745  -0.54749006] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(257.8619384765625, -99.07234954833984)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [6.026882  4.1787643], 7.333851337432861 meters away.)"}
{"file_name": "images/scenario_244_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -1.0) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 6.0 meters away at (1.9, 5.7). A vehicle with ID 64 is 12.5 meters away at (-12.4, 1.2). A vehicle with ID 20 is 13.4 meters away at (-12.7, 4.2). A vehicle with ID 77 is 13.7 meters away at (13.3, -3.2). A vehicle with ID 67 is 18.3 meters away at (-18.0, 3.3). A vehicle with ID 81 is 19.9 meters away at (-3.0, -19.6). A vehicle with ID 69 is 20.4 meters away at (0.8, -20.4). A vehicle with ID 66 is 21.2 meters away at (-17.3, 12.2). A unknown object with ID 70 is 27.3 meters away at (-27.3, -0.4). A unknown object with ID 41 is 27.5 meters away at (-27.5, -1.3).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.4448802 -0.5279672] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [3.177568 0.847964] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(257.8619384765625, -99.07234954833984)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.9114742 5.6983714], 6.0104217529296875 meters away.)"}
{"file_name": "images/scenario_245_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 3.6) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A pedestrian with ID 56 is 6.5 meters away at (1.2, -6.4). A pedestrian with ID 58 is 7.0 meters away at (3.4, -6.2). A pedestrian with ID 57 is 7.4 meters away at (1.6, -7.2). A vehicle with ID 9 is 9.7 meters away at (-9.6, 1.1). A vehicle with ID 12 is 10.7 meters away at (-9.3, -5.3). A vehicle with ID 18 is 11.5 meters away at (5.4, 10.2). A pedestrian with ID 67 is 13.0 meters away at (12.8, 2.4). A pedestrian with ID 25 is 16.3 meters away at (16.0, 3.2). A pedestrian with ID 64 is 16.6 meters away at (16.4, 2.6). A pedestrian with ID 68 is 18.9 meters away at (18.6, 3.6).", "velocity_description": "The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.9650727  0.56069076] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [1.1971351  0.44482565] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.2152731  0.49439323] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [6.1218014 5.098356 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [3.8339863 4.773914 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [8.502578  5.1249824] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.1384919  -0.68276817] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [1.0372576 0.9103609] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [1.0692246  0.87935793] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.15073273 0.11644918] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.193912    2.3438032]\n [-23.97575   -14.414764 ]\n [-18.308125    0.6833838]\n [-25.879004  -11.912776 ]\n [-25.96377    -8.02648  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 1.2090082 -6.362739 ], 6.476584434509277 meters away.)"}
{"file_name": "images/scenario_245_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, 3.8) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 67 is 5.6 meters away at (-0.7, -5.6). A pedestrian with ID 25 is 6.4 meters away at (5.9, -2.6). A pedestrian with ID 64 is 7.0 meters away at (6.2, -3.2). A pedestrian with ID 68 is 7.7 meters away at (6.7, -3.8). A vehicle with ID 9 is 8.4 meters away at (-7.8, 3.0). A vehicle with ID 12 is 11.6 meters away at (-11.1, -3.6). A pedestrian with ID 23 is 13.0 meters away at (12.8, 1.8). A pedestrian with ID 24 is 13.3 meters away at (13.3, 1.1). A pedestrian with ID 22 is 14.7 meters away at (14.5, 2.4). A pedestrian with ID 58 is 14.8 meters away at (-6.4, -13.3).", "velocity_description": "The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.02096722 0.01911625] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [1.0572436  0.93519175] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [1.0145409 0.9099213] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.40155587 0.37168103] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [7.926798 4.815114] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [6.4149323 4.5725393] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [1.1891476  0.77219796] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.2308475  0.79906577] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [1.2923781  0.73172235] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [1.18471    0.26408383] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.193912    2.3438032]\n [-23.97575   -14.414764 ]\n [-18.308125    0.6833838]\n [-25.879004  -11.912776 ]\n [-25.96377    -8.02648  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-0.6677284 -5.5765553], 5.616389274597168 meters away.)"}
{"file_name": "images/scenario_245_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, 3.7) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 5.4 meters away at (3.3, -4.2). A pedestrian with ID 24 is 5.9 meters away at (3.5, -4.7). A pedestrian with ID 22 is 6.0 meters away at (4.9, -3.4). A vehicle with ID 9 is 6.3 meters away at (-2.9, 5.6). A pedestrian with ID 37 is 8.9 meters away at (6.6, -6.0). A vehicle with ID 12 is 9.3 meters away at (-9.1, -2.0). A pedestrian with ID 25 is 9.4 meters away at (-3.9, -8.6). A pedestrian with ID 64 is 9.9 meters away at (-3.5, -9.2). A pedestrian with ID 54 is 12.4 meters away at (12.4, -0.1). A pedestrian with ID 68 is 12.5 meters away at (-5.4, -11.2).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [1.2157688  0.95563257] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.2004207 0.9858779] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [1.2560897  0.83836484] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [8.772063  5.3669567] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.0086251  -0.01250418] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [7.7139864 4.9235425] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [1.0516646  0.65652883] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [1.0496763  0.69802177] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02992444  0.03003606] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.02608175  0.02407726] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.193912    2.3438032]\n [-23.97575   -14.414764 ]\n [-18.308125    0.6833838]\n [-25.879004  -11.912776 ]\n [-25.96377    -8.02648  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.339325  -4.2320557], 5.390861511230469 meters away.)"}
{"file_name": "images/scenario_245_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, 4.0) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 4.5 meters away at (-4.3, 1.4). A pedestrian with ID 15 is 6.5 meters away at (3.4, -5.5). A pedestrian with ID 40 is 7.1 meters away at (6.9, -1.6). A pedestrian with ID 54 is 7.8 meters away at (-0.3, -7.8). A vehicle with ID 9 is 9.5 meters away at (2.8, 9.1). A pedestrian with ID 55 is 10.5 meters away at (10.4, 1.6). A pedestrian with ID 49 is 10.6 meters away at (-3.8, -9.9). A pedestrian with ID 22 is 11.1 meters away at (-5.5, -9.6). A pedestrian with ID 23 is 12.6 meters away at (-7.3, -10.2). A pedestrian with ID 24 is 12.9 meters away at (-6.9, -10.9).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [9.850253 6.120176] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.01036602 -0.00046356] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-3.306655  -1.1606523] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.04366919 -0.01264474] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [9.642342  5.9482894] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.60503554 -0.6941762 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.00577689 0.01332626] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [1.3067664  0.81448233] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [1.1448032  0.83251935] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.1411916 0.7719136] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.193912    2.3438032]\n [-18.308125    0.6833838]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.302044   1.4386349], 4.536215305328369 meters away.)"}
{"file_name": "images/scenario_246_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 0.2) m/s. Its current heading (yaw) is 3.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 5.5 meters away at (-4.3, -3.4). A vehicle with ID 58 is 14.9 meters away at (14.8, -1.3). A unknown object with ID 18 is 17.3 meters away at (-15.3, -8.0). A pedestrian with ID 33 is 20.1 meters away at (12.3, 15.8). A vehicle with ID 59 is 30.2 meters away at (29.5, -6.5). A vehicle with ID 60 is 45.4 meters away at (45.2, -5.1). A unknown object with ID 61 is 55.4 meters away at (-55.3, -2.6). A unknown object with ID 66 is 57.1 meters away at (-57.1, -1.3). A unknown object with ID 67 is 59.1 meters away at (-59.1, -0.7). A unknown object with ID 68 is 61.5 meters away at (-61.5, 0.3).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.205087   0.6380514] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.02670308 -0.02949714] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-5.460905   0.8104291] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-285.31536865234375, 204.3141632080078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.3411064 -3.3853736], 5.505084991455078 meters away.)"}
{"file_name": "images/scenario_246_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 7.4 meters away at (6.4, -3.6). A vehicle with ID 58 is 14.2 meters away at (14.2, -0.4). A pedestrian with ID 33 is 27.9 meters away at (23.2, 15.5). A vehicle with ID 15 is 37.3 meters away at (-16.4, 33.5). A vehicle with ID 59 is 40.9 meters away at (40.3, -7.1). A unknown object with ID 61 is 44.5 meters away at (-44.4, -2.7). A vehicle with ID 60 is 45.5 meters away at (45.3, -3.8). A unknown object with ID 66 is 46.2 meters away at (-46.2, -1.5). A unknown object with ID 67 is 48.2 meters away at (-48.2, -0.8). A unknown object with ID 68 is 50.6 meters away at (-50.6, 0.2).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-5.167077    0.45004418] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00184719 -0.01808   ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.808748 -7.594042] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-5.4119477  0.6548601] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-285.31536865234375, 204.3141632080078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.4173403 -3.6477296], 7.381611347198486 meters away.)"}
{"file_name": "images/scenario_246_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -0.2) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 14.9 meters away at (14.9, 0.6). A vehicle with ID 57 is 17.1 meters away at (16.7, -3.5). A vehicle with ID 15 is 22.2 meters away at (-5.9, 21.4). A vehicle with ID 10 is 33.6 meters away at (-25.0, -22.4). A unknown object with ID 61 is 34.2 meters away at (-34.1, -2.6). A unknown object with ID 66 is 35.9 meters away at (-35.9, -1.3). A pedestrian with ID 33 is 37.0 meters away at (33.5, 15.7). A unknown object with ID 67 is 37.9 meters away at (-37.9, -0.6). A unknown object with ID 68 is 40.3 meters away at (-40.3, 0.4). A unknown object with ID 69 is 44.3 meters away at (-44.3, 0.8).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [-5.086694    0.45347652] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.5402312 -5.401539 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.49588853 3.0219374 ] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.0698715   0.00998722] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-285.31536865234375, 204.3141632080078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [14.896492   0.6262461], 14.909649848937988 meters away.)"}
{"file_name": "images/scenario_246_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -1.4) m/s. Its current heading (yaw) is -2.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 12.6 meters away at (12.3, 2.9). A vehicle with ID 15 is 17.3 meters away at (10.0, 14.1). A vehicle with ID 10 is 22.1 meters away at (-15.7, -15.5). A vehicle with ID 57 is 25.3 meters away at (25.2, -2.2). A unknown object with ID 61 is 25.8 meters away at (-25.7, -1.1). A unknown object with ID 66 is 27.5 meters away at (-27.5, 0.1). A unknown object with ID 67 is 29.5 meters away at (-29.5, 0.8). A unknown object with ID 68 is 31.9 meters away at (-31.9, 1.8). A unknown object with ID 69 is 35.9 meters away at (-35.8, 2.3). A unknown object with ID 19 is 38.7 meters away at (-38.6, 2.3).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.2532787  0.4293566] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.0439563 -3.0007286] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.3779489 2.5390759] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-285.31536865234375, 204.3141632080078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.2903595  2.9075813], 12.629606246948242 meters away.)"}
{"file_name": "images/scenario_247_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -5.6) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 17.6 meters away at (-14.5, 10.0). A pedestrian with ID 127 is 37.7 meters away at (22.3, -30.4). A pedestrian with ID 107 is 39.3 meters away at (24.7, -30.6). A pedestrian with ID 119 is 43.3 meters away at (42.9, -6.0). A unknown object with ID 112 is 44.7 meters away at (43.7, 9.3). A unknown object with ID 110 is 46.2 meters away at (44.8, 11.0). A unknown object with ID 109 is 50.2 meters away at (50.2, -2.8). A pedestrian with ID 123 is 52.7 meters away at (37.6, -36.9). A vehicle with ID 97 is 62.8 meters away at (49.0, -39.3). A pedestrian with ID 106 is 67.7 meters away at (48.6, -47.2).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.120899  -5.1812153] m/s.The pedestrian with ID 127 is traveling at a (x, y) velocity of [-0.01558786  0.01672472] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.1701033 -1.0153137] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [-0.00382447 -0.00148625] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-7.7796830e-03 -6.0867656e-05] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-1.1775764   0.81316113] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(249.72299194335938, -160.0833282470703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-14.475748  10.049978], 17.62240982055664 meters away.)"}
{"file_name": "images/scenario_247_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -5.5) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 17.9 meters away at (-14.7, 10.2). A pedestrian with ID 127 is 20.0 meters away at (5.6, -19.2). A pedestrian with ID 107 is 23.8 meters away at (10.8, -21.2). A pedestrian with ID 119 is 26.7 meters away at (26.2, 5.1). A pedestrian with ID 123 is 33.2 meters away at (20.8, -25.8). A unknown object with ID 109 is 34.5 meters away at (33.4, 8.5). A vehicle with ID 97 is 42.7 meters away at (32.2, -28.1). A pedestrian with ID 106 is 45.5 meters away at (29.6, -34.5). A vehicle with ID 91 is 49.0 meters away at (37.4, -31.7). A vehicle with ID 85 is 54.4 meters away at (41.9, -34.7).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.267488  -5.4667244] m/s.The pedestrian with ID 127 is traveling at a (x, y) velocity of [ 0.02870206 -0.00268111] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.4767854  -0.85056573] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [ 0.0410305 -0.0164401] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [ 0.02601442 -0.02392239] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-1.0457773   0.79891914] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(249.72299194335938, -160.0833282470703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-14.72497   10.239932], 17.935466766357422 meters away.)"}
{"file_name": "images/scenario_247_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.8, -5.3) m/s. Its current heading (yaw) is -0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 111 is 12.0 meters away at (11.5, 3.3). A pedestrian with ID 107 is 12.4 meters away at (-2.4, -12.2). A pedestrian with ID 127 is 13.4 meters away at (-10.4, -8.4). A pedestrian with ID 123 is 15.9 meters away at (4.8, -15.1). A vehicle with ID 62 is 18.3 meters away at (-15.0, 10.4). A pedestrian with ID 119 is 18.8 meters away at (10.1, 15.9). A vehicle with ID 97 is 23.6 meters away at (16.1, -17.3). A pedestrian with ID 106 is 24.9 meters away at (11.4, -22.1). A unknown object with ID 109 is 26.0 meters away at (17.3, 19.3). A vehicle with ID 91 is 29.8 meters away at (21.3, -20.9).", "velocity_description": "The vehicle with ID 111 is traveling at a (x, y) velocity of [-10.003346   6.806007] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.4521277 -0.8964104] m/s.The pedestrian with ID 127 is traveling at a (x, y) velocity of [0.0181494  0.00479255] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-0.00673021  0.00588245] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 7.8801303 -5.1864147] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [0.00141999 0.00337114] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-1.1430396  0.7128734] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(249.72299194335938, -160.0833282470703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [11.528389  3.348114], 12.004733085632324 meters away.)"}
{"file_name": "images/scenario_247_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -5.2) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 97 is 6.9 meters away at (0.5, -6.9). A pedestrian with ID 123 is 11.8 meters away at (-10.9, -4.7). A vehicle with ID 91 is 11.9 meters away at (5.5, -10.5). A pedestrian with ID 106 is 12.2 meters away at (-6.6, -10.2). A pedestrian with ID 107 is 15.9 meters away at (-15.5, -3.7). A vehicle with ID 85 is 16.9 meters away at (10.0, -13.5). A vehicle with ID 62 is 18.5 meters away at (-15.2, 10.5). A vehicle with ID 117 is 21.8 meters away at (21.3, 4.7). A vehicle with ID 79 is 22.7 meters away at (15.1, -17.0). A pedestrian with ID 127 is 26.2 meters away at (-26.1, 2.0).", "velocity_description": "The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [0.02345718 0.02129199] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [-0.9963075  0.683913 ] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.3060821  -0.83116084] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.185932  -5.4237804] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 127 is traveling at a (x, y) velocity of [0.00246774 0.00235073] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(249.72299194335938, -160.0833282470703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.4899063 -6.8704643], 6.887908935546875 meters away.)"}
{"file_name": "images/scenario_248_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.7) m/s. Its current heading (yaw) is -2.10 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 33.0 meters away at (-2.1, 33.0). A vehicle with ID 18 is 33.4 meters away at (11.2, -31.4). A vehicle with ID 16 is 33.7 meters away at (31.5, 12.2). A vehicle with ID 20 is 34.0 meters away at (-3.7, -33.8). A vehicle with ID 6 is 36.2 meters away at (34.6, 10.7). A vehicle with ID 17 is 39.0 meters away at (37.8, 9.6). A vehicle with ID 21 is 39.8 meters away at (-4.5, -39.5). A vehicle with ID 8 is 45.3 meters away at (45.2, 3.1). A vehicle with ID 22 is 63.8 meters away at (62.9, -10.8). A vehicle with ID 23 is 68.4 meters away at (67.0, -13.7).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(51.757568359375, -59.108436584472656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.0537097 32.966614 ], 33.030521392822266 meters away.)"}
{"file_name": "images/scenario_248_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.5) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 30.6 meters away at (2.6, -30.5). A vehicle with ID 20 is 31.2 meters away at (-2.0, -31.1). A vehicle with ID 18 is 31.6 meters away at (12.9, -28.8). A unknown object with ID 15 is 35.6 meters away at (-0.5, 35.6). A vehicle with ID 16 is 36.2 meters away at (33.0, 14.9). A vehicle with ID 21 is 37.1 meters away at (-2.9, -37.0). A vehicle with ID 17 is 41.1 meters away at (39.3, 12.2). A vehicle with ID 8 is 47.0 meters away at (46.7, 5.6). A pedestrian with ID 4 is 63.6 meters away at (63.3, -5.4). A vehicle with ID 22 is 65.0 meters away at (64.5, -8.0).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00341548  0.00167362] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0.13750063 0.54871947] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(51.757568359375, -59.108436584472656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  2.6326776 -30.470127 ], 30.583648681640625 meters away.)"}
{"file_name": "images/scenario_248_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -1.2) m/s. Its current heading (yaw) is -2.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 27.5 meters away at (2.2, -27.4). A unknown object with ID 2 is 27.5 meters away at (6.9, -26.6). A vehicle with ID 18 is 30.3 meters away at (17.1, -25.0). A vehicle with ID 21 is 33.2 meters away at (1.3, -33.2). A unknown object with ID 15 is 39.5 meters away at (3.2, 39.3). A vehicle with ID 16 is 41.4 meters away at (36.9, 18.8). A unknown object with ID 9 is 42.9 meters away at (-2.7, -42.8). A vehicle with ID 5 is 43.9 meters away at (-1.0, -43.8). A vehicle with ID 17 is 46.1 meters away at (43.2, 16.1). A pedestrian with ID 4 is 67.5 meters away at (67.5, -1.4).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.06028558 0.05618524] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(51.757568359375, -59.108436584472656)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.1516228 -27.421505 ], 27.505788803100586 meters away.)"}
{"file_name": "images/scenario_248_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 2.9) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 31.3 meters away at (10.5, -29.5). A vehicle with ID 21 is 36.5 meters away at (9.5, -35.2). A vehicle with ID 18 is 37.2 meters away at (25.4, -27.1). A unknown object with ID 15 is 39.1 meters away at (12.0, 37.3). A unknown object with ID 9 is 45.1 meters away at (5.5, -44.7). A vehicle with ID 16 is 48.5 meters away at (45.6, 16.4). A vehicle with ID 17 is 53.6 meters away at (51.7, 14.1). A vehicle with ID 22 is 77.3 meters away at (77.0, -6.5). A vehicle with ID 23 is 81.4 meters away at (80.8, -9.6).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.10658802 -0.9560237 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(51.757568359375, -59.108436584472656)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 10.531507 -29.489304], 31.31344223022461 meters away.)"}
{"file_name": "images/scenario_249_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -6.5) m/s. Its current heading (yaw) is -1.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 18.2 meters away at (-17.3, 5.9). A vehicle with ID 16 is 27.7 meters away at (-19.2, 20.0). A vehicle with ID 40 is 37.3 meters away at (7.0, -36.6). A vehicle with ID 39 is 42.4 meters away at (-36.1, 22.2). A unknown object with ID 24 is 54.9 meters away at (26.7, -48.0).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [-5.943026  7.661959] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.3510513 -8.433128 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-3.4287517  7.760417 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(121.3782730102539, -15.624856948852539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-17.259485    5.8517656], 18.224515914916992 meters away.)"}
{"file_name": "images/scenario_249_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -6.8) m/s. Its current heading (yaw) is -1.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 11.7 meters away at (-8.4, -8.1). A vehicle with ID 16 is 20.9 meters away at (-13.7, 15.9). A vehicle with ID 38 is 50.9 meters away at (-37.7, 34.2). A vehicle with ID 39 is 56.5 meters away at (-44.1, 35.4). A unknown object with ID 37 is 72.7 meters away at (26.5, -67.7).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [-3.9366071  7.4886613] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 6.0931244 -8.800792 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.647389  7.244192] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(121.3782730102539, -15.624856948852539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.404379 -8.123644], 11.688762664794922 meters away.)"}
{"file_name": "images/scenario_249_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -7.2) m/s. Its current heading (yaw) is -1.14 ", "actor_description": " The most relevant actors are: A pedestrian with ID 29 is 16.4 meters away at (7.5, -14.6). A vehicle with ID 16 is 16.8 meters away at (-9.9, 13.5). A vehicle with ID 40 is 31.3 meters away at (-23.7, 20.4). A unknown object with ID 37 is 57.2 meters away at (19.8, -53.7). A vehicle with ID 39 is 71.1 meters away at (-51.2, 49.4).", "velocity_description": "The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.01334602 0.00902351] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 4.692489 -7.38275 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-4.575711   7.1386013] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(121.3782730102539, -15.624856948852539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  7.4968376 -14.555958 ], 16.37310218811035 meters away.)"}
{"file_name": "images/scenario_249_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -7.2) m/s. Its current heading (yaw) is -1.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 16.0 meters away at (-7.5, 14.1). A pedestrian with ID 33 is 19.2 meters away at (10.7, -15.9). A vehicle with ID 40 is 62.6 meters away at (-39.3, 48.7).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [ 3.7968154 -6.8159556] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01830965 -0.00559553] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-4.9677377  6.9197674] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(121.3782730102539, -15.624856948852539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.458029 14.11694 ], 15.965906143188477 meters away.)"}
{"file_name": "images/scenario_250_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 1.6) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 8.9 meters away at (8.5, -2.8). A vehicle with ID 31 is 12.3 meters away at (-5.3, -11.1). A vehicle with ID 37 is 18.4 meters away at (-16.3, -8.6). A vehicle with ID 38 is 18.6 meters away at (-9.6, -16.0). A vehicle with ID 42 is 25.6 meters away at (-21.2, -14.4). A vehicle with ID 33 is 26.0 meters away at (-14.5, -21.5). A vehicle with ID 34 is 31.8 meters away at (-25.3, -19.1). A pedestrian with ID 36 is 33.1 meters away at (-28.0, -17.5). A unknown object with ID 39 is 43.5 meters away at (-32.5, -28.9). A unknown object with ID 40 is 43.7 meters away at (-33.3, -28.3).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-2.1650808 -1.5395446] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.30898046 0.23487465] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.215152740478516, 26.318370819091797)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 8.466424  -2.7936082], 8.915412902832031 meters away.)"}
{"file_name": "images/scenario_250_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.6) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 8.0 meters away at (-0.9, -7.9). A unknown object with ID 13 is 17.2 meters away at (10.9, -13.3). A unknown object with ID 12 is 18.9 meters away at (-17.4, 7.5). A vehicle with ID 31 is 19.3 meters away at (-10.0, -16.5). A vehicle with ID 37 is 25.3 meters away at (-21.0, -14.1). A vehicle with ID 38 is 25.7 meters away at (-14.3, -21.3). A vehicle with ID 42 is 32.6 meters away at (-25.9, -19.8). A vehicle with ID 33 is 33.1 meters away at (-19.2, -26.9). A vehicle with ID 35 is 36.1 meters away at (28.4, 22.2). A vehicle with ID 34 is 38.8 meters away at (-30.1, -24.6).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-2.2589314  1.4027524] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-4.4213967  2.2076437] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.215152740478516, 26.318370819091797)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-0.938849  -7.8953085], 7.95093297958374 meters away.)"}
{"file_name": "images/scenario_250_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.5) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 16.6 meters away at (-11.8, -11.7). A vehicle with ID 35 is 19.9 meters away at (12.1, 15.9). A vehicle with ID 43 is 28.7 meters away at (-27.6, 8.0). A vehicle with ID 31 is 29.0 meters away at (-16.5, -23.9). A vehicle with ID 37 is 34.8 meters away at (-27.4, -21.4). A vehicle with ID 38 is 35.3 meters away at (-20.8, -28.6). A pedestrian with ID 44 is 37.0 meters away at (34.3, 13.7). A unknown object with ID 26 is 37.3 meters away at (29.6, 22.7). A unknown object with ID 46 is 38.4 meters away at (15.3, 35.2). A unknown object with ID 48 is 39.6 meters away at (18.7, 34.9).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-2.1659687  1.871713 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-5.1280823 -1.4334589] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 5.0368986 -3.6267622] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.02530907  0.8191505 ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.215152740478516, 26.318370819091797)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-11.812827 -11.718623], 16.639381408691406 meters away.)"}
{"file_name": "images/scenario_250_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 2.3) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 4.3 meters away at (-1.6, 4.0). A unknown object with ID 20 is 17.1 meters away at (5.3, -16.2). A pedestrian with ID 32 is 25.9 meters away at (-21.4, -14.7). A vehicle with ID 43 is 26.3 meters away at (-26.1, -3.1). A pedestrian with ID 44 is 30.9 meters away at (29.5, 9.1). A vehicle with ID 53 is 36.7 meters away at (36.6, -3.1). A vehicle with ID 31 is 37.0 meters away at (-21.8, -30.0). A vehicle with ID 54 is 37.3 meters away at (-11.2, 35.6). A vehicle with ID 28 is 42.6 meters away at (-16.9, 39.1). A vehicle with ID 37 is 42.7 meters away at (-32.7, -27.5).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.8500912 -3.0167797] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-2.1656704  1.7871962] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 1.8127327 -1.2782898] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.4141119 0.8543137] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.215152740478516, 26.318370819091797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.6261578  3.9718761], 4.291874885559082 meters away.)"}
{"file_name": "images/scenario_251_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 0.3) m/s. Its current heading (yaw) is 3.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 9.8 meters away at (8.4, 5.1). A unknown object with ID 16 is 14.2 meters away at (-2.3, -14.0). A pedestrian with ID 17 is 32.7 meters away at (21.7, -24.5). A vehicle with ID 18 is 33.9 meters away at (21.9, -25.9). A vehicle with ID 20 is 46.5 meters away at (32.0, -33.7). A vehicle with ID 19 is 51.7 meters away at (39.6, -33.2). A vehicle with ID 22 is 60.6 meters away at (-50.1, 34.1). A vehicle with ID 21 is 63.3 meters away at (50.2, -38.5). A vehicle with ID 24 is 67.5 meters away at (48.3, -47.1). A vehicle with ID 7 is 72.2 meters away at (-62.0, 37.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.8479841 -2.2779815] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.04245716 0.01754728] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.6744304 -4.4708896] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.8068352  2.5011158] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-3.8484814  -0.57852733] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.366838 5.134109], 9.816469192504883 meters away.)"}
{"file_name": "images/scenario_251_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 3.6) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 8.3 meters away at (-6.6, -5.0). A vehicle with ID 1 is 12.3 meters away at (11.8, -3.3). A unknown object with ID 16 is 19.6 meters away at (6.9, -18.3). A pedestrian with ID 17 is 42.4 meters away at (30.9, -29.1). A vehicle with ID 18 is 43.3 meters away at (31.1, -30.2). A vehicle with ID 20 is 56.1 meters away at (41.1, -38.2). A vehicle with ID 22 is 58.0 meters away at (-47.6, 33.1). A vehicle with ID 4 is 60.1 meters away at (44.4, -40.5). A vehicle with ID 21 is 73.3 meters away at (59.2, -43.1). A vehicle with ID 19 is 73.6 meters away at (57.2, -46.2).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.9744139 -1.1178359] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.03027132 -0.121493  ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.636261   0.7345683] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.0391474 -3.844603 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-6.5917187 -4.982087 ], 8.262683868408203 meters away.)"}
{"file_name": "images/scenario_251_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 5.1) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 18.2 meters away at (14.9, -10.5). A unknown object with ID 14 is 33.0 meters away at (31.7, 9.1). A vehicle with ID 22 is 49.0 meters away at (-43.0, 23.4). A vehicle with ID 6 is 56.9 meters away at (-56.0, 10.0). A pedestrian with ID 17 is 57.7 meters away at (43.4, -38.0). A vehicle with ID 15 is 58.0 meters away at (-43.2, 38.7). A vehicle with ID 18 is 58.5 meters away at (43.6, -39.1). A vehicle with ID 20 is 71.2 meters away at (53.5, -47.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.1504498  2.3794925] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.5290313 -1.5826   ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.6163876 -4.594376 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.06689866 -0.06318164] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.71804017 -2.9922068 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 14.866712 -10.546926], 18.22791290283203 meters away.)"}
{"file_name": "images/scenario_251_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 4.4) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 22.5 meters away at (17.5, -14.2). A vehicle with ID 15 is 37.5 meters away at (-30.7, 21.4). A vehicle with ID 22 is 38.7 meters away at (-37.9, 7.9). A vehicle with ID 18 is 75.0 meters away at (56.8, -48.9).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.30275    3.3312764] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.5048792 -4.4151335] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.6736498 -4.1112146] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-84.97749   47.816124]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 17.475054 -14.164106], 22.494430541992188 meters away.)"}
{"file_name": "images/scenario_252_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 10.1 meters away at (9.1, 4.4). A vehicle with ID 5 is 17.9 meters away at (13.5, -11.7). A vehicle with ID 45 is 19.1 meters away at (18.3, 5.4). A vehicle with ID 8 is 27.4 meters away at (-20.7, 17.9). A vehicle with ID 32 is 46.9 meters away at (-32.6, 33.7). A vehicle with ID 50 is 47.4 meters away at (38.0, -28.3). A vehicle with ID 40 is 51.1 meters away at (31.6, -40.2). A vehicle with ID 41 is 52.0 meters away at (-50.0, 14.3). A vehicle with ID 39 is 54.1 meters away at (-38.2, 38.3). A vehicle with ID 44 is 59.5 meters away at (40.4, -43.6).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.01607609  0.00449716] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.0854506  5.1666408] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-1.2676448 -1.4516788] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-7.790058   6.5144134] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-7.513172  6.381092] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 15.518954 -13.737677] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 9.21111  -8.019767] m/s.", "light_description": "There are active red lights at the following coordinates: [[-1.4957455   7.0116763 ]\n [ 6.6703606   3.204954  ]\n [-0.06813074  6.122724  ]\n [ 4.789338    2.1501212 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [9.059828  4.3863363], 10.065804481506348 meters away.)"}
{"file_name": "images/scenario_252_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 5.3) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 18.3 meters away at (13.9, -11.9). A pedestrian with ID 42 is 23.0 meters away at (22.0, -6.6). A vehicle with ID 8 is 29.0 meters away at (-22.0, 18.9). A vehicle with ID 32 is 30.0 meters away at (-19.7, 22.7). A vehicle with ID 45 is 31.1 meters away at (30.4, -6.7). A unknown object with ID 37 is 33.7 meters away at (-31.8, 11.1). A vehicle with ID 39 is 37.0 meters away at (-25.1, 27.2). A vehicle with ID 41 is 37.1 meters away at (-36.9, 3.3). A vehicle with ID 33 is 38.7 meters away at (-33.1, 20.1). A vehicle with ID 50 is 47.6 meters away at (38.1, -28.5).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.466694   5.4433203] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.0140647  -0.00789884] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.4030595  5.2803764] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 11.564837 -10.115476] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-5.568204   4.8763704] m/s.", "light_description": "There are active red lights at the following coordinates: [[-1.4957455   7.0116763 ]\n [-0.06813074  6.122724  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 13.850968 -11.923533], 18.276212692260742 meters away.)"}
{"file_name": "images/scenario_252_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.9) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 11.2 meters away at (2.9, -10.8). A vehicle with ID 32 is 14.7 meters away at (-7.7, 12.6). A vehicle with ID 5 is 18.1 meters away at (13.8, -11.8). A vehicle with ID 39 is 21.4 meters away at (-13.0, 17.0). A vehicle with ID 41 is 25.9 meters away at (-24.9, -6.9). A vehicle with ID 8 is 27.3 meters away at (-20.6, 17.8). A vehicle with ID 2 is 34.5 meters away at (-23.0, 25.7). A pedestrian with ID 42 is 39.6 meters away at (35.1, -18.4). A vehicle with ID 1 is 41.4 meters away at (-28.2, 30.3). A vehicle with ID 26 is 41.5 meters away at (-34.1, 23.7).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [ 12.015118 -10.207481] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.702464  4.883079] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.4599113  3.774103 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.8015605 -0.8838901] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 7.121994  -5.0579686] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.696115     0.997053  ]\n [-14.442959     3.6278038 ]\n [ -1.4957455    7.0116763 ]\n [ -0.06813074   6.122724  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  2.8653755 -10.833319 ], 11.205854415893555 meters away.)"}
{"file_name": "images/scenario_252_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.1) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 4.5 meters away at (2.9, 3.5). A vehicle with ID 26 is 7.9 meters away at (-7.6, 2.3). A vehicle with ID 39 is 8.1 meters away at (-2.3, 7.8). A vehicle with ID 5 is 18.1 meters away at (13.8, -11.7). A vehicle with ID 2 is 20.5 meters away at (-12.3, 16.5). A vehicle with ID 41 is 21.5 meters away at (-14.2, -16.1). A vehicle with ID 8 is 22.8 meters away at (-17.2, 15.0). A vehicle with ID 1 is 27.4 meters away at (-17.4, 21.1). A vehicle with ID 3 is 43.7 meters away at (-32.8, 28.8). A vehicle with ID 7 is 46.5 meters away at (-46.2, 5.0).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 7.9641356 -6.5390873] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.2199636  4.458694 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.9405339  2.4509728] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-1.4957455   7.0116763 ]\n [-0.06813074  6.122724  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.897972  3.4641304], 4.516463279724121 meters away.)"}
{"file_name": "images/scenario_253_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 6.6) m/s. Its current heading (yaw) is 1.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 21.7 meters away at (-7.2, -20.5). A unknown object with ID 9 is 54.2 meters away at (-25.5, -47.8). A vehicle with ID 10 is 55.1 meters away at (22.7, 50.2). A vehicle with ID 1 is 68.7 meters away at (65.8, 19.4).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.9891596  5.139657 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ -7.242887 -20.504414], 21.746042251586914 meters away.)"}
{"file_name": "images/scenario_253_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 6.3) m/s. Its current heading (yaw) is 1.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 36.7 meters away at (-15.1, -33.5). A vehicle with ID 10 is 48.9 meters away at (8.9, 48.0). A vehicle with ID 1 is 58.5 meters away at (58.1, 6.4). A unknown object with ID 9 is 69.3 meters away at (-33.4, -60.7).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.1968017  5.2911706] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-15.055247 -33.464493], 36.695133209228516 meters away.)"}
{"file_name": "images/scenario_253_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 5.9) m/s. Its current heading (yaw) is 1.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 47.4 meters away at (-11.0, 46.1). A vehicle with ID 8 is 50.5 meters away at (-21.5, -45.7). A vehicle with ID 1 is 51.8 meters away at (51.5, -5.8).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-7.621586   5.5981836] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-10.976412  46.118057], 47.40629577636719 meters away.)"}
{"file_name": "images/scenario_253_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 4.2) m/s. Its current heading (yaw) is 1.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 49.1 meters away at (46.5, -16.0). A vehicle with ID 10 is 56.7 meters away at (-31.2, 47.4). A vehicle with ID 8 is 62.0 meters away at (-26.5, -56.0). A vehicle with ID 4 is 66.3 meters away at (-41.8, 51.4).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-7.186499  5.558584] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 46.460068 -15.957157], 49.1240119934082 meters away.)"}
{"file_name": "images/scenario_254_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.3) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 3.5 meters away at (-1.2, 3.3). A vehicle with ID 45 is 7.0 meters away at (-3.7, 6.0). A vehicle with ID 42 is 7.1 meters away at (5.9, 3.9). A vehicle with ID 47 is 9.7 meters away at (-9.3, 2.6). A vehicle with ID 44 is 9.8 meters away at (6.0, 7.7). A vehicle with ID 50 is 15.7 meters away at (8.1, 13.5). A vehicle with ID 95 is 16.3 meters away at (13.8, 8.6). A vehicle with ID 51 is 19.6 meters away at (14.7, 13.0). A vehicle with ID 89 is 20.6 meters away at (-20.1, -4.3). A vehicle with ID 43 is 24.2 meters away at (20.7, 12.5).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [2.0145426 1.2137852] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0.8076261  0.49354073] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [2.7095034 1.9255587] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [3.509003  2.3365693] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [1.2056974  0.75533044] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [4.161955  2.5321171] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [1.6576173  0.88214207] m/s.", "light_description": "There are active red lights at the following coordinates: [[40.337406 20.713442]\n [42.56573  23.292818]]", "nav_goal": "(239.0115966796875, -147.59246826171875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.2251143  3.296194 ], 3.5165040493011475 meters away.)"}
{"file_name": "images/scenario_254_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 0.9) m/s. Its current heading (yaw) is 0.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 5.0 meters away at (1.2, 4.8). A vehicle with ID 45 is 6.9 meters away at (-4.5, 5.3). A vehicle with ID 42 is 7.5 meters away at (6.3, 4.0). A vehicle with ID 47 is 10.4 meters away at (-10.2, 1.9). A vehicle with ID 44 is 14.8 meters away at (10.1, 10.8). A vehicle with ID 95 is 15.9 meters away at (13.4, 8.6). A vehicle with ID 89 is 22.4 meters away at (-21.7, -5.3). A pedestrian with ID 61 is 22.8 meters away at (21.5, 7.5). A pedestrian with ID 69 is 23.5 meters away at (23.5, -0.2). A vehicle with ID 50 is 23.7 meters away at (14.6, 18.6).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [2.9389637 1.9299166] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [1.8971616 1.1583961] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [1.5250554 0.9128817] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [1.7162079 1.058502 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [3.9501953 2.7061765] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0.8014314 0.6016603] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [1.5581428  0.95841205] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.02677104 0.01732542] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.00300636 0.00920068] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [5.2570744 4.4755015] m/s.", "light_description": "There are active red lights at the following coordinates: [[25.819027 14.928833]\n [40.337406 20.713442]\n [26.196617 13.75903 ]\n [42.56573  23.292818]]", "nav_goal": "(239.0115966796875, -147.59246826171875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.1693931 4.848365 ], 4.987396240234375 meters away.)"}
{"file_name": "images/scenario_254_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.4) m/s. Its current heading (yaw) is 0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 6.5 meters away at (5.5, 3.6). A vehicle with ID 45 is 7.4 meters away at (-1.2, 7.3). A vehicle with ID 47 is 7.9 meters away at (-7.0, 3.8). A vehicle with ID 102 is 10.0 meters away at (5.8, 8.2). A vehicle with ID 95 is 14.3 meters away at (11.9, 7.8). A vehicle with ID 89 is 19.2 meters away at (-18.9, -3.6). A pedestrian with ID 61 is 20.0 meters away at (19.1, 5.9). A pedestrian with ID 69 is 21.1 meters away at (21.0, -1.7). A vehicle with ID 43 is 21.1 meters away at (18.2, 10.7). A pedestrian with ID 76 is 22.2 meters away at (21.8, 4.2).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [3.858479  2.5488763] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [3.8950741 2.4614234] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [4.4254093 2.9681463] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [3.2355664 1.9913166] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.0058839  0.03383612] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.0054677  0.00358315] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.5405887 -0.7233966] m/s.", "light_description": "There are active red lights at the following coordinates: [[25.819027 14.928833]\n [40.337406 20.713442]\n [26.196617 13.75903 ]\n [42.56573  23.292818]]", "nav_goal": "(239.0115966796875, -147.59246826171875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.496716  3.5599005], 6.548799991607666 meters away.)"}
{"file_name": "images/scenario_254_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 6.4 meters away at (5.4, 3.5). A pedestrian with ID 48 is 10.1 meters away at (1.1, -10.1). A vehicle with ID 47 is 10.1 meters away at (2.3, 9.8). A vehicle with ID 89 is 11.6 meters away at (-11.6, 0.8). A vehicle with ID 95 is 14.0 meters away at (11.7, 7.8). A vehicle with ID 45 is 15.9 meters away at (8.0, 13.8). A unknown object with ID 7 is 17.3 meters away at (0.6, 17.3). A pedestrian with ID 76 is 18.6 meters away at (18.4, 2.6). A pedestrian with ID 74 is 19.0 meters away at (18.5, 4.5). A pedestrian with ID 61 is 19.9 meters away at (19.0, 5.9).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.6579969  -0.39116517] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [5.4815445 3.9088318] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [4.591156  2.6796095] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0.46533468 0.5259385 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [5.4769845 4.3148956] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.6103708  -0.80219984] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-1.5668658 -0.8229698] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.37561947 0.11141364] m/s.", "light_description": "There are active red lights at the following coordinates: [[40.319664 20.38894 ]\n [25.819027 14.928833]\n [40.337406 20.713442]\n [26.196617 13.75903 ]\n [42.56573  23.292818]]", "nav_goal": "(239.0115966796875, -147.59246826171875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.3567705 3.479357 ], 6.387559413909912 meters away.)"}
{"file_name": "images/scenario_255_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -6.2) m/s. Its current heading (yaw) is -1.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 24.2 meters away at (12.1, -21.0). A unknown object with ID 20 is 30.1 meters away at (-12.4, -27.5). A pedestrian with ID 10 is 57.4 meters away at (9.2, -56.6). A pedestrian with ID 9 is 58.0 meters away at (10.1, -57.2). A pedestrian with ID 12 is 60.8 meters away at (-17.4, -58.2). A pedestrian with ID 21 is 61.2 meters away at (-17.7, -58.6). A pedestrian with ID 22 is 66.8 meters away at (-18.6, -64.2). A unknown object with ID 1 is 78.2 meters away at (64.9, -43.6).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.048482  0.9848992] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.02570793 1.0173287 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.1850979 -1.2315178] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.23695995 -1.2815968 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.22799502 -1.3169475 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  4.477973  -29.702848 ]\n [  4.3493752 -29.724062 ]\n [  4.346426  -29.724411 ]\n [  1.0867838 -32.701122 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 12.076231 -20.964556], 24.193965911865234 meters away.)"}
{"file_name": "images/scenario_255_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -4.4) m/s. Its current heading (yaw) is -1.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 21.8 meters away at (-13.8, -16.9). A pedestrian with ID 10 is 44.6 meters away at (7.6, -44.0). A pedestrian with ID 9 is 45.5 meters away at (8.7, -44.6). A pedestrian with ID 21 is 54.3 meters away at (-19.7, -50.7). A pedestrian with ID 22 is 59.7 meters away at (-20.4, -56.1). A unknown object with ID 1 is 71.6 meters away at (63.4, -33.3).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.09790634  1.0758342 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.08697082  0.95349383] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.23002023 -1.2944932 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.19375254 -1.1992284 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-13.761961 -16.945835], 21.83009147644043 meters away.)"}
{"file_name": "images/scenario_255_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.7) m/s. Its current heading (yaw) is -1.08 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 8.7 meters away at (8.3, -2.5). A unknown object with ID 20 is 18.5 meters away at (-16.2, -8.9). A pedestrian with ID 10 is 34.5 meters away at (5.2, -34.1). A pedestrian with ID 9 is 35.1 meters away at (5.8, -34.7). A pedestrian with ID 7 is 40.1 meters away at (5.7, -39.7). A pedestrian with ID 21 is 50.5 meters away at (-22.7, -45.1). A pedestrian with ID 22 is 55.6 meters away at (-23.3, -50.5). A pedestrian with ID 14 is 63.3 meters away at (-12.7, 62.0). A unknown object with ID 1 is 66.0 meters away at (61.0, -25.3). A unknown object with ID 2 is 66.6 meters away at (62.0, -24.2).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.016463   0.9636195] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.1646982   0.94766796] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.21390224 1.0869894 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.22991961 -1.2473952 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.24906114 -1.1716822 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.02486882 -0.00721486] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 8.308959 -2.500618], 8.67708969116211 meters away.)"}
{"file_name": "images/scenario_255_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -2.3) m/s. Its current heading (yaw) is -0.52 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 4.5 meters away at (2.3, 3.9). A unknown object with ID 20 is 22.3 meters away at (-22.2, -2.4). A pedestrian with ID 10 is 25.4 meters away at (-0.3, -25.4). A pedestrian with ID 9 is 26.5 meters away at (0.2, -26.5). A pedestrian with ID 7 is 31.0 meters away at (0.2, -31.0). A pedestrian with ID 8 is 31.4 meters away at (0.7, -31.4). A pedestrian with ID 21 is 50.3 meters away at (-29.2, -41.0). A pedestrian with ID 22 is 55.4 meters away at (-30.1, -46.5). A unknown object with ID 1 is 58.1 meters away at (54.9, -18.9). A unknown object with ID 2 is 58.8 meters away at (56.0, -17.9).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.4497872 1.1527609] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.5771906  0.98666227] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.58192027 1.017006  ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.5614054 1.0333954] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.12573664 -1.1567076 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.3785876 -1.2181144] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [2.328065  3.9059448], 4.547119140625 meters away.)"}
{"file_name": "images/scenario_256_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -0.0) m/s. Its current heading (yaw) is -3.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 13.8 meters away at (-12.5, 5.8). A vehicle with ID 65 is 14.9 meters away at (8.1, 12.5). A vehicle with ID 73 is 16.1 meters away at (-15.9, -2.3). A vehicle with ID 71 is 17.1 meters away at (-2.4, -16.9). A unknown object with ID 68 is 18.4 meters away at (8.6, -16.3). A vehicle with ID 67 is 19.7 meters away at (18.1, -7.9). A vehicle with ID 66 is 20.3 meters away at (9.7, 17.8). A vehicle with ID 64 is 21.2 meters away at (-21.1, -0.5). A vehicle with ID 78 is 26.0 meters away at (-5.3, -25.4). A vehicle with ID 69 is 26.1 meters away at (11.7, 23.3).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-155.8585968017578, 155.24264526367188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.53901     5.8223295], 13.824843406677246 meters away.)"}
{"file_name": "images/scenario_256_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 2.0) m/s. Its current heading (yaw) is 2.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 3.4 meters away at (-0.5, 3.3). A vehicle with ID 73 is 6.1 meters away at (-3.8, -4.8). A vehicle with ID 64 is 9.5 meters away at (-9.0, -3.0). A vehicle with ID 63 is 16.7 meters away at (-16.7, -0.3). A vehicle with ID 71 is 21.7 meters away at (9.7, -19.4). A vehicle with ID 21 is 22.4 meters away at (-19.9, 10.2). A unknown object with ID 50 is 28.1 meters away at (18.6, -21.0). A unknown object with ID 41 is 29.5 meters away at (21.0, -20.7). A vehicle with ID 67 is 32.0 meters away at (30.2, -10.5). A vehicle with ID 62 is 38.2 meters away at (-37.5, 7.2).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-155.8585968017578, 155.24264526367188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.49659538  3.314114  ], 3.3511130809783936 meters away.)"}
{"file_name": "images/scenario_256_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 2.9) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 5.6 meters away at (-1.2, -5.5). A vehicle with ID 21 is 6.7 meters away at (-4.4, 5.0). A vehicle with ID 64 is 10.4 meters away at (6.4, -8.2). A vehicle with ID 70 is 15.0 meters away at (14.8, -1.8). A vehicle with ID 73 is 15.2 meters away at (11.5, -9.9). A vehicle with ID 36 is 16.3 meters away at (-11.0, -12.0). A vehicle with ID 25 is 20.4 meters away at (-9.1, 18.2). A vehicle with ID 49 is 21.9 meters away at (-11.5, -18.6). A vehicle with ID 58 is 22.1 meters away at (-13.7, -17.4). A vehicle with ID 62 is 22.2 meters away at (-22.1, 2.0).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-155.8585968017578, 155.24264526367188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.2400246 -5.4912734], 5.629541873931885 meters away.)"}
{"file_name": "images/scenario_256_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, 3.2) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 6.2 meters away at (-4.5, -4.3). A unknown object with ID 26 is 11.4 meters away at (7.9, -8.2). A vehicle with ID 61 is 11.7 meters away at (-11.5, -1.7). A vehicle with ID 21 is 13.0 meters away at (13.0, -1.2). A vehicle with ID 25 is 14.6 meters away at (8.3, 12.0). A vehicle with ID 42 is 15.7 meters away at (-4.1, 15.2). A vehicle with ID 29 is 18.4 meters away at (-3.2, 18.1). A vehicle with ID 36 is 19.3 meters away at (6.6, -18.1). A vehicle with ID 45 is 19.6 meters away at (9.9, 16.9). A vehicle with ID 63 is 20.0 meters away at (16.3, -11.7).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-155.8585968017578, 155.24264526367188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.5461006 -4.2679033], 6.235545635223389 meters away.)"}
{"file_name": "images/scenario_257_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.4) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 5.2 meters away at (-1.6, 4.9). A vehicle with ID 57 is 11.9 meters away at (0.7, 11.9). A vehicle with ID 54 is 16.9 meters away at (10.1, -13.5). A vehicle with ID 58 is 18.4 meters away at (3.2, 18.2). A vehicle with ID 60 is 21.4 meters away at (-21.4, 0.9). A vehicle with ID 55 is 22.7 meters away at (14.8, -17.3). A vehicle with ID 59 is 23.0 meters away at (12.9, 19.1). A unknown object with ID 41 is 23.2 meters away at (-0.1, -23.2). A pedestrian with ID 68 is 23.7 meters away at (-20.1, -12.6). A pedestrian with ID 63 is 24.7 meters away at (11.1, 22.0).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 1.2077105  -0.20868278] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.49020222 -1.1352521 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(197.06246948242188, 57.107826232910156)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.6143298  4.910572 ], 5.1691179275512695 meters away.)"}
{"file_name": "images/scenario_257_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -3.8) m/s. Its current heading (yaw) is -1.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 10.3 meters away at (0.0, 10.3). A vehicle with ID 54 is 14.2 meters away at (11.5, -8.2). A unknown object with ID 47 is 15.9 meters away at (1.2, -15.9). A vehicle with ID 67 is 17.1 meters away at (11.2, -12.9). A vehicle with ID 57 is 17.5 meters away at (2.4, 17.3). A unknown object with ID 41 is 17.7 meters away at (1.4, -17.6). A pedestrian with ID 68 is 18.0 meters away at (-16.2, -7.7). A unknown object with ID 50 is 18.5 meters away at (-1.0, -18.5). A vehicle with ID 55 is 20.3 meters away at (16.3, -12.1). A pedestrian with ID 65 is 20.7 meters away at (15.8, -13.3).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.6648476  2.1693313] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 1.1506301 -0.2707999] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.09210446  0.01075304] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(197.06246948242188, 57.107826232910156)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.55021858e-03 1.02850895e+01], 10.285090446472168 meters away.)"}
{"file_name": "images/scenario_257_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -3.7) m/s. Its current heading (yaw) is -0.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 6.2 meters away at (6.0, -1.5). A unknown object with ID 45 is 6.8 meters away at (4.6, 5.0). A vehicle with ID 54 is 9.4 meters away at (9.4, -0.5). A vehicle with ID 38 is 13.6 meters away at (1.5, -13.5). A pedestrian with ID 65 is 14.2 meters away at (13.3, -5.0). A vehicle with ID 55 is 14.6 meters away at (14.0, -4.3). A pedestrian with ID 68 is 16.1 meters away at (-16.1, -0.1). A vehicle with ID 69 is 17.5 meters away at (-12.9, -11.8). A vehicle with ID 56 is 18.2 meters away at (-2.3, 18.1). A vehicle with ID 71 is 20.8 meters away at (5.4, -20.1).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.3278799  1.4429631] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.14647922  0.17967935] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 1.1561193  -0.33514315] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(197.06246948242188, 57.107826232910156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.0337234 -1.4948139], 6.216131210327148 meters away.)"}
{"file_name": "images/scenario_257_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -3.9) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A pedestrian with ID 65 is 6.4 meters away at (5.6, 3.0). A vehicle with ID 55 is 6.9 meters away at (6.0, 3.3). A vehicle with ID 54 is 7.1 meters away at (1.4, 7.0). A unknown object with ID 43 is 8.5 meters away at (8.4, 1.3). A vehicle with ID 38 is 8.7 meters away at (-6.4, -6.0). A vehicle with ID 67 is 10.9 meters away at (-6.2, 9.0). A vehicle with ID 36 is 12.4 meters away at (12.2, -1.9). A vehicle with ID 71 is 12.9 meters away at (-2.6, -12.6). A vehicle with ID 74 is 14.7 meters away at (-0.6, -14.7). A unknown object with ID 48 is 15.7 meters away at (4.1, -15.1).", "velocity_description": "The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.05042497 0.0543399 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-3.8435285  1.8565294] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(197.06246948242188, 57.107826232910156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [5.5887556 3.0461578], 6.3650031089782715 meters away.)"}
{"file_name": "images/scenario_258_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -5.9) m/s. Its current heading (yaw) is -1.63 ", "actor_description": " The most relevant actors are: A unknown object with ID 54 is 13.5 meters away at (-8.4, 10.5). A unknown object with ID 53 is 14.9 meters away at (-8.0, 12.6). A unknown object with ID 57 is 15.4 meters away at (-11.1, 10.6). A pedestrian with ID 59 is 16.4 meters away at (-11.9, 11.2). A unknown object with ID 52 is 16.7 meters away at (-7.5, 14.9). A unknown object with ID 56 is 16.8 meters away at (-10.3, 13.2). A unknown object with ID 55 is 18.0 meters away at (-9.7, 15.2). A pedestrian with ID 58 is 24.2 meters away at (-9.4, 22.3). A pedestrian with ID 60 is 24.4 meters away at (-10.3, 22.1). A pedestrian with ID 25 is 60.2 meters away at (14.2, -58.5).", "velocity_description": "The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.28962356 1.2350521 ] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.16971092 1.0822295 ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.2772146 -1.1584283] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.36618507 -1.0742698 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.432161 10.495237], 13.46296215057373 meters away.)"}
{"file_name": "images/scenario_258_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -6.2) m/s. Its current heading (yaw) is -1.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 13.9 meters away at (12.1, -6.9). A unknown object with ID 54 is 24.1 meters away at (-8.0, 22.7). A unknown object with ID 57 is 25.2 meters away at (-10.6, 22.8). A unknown object with ID 53 is 25.9 meters away at (-7.6, 24.8). A unknown object with ID 56 is 27.3 meters away at (-9.9, 25.5). A unknown object with ID 52 is 28.0 meters away at (-7.1, 27.1). A pedestrian with ID 59 is 28.1 meters away at (-10.9, 25.9). A unknown object with ID 55 is 29.0 meters away at (-9.3, 27.4). A pedestrian with ID 60 is 34.0 meters away at (-10.4, 32.4). A pedestrian with ID 58 is 37.7 meters away at (-8.6, 36.7).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.24082004 1.2827976 ] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.35865703 -0.8155116 ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.23333925 1.0846359 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [12.122255  -6.8967133], 13.946818351745605 meters away.)"}
{"file_name": "images/scenario_258_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -6.8) m/s. Its current heading (yaw) is -1.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 11.5 meters away at (9.6, 6.3). A unknown object with ID 32 is 13.3 meters away at (11.7, 6.2). A unknown object with ID 26 is 15.4 meters away at (14.2, 6.0). A unknown object with ID 41 is 16.4 meters away at (16.2, 2.8). A unknown object with ID 43 is 16.7 meters away at (15.7, 5.7). A unknown object with ID 50 is 16.7 meters away at (16.3, 3.3). A unknown object with ID 47 is 16.9 meters away at (16.0, 5.4). A unknown object with ID 33 is 17.0 meters away at (16.9, 1.8). A unknown object with ID 46 is 17.2 meters away at (16.5, 4.6). A unknown object with ID 54 is 37.0 meters away at (-8.4, 36.0).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [9.586632  6.3124886], 11.47828483581543 meters away.)"}
{"file_name": "images/scenario_258_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -7.3) m/s. Its current heading (yaw) is -1.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 22.6 meters away at (9.9, 20.3). A pedestrian with ID 25 is 29.2 meters away at (14.2, -25.5). A unknown object with ID 20 is 29.7 meters away at (-7.9, -28.6). A pedestrian with ID 18 is 32.6 meters away at (15.1, -28.9). A pedestrian with ID 5 is 33.9 meters away at (16.1, -29.8). A pedestrian with ID 16 is 36.7 meters away at (16.6, -32.7). A unknown object with ID 11 is 42.0 meters away at (-0.5, -42.0). A unknown object with ID 10 is 43.4 meters away at (0.9, -43.4). A unknown object with ID 7 is 45.1 meters away at (2.1, -45.1). A unknown object with ID 3 is 48.7 meters away at (4.3, -48.5).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.45340902 -1.0597273 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.3544035  1.1914046] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.4585721 -0.9835585] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.42576554  1.1151569 ] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 9.886204 20.33242 ], 22.608501434326172 meters away.)"}
{"file_name": "images/scenario_259_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 8.9 meters away at (-8.9, -0.2). A pedestrian with ID 8 is 9.2 meters away at (8.5, 3.5). A vehicle with ID 7 is 11.3 meters away at (-10.9, -3.1). A vehicle with ID 9 is 23.0 meters away at (-22.8, -3.4). A pedestrian with ID 20 is 28.4 meters away at (-27.5, 6.9). A unknown object with ID 13 is 30.4 meters away at (-29.0, -9.2). A pedestrian with ID 21 is 31.6 meters away at (-30.8, 7.2). A vehicle with ID 11 is 34.6 meters away at (-34.6, -1.8). A pedestrian with ID 24 is 38.0 meters away at (-37.1, 8.3). A pedestrian with ID 25 is 41.9 meters away at (-40.9, -9.2).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.1219732  0.11455837] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-8.112969    0.00825083] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-8.736814    0.11847907] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00073144 0.00142066] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.01569274 0.01237455] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-9.216699   1.5021774] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00387009  0.00287219] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.00371055  0.00364933] m/s.", "light_description": "There are active red lights at the following coordinates: [[37.622414   11.485731  ]\n [13.186721    0.8356677 ]\n [13.1865015   0.8394262 ]\n [12.94243     0.7151804 ]\n [13.190209    0.76981103]\n [13.19246     0.71651846]\n [37.836563   11.658681  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.901717   -0.19009967], 8.903746604919434 meters away.)"}
{"file_name": "images/scenario_259_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 8.9 meters away at (-8.9, -0.2). A pedestrian with ID 8 is 11.5 meters away at (10.9, 3.8). A pedestrian with ID 15 is 22.8 meters away at (-19.7, -11.5). A vehicle with ID 7 is 27.2 meters away at (-27.0, -3.0). A pedestrian with ID 20 is 28.4 meters away at (-27.6, 6.9). A pedestrian with ID 21 is 31.6 meters away at (-30.8, 7.3). A pedestrian with ID 24 is 38.0 meters away at (-37.0, 8.3). A vehicle with ID 9 is 41.3 meters away at (-41.3, -1.1). A pedestrian with ID 25 is 41.9 meters away at (-40.9, -9.1). A vehicle with ID 26 is 43.9 meters away at (40.4, 17.2).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.2213035  0.10838792] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.1996043   0.02409796] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-8.466177    0.27537912] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.01227292 -0.00066731] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.0169398   0.00378531] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.02105735 -0.00736626] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.440276   2.3637671] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00897381 -0.001696  ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[37.622414   11.485731  ]\n [13.186721    0.8356677 ]\n [13.1865015   0.8394262 ]\n [12.94243     0.7151804 ]\n [13.190209    0.76981103]\n [13.19246     0.71651846]\n [37.836563   11.658681  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.854683   -0.19105415], 8.856743812561035 meters away.)"}
{"file_name": "images/scenario_259_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 8.7 meters away at (2.2, -8.5). A vehicle with ID 12 is 8.8 meters away at (-8.8, -0.2). A pedestrian with ID 8 is 14.1 meters away at (13.5, 4.1). A pedestrian with ID 15 is 24.8 meters away at (-22.0, -11.6). A pedestrian with ID 20 is 28.4 meters away at (-27.6, 6.9). A pedestrian with ID 21 is 31.6 meters away at (-30.8, 7.3). A pedestrian with ID 24 is 37.9 meters away at (-37.0, 8.2). A pedestrian with ID 25 is 41.9 meters away at (-40.9, -9.1). A vehicle with ID 26 is 43.9 meters away at (40.4, 17.2). A vehicle with ID 7 is 44.2 meters away at (-44.2, -0.1).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.2120708  0.02159711] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.4448916 0.2222544] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.2203021   0.13596584] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.02034037 -0.00250081] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.00805105 -0.00338358] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00179555 -0.00041928] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00316619 -0.00028732] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-8.428588   2.5595474] m/s.", "light_description": "There are active red lights at the following coordinates: [[37.622414   11.485731  ]\n [13.186721    0.8356677 ]\n [13.1865015   0.8394262 ]\n [12.94243     0.7151804 ]\n [13.190209    0.76981103]\n [13.19246     0.71651846]\n [37.836563   11.658681  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 2.219866 -8.451661], 8.738327980041504 meters away.)"}
{"file_name": "images/scenario_259_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 8.9 meters away at (-8.9, -0.2). A pedestrian with ID 8 is 17.2 meters away at (16.4, 5.0). A pedestrian with ID 15 is 26.7 meters away at (-24.4, -11.0). A pedestrian with ID 20 is 28.4 meters away at (-27.6, 6.9). A pedestrian with ID 21 is 31.6 meters away at (-30.7, 7.2). A pedestrian with ID 24 is 37.9 meters away at (-37.0, 8.2). A pedestrian with ID 25 is 41.9 meters away at (-40.9, -9.1). A vehicle with ID 26 is 43.9 meters away at (40.4, 17.2). A unknown object with ID 3 is 49.7 meters away at (-13.3, -47.9). A vehicle with ID 7 is 60.4 meters away at (-60.1, 6.2).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.4445139 0.6125686] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.2137706   0.31248158] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.02270625 0.00737912] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00542541 -0.00408977] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00131978 -0.00122622] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.0035962  -0.00120903] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-7.840372  3.957609] m/s.", "light_description": "There are active red lights at the following coordinates: [[37.622414   11.485731  ]\n [13.186721    0.8356677 ]\n [13.1865015   0.8394262 ]\n [12.94243     0.7151804 ]\n [13.190209    0.76981103]\n [44.431503   -0.19828106]\n [13.19246     0.71651846]\n [44.421703    0.08620217]\n [44.451847    0.52079564]\n [44.4328     -0.22700794]\n [37.836563   11.658681  ]\n [44.4328     -0.22700717]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.865213   -0.18401963], 8.8671236038208 meters away.)"}
{"file_name": "images/scenario_260_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 4.7) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 4.5 meters away at (-2.0, 4.1). A vehicle with ID 53 is 5.0 meters away at (-5.0, 0.2). A vehicle with ID 16 is 13.9 meters away at (5.1, 13.0). A vehicle with ID 59 is 18.5 meters away at (0.2, -18.5). A vehicle with ID 60 is 20.3 meters away at (-20.2, -2.0). A vehicle with ID 51 is 21.3 meters away at (10.0, 18.8). A pedestrian with ID 68 is 22.0 meters away at (5.1, 21.4). A vehicle with ID 70 is 22.8 meters away at (4.9, -22.3). A vehicle with ID 63 is 23.6 meters away at (-22.2, -8.0). A vehicle with ID 67 is 24.5 meters away at (-15.4, -19.0).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.5789805 -1.0959754] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [2.5886035 1.1687341] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.413292 64.75039 ]\n [57.070293 62.505917]\n [57.075806 61.47    ]]", "nav_goal": "(219.0200958251953, -71.37464904785156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.0124154  4.0504894], 4.522861957550049 meters away.)"}
{"file_name": "images/scenario_260_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 4.7) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (-2.7, 3.4). A vehicle with ID 51 is 9.3 meters away at (2.1, 9.1). A pedestrian with ID 68 is 10.3 meters away at (-3.4, 9.7). A vehicle with ID 52 is 11.3 meters away at (-9.9, -5.5). A vehicle with ID 53 is 16.0 meters away at (-12.9, -9.5). A unknown object with ID 50 is 16.9 meters away at (16.9, -0.1). A vehicle with ID 56 is 17.4 meters away at (16.7, -4.7). A vehicle with ID 86 is 20.4 meters away at (19.2, -6.9). A vehicle with ID 55 is 25.1 meters away at (3.7, 24.8). A unknown object with ID 20 is 27.6 meters away at (20.3, 18.7).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.2538566 -1.1300728] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.413292 64.75039 ]\n [57.070293 62.505917]\n [57.075806 61.47    ]]", "nav_goal": "(219.0200958251953, -71.37464904785156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.7063684  3.4246578], 4.364941120147705 meters away.)"}
{"file_name": "images/scenario_260_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.5) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 5.4 meters away at (-5.4, 0.0). A vehicle with ID 16 is 11.7 meters away at (-10.2, -5.8). A pedestrian with ID 68 is 12.2 meters away at (-12.2, -1.3). A vehicle with ID 55 is 16.1 meters away at (-3.8, 15.7). A vehicle with ID 56 is 16.7 meters away at (9.2, -14.0). A vehicle with ID 86 is 19.9 meters away at (11.7, -16.1). A vehicle with ID 9 is 20.6 meters away at (-7.7, 19.1). A vehicle with ID 52 is 22.8 meters away at (-17.3, -14.8). A vehicle with ID 53 is 27.7 meters away at (-20.4, -18.8). A vehicle with ID 5 is 28.2 meters away at (-0.2, 28.2).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.5077145 -0.676431 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.413292 64.75039 ]\n [57.070293 62.505917]\n [57.075806 61.47    ]]", "nav_goal": "(219.0200958251953, -71.37464904785156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.3532715   0.03287888], 5.353372573852539 meters away.)"}
{"file_name": "images/scenario_260_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.2) m/s. Its current heading (yaw) is 0.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 12.8 meters away at (-10.8, 6.9). A vehicle with ID 51 is 15.3 meters away at (-12.4, -8.8). A vehicle with ID 9 is 18.0 meters away at (-14.8, 10.3). A vehicle with ID 5 is 20.6 meters away at (-7.4, 19.2). A vehicle with ID 16 is 22.7 meters away at (-17.2, -14.7). A vehicle with ID 56 is 22.9 meters away at (2.1, -22.8). A vehicle with ID 6 is 22.9 meters away at (-9.6, 20.8). A unknown object with ID 2 is 23.0 meters away at (7.2, 21.9). A pedestrian with ID 68 is 23.8 meters away at (-20.6, -11.9). A vehicle with ID 4 is 24.1 meters away at (-3.5, 23.9).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.5454879 -0.8665269] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.413292 64.75039 ]\n [57.070293 62.505917]\n [57.075806 61.47    ]]", "nav_goal": "(219.0200958251953, -71.37464904785156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.84634     6.8902245], 12.849836349487305 meters away.)"}
{"file_name": "images/scenario_261_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.2) m/s. Its current heading (yaw) is -2.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 7.5 meters away at (3.4, 6.7). A pedestrian with ID 14 is 25.7 meters away at (-25.6, -2.0). A vehicle with ID 21 is 36.3 meters away at (35.9, 5.2).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.6915567 -1.1991456] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0480771  -0.52100664] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 7.502997 -3.638047] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.99551773071289, -42.26445770263672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.3753037 6.661802 ], 7.46808385848999 meters away.)"}
{"file_name": "images/scenario_261_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -2.1) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 9.5 meters away at (4.8, 8.1). A pedestrian with ID 14 is 24.4 meters away at (-24.4, 0.9). A vehicle with ID 21 is 55.5 meters away at (55.4, 1.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.029703  -2.1551464] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0114638 -0.6535198] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 8.584355 -4.099273] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.99551773071289, -42.26445770263672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.841695  8.1482935], 9.478221893310547 meters away.)"}
{"file_name": "images/scenario_261_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 0.7) m/s. Its current heading (yaw) is 2.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 9.6 meters away at (8.9, 3.6). A pedestrian with ID 14 is 19.1 meters away at (-19.0, 1.7). A vehicle with ID 21 is 80.4 meters away at (80.1, -6.5).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.4834392 -2.7451298] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.7887574  -0.24425954] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 8.952578  -5.0928893] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.99551773071289, -42.26445770263672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.94603  3.587407], 9.638513565063477 meters away.)"}
{"file_name": "images/scenario_261_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -0.8) m/s. Its current heading (yaw) is -3.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 14 is 10.9 meters away at (-10.9, 0.0). A vehicle with ID 3 is 11.7 meters away at (11.7, -0.1). A unknown object with ID 19 is 16.5 meters away at (15.1, 6.6). A pedestrian with ID 1 is 58.4 meters away at (-21.2, -54.4). A vehicle with ID 2 is 58.7 meters away at (-22.1, -54.4). A vehicle with ID 4 is 67.9 meters away at (-39.6, -55.2). A vehicle with ID 6 is 68.4 meters away at (-34.0, -59.3). A vehicle with ID 10 is 74.1 meters away at (-35.8, -64.8).", "velocity_description": "The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.90450394 -0.45827237] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.423165  -0.1570301] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.01219447 -0.00178004] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.99551773071289, -42.26445770263672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-1.0922878e+01  4.7049522e-03], 10.922879219055176 meters away.)"}
{"file_name": "images/scenario_262_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.7) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 2.9 meters away at (-2.6, 1.2). A vehicle with ID 42 is 5.9 meters away at (-1.2, 5.8). A vehicle with ID 44 is 9.6 meters away at (7.8, 5.5). A vehicle with ID 47 is 11.0 meters away at (0.4, 11.0). A vehicle with ID 43 is 12.9 meters away at (-6.6, -11.0). A vehicle with ID 60 is 13.5 meters away at (-4.2, -12.8). A pedestrian with ID 34 is 16.4 meters away at (13.6, 9.1). A vehicle with ID 57 is 20.2 meters away at (11.1, 16.9). A vehicle with ID 71 is 29.9 meters away at (6.3, 29.2). A vehicle with ID 63 is 32.0 meters away at (0.8, -32.0).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-0.60296863 -1.3970705 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.01771997  0.00113158] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [ 5.111602  -3.2319818] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(210.7924041748047, -116.15145111083984)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.6222162  1.192235 ], 2.880528211593628 meters away.)"}
{"file_name": "images/scenario_262_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -2.0) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 7.0 meters away at (-0.7, 7.0). A vehicle with ID 43 is 7.0 meters away at (-4.7, -5.2). A vehicle with ID 60 is 10.2 meters away at (-3.2, -9.7). A vehicle with ID 42 is 11.7 meters away at (0.8, 11.7). A vehicle with ID 44 is 15.0 meters away at (9.8, 11.3). A vehicle with ID 47 is 16.9 meters away at (2.4, 16.8). A pedestrian with ID 34 is 21.5 meters away at (15.5, 14.9). A vehicle with ID 57 is 26.3 meters away at (13.1, 22.8). A vehicle with ID 1 is 33.6 meters away at (8.2, -32.5). A vehicle with ID 70 is 33.6 meters away at (-10.5, -32.0).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-0.84631085 -2.3626463 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.03062681 -0.02461534] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 0.01642671 -4.8232865 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(210.7924041748047, -116.15145111083984)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.6706934  6.958855 ], 6.991101264953613 meters away.)"}
{"file_name": "images/scenario_262_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -2.6) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 3.5 meters away at (-3.3, -1.2). A unknown object with ID 32 is 8.3 meters away at (-1.2, 8.3). A unknown object with ID 30 is 10.7 meters away at (-1.3, 10.6). A vehicle with ID 41 is 11.0 meters away at (0.7, 11.0). A vehicle with ID 60 is 13.2 meters away at (-3.9, -12.6). A vehicle with ID 42 is 15.9 meters away at (2.2, 15.7). A vehicle with ID 44 is 19.0 meters away at (11.2, 15.4). A vehicle with ID 5 is 19.8 meters away at (-16.8, -10.6). A vehicle with ID 47 is 21.3 meters away at (3.8, 20.9). A vehicle with ID 1 is 30.0 meters away at (9.6, -28.4).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-1.2761725 -4.145255 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(210.7924041748047, -116.15145111083984)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.2521672 -1.2193089], 3.473227024078369 meters away.)"}
{"file_name": "images/scenario_262_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.0) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 4.1 meters away at (-1.5, 3.8). A unknown object with ID 32 is 13.6 meters away at (0.6, 13.6). A unknown object with ID 30 is 15.8 meters away at (0.6, 15.8). A vehicle with ID 5 is 15.9 meters away at (-14.9, -5.5). A vehicle with ID 41 is 16.3 meters away at (2.6, 16.1). A vehicle with ID 60 is 17.4 meters away at (-4.9, -16.7). A vehicle with ID 42 is 21.1 meters away at (4.0, 20.7). A vehicle with ID 44 is 24.3 meters away at (13.0, 20.5). A vehicle with ID 1 is 26.0 meters away at (11.4, -23.4). A vehicle with ID 47 is 26.6 meters away at (5.6, 26.0).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-1.6110674 -5.0416293] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(210.7924041748047, -116.15145111083984)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.4744759  3.8198757], 4.094573020935059 meters away.)"}
{"file_name": "images/scenario_263_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 6.8 meters away at (5.3, -4.3). A vehicle with ID 6 is 13.3 meters away at (7.2, -11.2). A vehicle with ID 7 is 15.3 meters away at (7.3, -13.4). A vehicle with ID 8 is 17.9 meters away at (8.0, -16.0). A vehicle with ID 10 is 20.4 meters away at (8.6, -18.5). A pedestrian with ID 12 is 25.8 meters away at (12.0, -22.9). A pedestrian with ID 9 is 39.9 meters away at (-0.5, 39.9). A vehicle with ID 14 is 47.1 meters away at (21.5, -41.9). A vehicle with ID 2 is 64.6 meters away at (-7.3, 64.2).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00512588 -0.00579865] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.00436891 0.00272391] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [1.7745908  0.04813679] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.2620797 -4.316897 ], 6.806252956390381 meters away.)"}
{"file_name": "images/scenario_263_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 6.8 meters away at (5.3, -4.3). A vehicle with ID 6 is 13.3 meters away at (7.2, -11.2). A vehicle with ID 7 is 15.3 meters away at (7.3, -13.4). A vehicle with ID 8 is 17.9 meters away at (7.9, -16.0). A vehicle with ID 10 is 20.5 meters away at (8.6, -18.5). A pedestrian with ID 12 is 25.8 meters away at (11.9, -22.9). A pedestrian with ID 9 is 39.9 meters away at (-0.5, 39.9). A vehicle with ID 14 is 47.1 meters away at (21.5, -41.9). A vehicle with ID 2 is 65.0 meters away at (-3.3, 65.0).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0008146  -0.00142949] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00417791 -0.00163738] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [1.601899   0.53164446] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.277202  -4.3134947], 6.815797805786133 meters away.)"}
{"file_name": "images/scenario_263_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 6.8 meters away at (5.3, -4.3). A vehicle with ID 6 is 13.3 meters away at (7.2, -11.2). A vehicle with ID 7 is 15.3 meters away at (7.3, -13.4). A vehicle with ID 8 is 17.9 meters away at (8.0, -16.0). A vehicle with ID 10 is 20.4 meters away at (8.6, -18.5). A pedestrian with ID 12 is 25.8 meters away at (12.0, -22.9). A pedestrian with ID 9 is 39.9 meters away at (-0.5, 39.9). A vehicle with ID 14 is 47.1 meters away at (21.5, -41.9). A vehicle with ID 4 is 48.9 meters away at (24.0, -42.6).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.00094497 0.00376092] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00221555  0.00307392] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.263295 -4.315905], 6.8065643310546875 meters away.)"}
{"file_name": "images/scenario_263_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 6.8 meters away at (5.3, -4.3). A vehicle with ID 6 is 13.3 meters away at (7.2, -11.2). A vehicle with ID 7 is 15.3 meters away at (7.3, -13.4). A vehicle with ID 8 is 17.9 meters away at (7.9, -16.0). A vehicle with ID 10 is 20.5 meters away at (8.6, -18.5). A pedestrian with ID 12 is 25.8 meters away at (11.9, -22.8). A vehicle with ID 14 is 47.1 meters away at (21.5, -41.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.00598257 -0.00473105] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.2838154 -4.3117614], 6.819823265075684 meters away.)"}
{"file_name": "images/scenario_264_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -3.0) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 5.8 meters away at (-3.5, -4.6). A vehicle with ID 71 is 6.9 meters away at (-3.9, 5.7). A vehicle with ID 67 is 9.9 meters away at (-7.9, -6.0). A vehicle with ID 76 is 12.2 meters away at (1.4, -12.2). A vehicle with ID 79 is 12.5 meters away at (12.5, 0.4). A vehicle with ID 70 is 14.2 meters away at (-9.3, -10.7). A vehicle with ID 14 is 14.2 meters away at (11.7, -8.1). A vehicle with ID 34 is 14.5 meters away at (3.7, -14.0). A vehicle with ID 66 is 17.0 meters away at (16.7, -3.0). A vehicle with ID 75 is 20.6 meters away at (0.5, 20.6).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0.30087504 0.521748  ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-6.422743   2.1961105] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 5.1410437 -3.7617044] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.65245056152344, 61.87381362915039)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.482201 -4.614364], 5.780837535858154 meters away.)"}
{"file_name": "images/scenario_264_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -4.0) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 7.1 meters away at (6.1, 3.6). A vehicle with ID 79 is 7.2 meters away at (2.0, 6.9). A unknown object with ID 56 is 8.6 meters away at (8.4, 1.9). A vehicle with ID 34 is 10.2 meters away at (-7.0, -7.4). A vehicle with ID 76 is 10.8 meters away at (-9.2, -5.6). A vehicle with ID 64 is 12.8 meters away at (12.7, -1.6). A vehicle with ID 15 is 13.3 meters away at (-12.6, 4.3). A vehicle with ID 89 is 15.0 meters away at (13.8, -6.0). A vehicle with ID 14 is 15.8 meters away at (12.8, -9.3). A vehicle with ID 67 is 18.6 meters away at (-18.6, 0.5).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [1.8837663 1.2835898] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 6.227536 -4.586712] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.65245056152344, 61.87381362915039)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.0852337 3.6353645], 7.088437080383301 meters away.)"}
{"file_name": "images/scenario_264_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.8) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 89 is 3.4 meters away at (1.9, 2.9). A vehicle with ID 64 is 7.0 meters away at (1.2, 6.9). A vehicle with ID 63 is 7.1 meters away at (6.6, 2.7). A vehicle with ID 28 is 7.2 meters away at (3.8, -6.1). A pedestrian with ID 43 is 9.4 meters away at (8.4, 4.2). A unknown object with ID 56 is 10.9 meters away at (-3.0, 10.5). A vehicle with ID 65 is 11.2 meters away at (11.2, -1.0). A vehicle with ID 29 is 12.4 meters away at (7.7, -9.8). A vehicle with ID 66 is 13.2 meters away at (-5.3, 12.1). A vehicle with ID 62 is 16.0 meters away at (15.4, -4.4).", "velocity_description": "The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.21740477 -0.21060276] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.65245056152344, 61.87381362915039)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.8772697 2.8602867], 3.4213128089904785 meters away.)"}
{"file_name": "images/scenario_264_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.8) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 4.2 meters away at (-4.1, -0.6). A vehicle with ID 30 is 4.4 meters away at (0.5, -4.3). A vehicle with ID 62 is 6.0 meters away at (3.5, 4.9). A vehicle with ID 65 is 8.3 meters away at (-0.7, 8.3). A vehicle with ID 28 is 8.5 meters away at (-8.0, 3.0). A vehicle with ID 17 is 9.8 meters away at (5.5, -8.1). A pedestrian with ID 54 is 12.7 meters away at (-3.5, 12.2). A vehicle with ID 63 is 13.1 meters away at (-5.3, 12.0). A pedestrian with ID 43 is 13.6 meters away at (-3.2, 13.2). A vehicle with ID 60 is 14.4 meters away at (13.9, -3.6).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.00086914 -0.03897797] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.00088556 -0.0575598 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.65245056152344, 61.87381362915039)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.1468697  -0.56178284], 4.184749126434326 meters away.)"}
{"file_name": "images/scenario_265_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -5.3) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 9.7 meters away at (-9.7, -0.0). A vehicle with ID 19 is 60.4 meters away at (-51.8, 31.0). A vehicle with ID 16 is 77.4 meters away at (74.8, -19.8).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.5919952  2.0766609] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-9.6887321e+00 -1.1796951e-03], 9.688732147216797 meters away.)"}
{"file_name": "images/scenario_265_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -5.7) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 36.3 meters away at (-34.1, 12.5). A unknown object with ID 10 is 44.0 meters away at (38.3, -21.6). A vehicle with ID 16 is 60.5 meters away at (59.8, -8.8). A vehicle with ID 19 is 79.0 meters away at (-66.8, 42.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.6431885 -0.9345877] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-34.089798  12.50527 ], 36.311100006103516 meters away.)"}
{"file_name": "images/scenario_265_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -5.1) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 59.7 meters away at (-56.7, 18.9).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.6432316 -3.647359 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-56.67959   18.894638], 59.74598693847656 meters away.)"}
{"file_name": "images/scenario_265_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -3.8) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 44.0 meters away at (33.8, 28.2). A unknown object with ID 12 is 52.2 meters away at (31.2, -41.8). A vehicle with ID 18 is 77.8 meters away at (-75.5, 18.8).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.1542568 -6.0123777] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [33.83203  28.172009], 44.0257682800293 meters away.)"}
{"file_name": "images/scenario_266_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 1.1) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 7.9 meters away at (-7.4, 3.0). A vehicle with ID 22 is 19.7 meters away at (-12.9, -14.9). A vehicle with ID 21 is 23.7 meters away at (19.0, -14.2). A vehicle with ID 20 is 23.9 meters away at (17.4, -16.3). A vehicle with ID 25 is 24.0 meters away at (-13.0, -20.1). A vehicle with ID 29 is 24.1 meters away at (-24.0, 2.4). A vehicle with ID 32 is 25.0 meters away at (23.1, 9.7). A vehicle with ID 30 is 25.8 meters away at (-2.3, 25.7). A vehicle with ID 23 is 27.2 meters away at (2.8, 27.1). A vehicle with ID 13 is 28.4 meters away at (27.8, 5.7).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [3.523267  3.7391405] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-9.436211  7.992208] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 5.7829237 -5.4361753] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-9.325618   7.8375573] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.561812  7.441461] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.789227 13.904385]\n [16.998285 25.93227 ]\n [13.44623  11.659909]\n [15.611448 27.644976]\n [16.929655 26.29648 ]\n [13.45174  10.623995]]", "nav_goal": "(197.09304809570312, 183.4501190185547)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-7.3625813  2.991143 ], 7.946983337402344 meters away.)"}
{"file_name": "images/scenario_266_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.2) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 8.6 meters away at (-8.4, 1.7). A vehicle with ID 22 is 12.4 meters away at (-7.9, -9.5). A vehicle with ID 30 is 15.8 meters away at (10.1, 12.1). A vehicle with ID 13 is 21.8 meters away at (8.6, 20.0). A vehicle with ID 20 is 24.0 meters away at (16.4, -17.6). A vehicle with ID 32 is 24.5 meters away at (3.6, 24.3). A vehicle with ID 29 is 25.0 meters away at (-25.0, 1.2). A vehicle with ID 25 is 25.6 meters away at (-14.1, -21.4). A vehicle with ID 33 is 30.7 meters away at (-28.6, -11.0). A vehicle with ID 27 is 31.2 meters away at (-22.1, -22.0).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [2.2752898 2.6331892] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 7.7944036 -6.9361906] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-9.144289  7.951273] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-9.107028  7.689293] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [3.6070914 1.4251714] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.789227 13.904385]\n [16.998285 25.93227 ]\n [13.44623  11.659909]\n [15.611448 27.644976]\n [21.161654 21.983452]\n [16.929655 26.29648 ]\n [13.45174  10.623995]]", "nav_goal": "(197.09304809570312, 183.4501190185547)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-8.413706   1.7456384], 8.592886924743652 meters away.)"}
{"file_name": "images/scenario_266_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 7.6 meters away at (-4.9, -5.8). A unknown object with ID 18 is 8.6 meters away at (-8.4, 1.7). A vehicle with ID 4 is 20.9 meters away at (15.0, 14.5). A vehicle with ID 27 is 22.4 meters away at (-14.9, -16.7). A vehicle with ID 29 is 25.1 meters away at (-25.1, 1.1). A vehicle with ID 25 is 25.7 meters away at (-14.2, -21.5). A vehicle with ID 30 is 28.3 meters away at (28.1, -2.8). A vehicle with ID 33 is 30.7 meters away at (-28.7, -11.1). A vehicle with ID 13 is 36.2 meters away at (-9.3, 34.9). A vehicle with ID 40 is 39.9 meters away at (20.0, 34.6).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0.642349   0.79443705] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-9.359021  7.912579] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.5490875 2.5940225] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 9.860253  -7.7428894] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-9.078958  7.705235] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.789227 13.904385]\n [16.998285 25.93227 ]\n [13.44623  11.659909]\n [15.611448 27.644976]\n [16.929655 26.29648 ]\n [13.45174  10.623995]]", "nav_goal": "(197.09304809570312, 183.4501190185547)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.9001656 -5.7874928], 7.583316802978516 meters away.)"}
{"file_name": "images/scenario_266_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 6.9 meters away at (-4.5, -5.2). A unknown object with ID 18 is 8.6 meters away at (-8.5, 1.7). A vehicle with ID 27 is 17.8 meters away at (-11.8, -13.4). A vehicle with ID 29 is 25.1 meters away at (-25.1, 1.1). A vehicle with ID 25 is 25.7 meters away at (-14.1, -21.5). A vehicle with ID 4 is 29.6 meters away at (-2.7, 29.4). A vehicle with ID 33 is 30.7 meters away at (-28.7, -11.1). A vehicle with ID 12 is 39.1 meters away at (-18.5, 34.4). A vehicle with ID 40 is 39.9 meters away at (20.0, 34.5). A vehicle with ID 24 is 40.0 meters away at (39.4, -6.7).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.80506885 0.9234222 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-8.501064   7.0792565] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [11.472793 -9.705723] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-8.275536   6.9078236] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.789227  13.904385 ]\n [ 9.191438  19.18076  ]\n [16.998285  25.93227  ]\n [ 7.1389184 16.56201  ]\n [13.44623   11.659909 ]\n [15.611448  27.644976 ]\n [16.929655  26.29648  ]\n [13.45174   10.623995 ]]", "nav_goal": "(197.09304809570312, 183.4501190185547)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.4584517 -5.230833 ], 6.873093128204346 meters away.)"}
{"file_name": "images/scenario_267_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -1.2) m/s. Its current heading (yaw) is -2.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 3.3 meters away at (0.4, -3.2). A unknown object with ID 7 is 3.6 meters away at (3.3, -1.6). A unknown object with ID 20 is 7.4 meters away at (7.0, 2.2). A vehicle with ID 21 is 17.1 meters away at (-11.7, 12.5). A unknown object with ID 22 is 23.1 meters away at (8.9, 21.3). A vehicle with ID 24 is 36.0 meters away at (-17.2, 31.6).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.414263725280762, -3.837491035461426)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.44443226 -3.2290618 ], 3.259503126144409 meters away.)"}
{"file_name": "images/scenario_267_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -0.2) m/s. Its current heading (yaw) is -3.01 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 4.2 meters away at (3.8, -1.7). A vehicle with ID 21 is 16.2 meters away at (-8.3, 14.0). A unknown object with ID 22 is 26.0 meters away at (12.4, 22.8). A vehicle with ID 24 is 35.8 meters away at (-13.8, 33.1).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.414263725280762, -3.837491035461426)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 3.8278446 -1.7101359], 4.192488670349121 meters away.)"}
{"file_name": "images/scenario_267_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 0.5) m/s. Its current heading (yaw) is 2.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 7.0 meters away at (6.7, -2.0). A pedestrian with ID 15 is 7.7 meters away at (5.9, 4.9). A pedestrian with ID 19 is 13.5 meters away at (13.4, -1.5). A vehicle with ID 21 is 14.8 meters away at (-5.3, 13.8).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.00419116 0.00084627] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.8540645   0.74331486] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.414263725280762, -3.837491035461426)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 6.6923623 -1.9630079], 6.974318027496338 meters away.)"}
{"file_name": "images/scenario_267_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 1.2) m/s. Its current heading (yaw) is 2.31 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 9.1 meters away at (8.4, 3.4). A vehicle with ID 21 is 12.5 meters away at (-2.9, 12.2). A pedestrian with ID 19 is 14.1 meters away at (13.9, -2.4). A unknown object with ID 2 is 27.5 meters away at (17.8, 21.0).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.01229806 0.00172347] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.90895087 -0.13097109] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.414263725280762, -3.837491035461426)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [8.420683  3.3691108], 9.069664001464844 meters away.)"}
{"file_name": "images/scenario_268_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -5.3) m/s. Its current heading (yaw) is -1.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 99 is 4.7 meters away at (4.0, 2.5). A vehicle with ID 96 is 5.5 meters away at (5.5, 0.1). A vehicle with ID 98 is 16.5 meters away at (1.4, 16.4). A vehicle with ID 102 is 16.8 meters away at (12.9, -10.7). A vehicle with ID 74 is 19.1 meters away at (15.6, -11.0). A vehicle with ID 72 is 21.5 meters away at (18.4, -11.1). A vehicle with ID 43 is 24.1 meters away at (21.3, -11.3). A vehicle with ID 100 is 27.4 meters away at (9.9, 25.6). A vehicle with ID 103 is 29.1 meters away at (18.0, -22.8). A vehicle with ID 104 is 31.2 meters away at (20.8, -23.3).", "velocity_description": "The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.0317373 2.4834785], 4.735247611999512 meters away.)"}
{"file_name": "images/scenario_268_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -5.0) m/s. Its current heading (yaw) is -1.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 10.6 meters away at (10.6, -0.4). A vehicle with ID 96 is 10.9 meters away at (3.2, 10.4). A pedestrian with ID 87 is 11.4 meters away at (6.0, 9.7). A vehicle with ID 99 is 12.9 meters away at (1.7, 12.8). A vehicle with ID 74 is 13.4 meters away at (13.3, -0.7). A vehicle with ID 72 is 16.1 meters away at (16.1, -0.6). A vehicle with ID 43 is 18.9 meters away at (18.9, -1.0). A vehicle with ID 103 is 20.0 meters away at (15.7, -12.5). A vehicle with ID 78 is 21.7 meters away at (21.7, -1.2). A vehicle with ID 104 is 22.6 meters away at (18.5, -12.9).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.00625609 -0.00726966] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.557423   -0.40102005], 10.56503677368164 meters away.)"}
{"file_name": "images/scenario_268_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -4.3) m/s. Its current heading (yaw) is -1.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 12.2 meters away at (8.4, 8.8). A vehicle with ID 103 is 13.9 meters away at (13.6, -3.2). A vehicle with ID 74 is 14.0 meters away at (11.1, 8.5). A vehicle with ID 72 is 16.4 meters away at (13.9, 8.6). A vehicle with ID 104 is 16.8 meters away at (16.4, -3.6). A vehicle with ID 106 is 18.4 meters away at (14.4, -11.3). A vehicle with ID 43 is 18.6 meters away at (16.7, 8.2). A vehicle with ID 105 is 19.1 meters away at (18.8, -3.4). A pedestrian with ID 87 is 19.4 meters away at (3.9, 19.0). A vehicle with ID 96 is 19.8 meters away at (1.1, 19.8).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.00972851 -0.01032244] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.406307 8.837971], 12.197365760803223 meters away.)"}
{"file_name": "images/scenario_268_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -2.4) m/s. Its current heading (yaw) is -1.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 103 is 12.5 meters away at (12.1, 3.3). A vehicle with ID 106 is 13.9 meters away at (13.0, -4.8). A vehicle with ID 104 is 15.1 meters away at (14.9, 2.8). A vehicle with ID 102 is 16.9 meters away at (7.0, 15.4). A vehicle with ID 105 is 17.7 meters away at (17.4, 3.3). A vehicle with ID 74 is 17.8 meters away at (9.7, 15.0). A vehicle with ID 72 is 19.6 meters away at (12.5, 15.1). A vehicle with ID 56 is 19.8 meters away at (19.6, 3.0). A vehicle with ID 43 is 21.2 meters away at (15.3, 14.8). A vehicle with ID 26 is 21.6 meters away at (15.8, -14.8).", "velocity_description": "The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-3.0900419  -0.34190112] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.1163645  3.2507057], 12.544855117797852 meters away.)"}
{"file_name": "images/scenario_269_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, -6.6) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 5.3 meters away at (2.5, -4.7). A vehicle with ID 42 is 9.5 meters away at (-3.6, -8.8). A vehicle with ID 36 is 10.6 meters away at (10.5, 1.1). A vehicle with ID 45 is 15.5 meters away at (-9.0, -12.6). A unknown object with ID 16 is 15.7 meters away at (6.1, 14.4). A vehicle with ID 35 is 16.4 meters away at (15.6, 5.2). A vehicle with ID 48 is 25.2 meters away at (-17.3, -18.4). A vehicle with ID 34 is 26.6 meters away at (24.1, 11.3). A vehicle with ID 27 is 34.2 meters away at (-24.1, -24.2). A vehicle with ID 37 is 34.5 meters away at (30.5, 16.0).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.89913124 0.6552898 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[48.881107 26.62864 ]\n [48.64321  27.139462]\n [46.541798 33.69272 ]\n [46.711517 33.56101 ]]", "nav_goal": "(-236.90127563476562, -185.11236572265625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.472869 -4.664958], 5.27985954284668 meters away.)"}
{"file_name": "images/scenario_269_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, -6.3) m/s. Its current heading (yaw) is -2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 3.8 meters away at (0.7, -3.7). A vehicle with ID 45 is 6.7 meters away at (6.7, 0.4). A unknown object with ID 13 is 7.0 meters away at (6.1, -3.5). A vehicle with ID 42 is 12.6 meters away at (11.9, 4.1). A vehicle with ID 27 is 12.8 meters away at (-7.3, -10.5). A vehicle with ID 10 is 20.0 meters away at (-13.3, -14.9). A vehicle with ID 39 is 21.1 meters away at (19.1, 8.9). A vehicle with ID 28 is 28.0 meters away at (-19.6, -20.0). A vehicle with ID 36 is 30.0 meters away at (26.4, 14.3). A unknown object with ID 16 is 35.0 meters away at (21.9, 27.3).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0.74337214 0.5410495 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.7060032  0.52948743] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.5777466  0.44907588] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0.45095268 0.30170277] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.6826474 0.5267775] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-236.90127563476562, -185.11236572265625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.748703 -3.720461], 3.7950475215911865 meters away.)"}
{"file_name": "images/scenario_269_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -6.1) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 4.0 meters away at (3.8, -1.3). A vehicle with ID 28 is 6.9 meters away at (-2.6, -6.4). A vehicle with ID 27 is 10.1 meters away at (9.7, 3.1). A vehicle with ID 25 is 18.0 meters away at (-12.1, -13.3). A vehicle with ID 48 is 19.6 meters away at (17.2, 9.4). A vehicle with ID 26 is 24.9 meters away at (-17.4, -17.8). A vehicle with ID 45 is 25.9 meters away at (22.4, 13.0). A vehicle with ID 22 is 33.1 meters away at (-24.2, -22.5). A vehicle with ID 42 is 33.2 meters away at (28.3, 17.3). A vehicle with ID 17 is 40.6 meters away at (-30.0, -27.3).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0.7966384 0.6228527] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [1.0133992  0.80108553] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.73259187 0.57060444] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.42542535 0.303039  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0.661728 0.461696] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-236.90127563476562, -185.11236572265625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.7541542 -1.2545967], 3.958242893218994 meters away.)"}
{"file_name": "images/scenario_269_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, -6.4) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 4.1 meters away at (4.0, -0.7). A vehicle with ID 26 is 5.3 meters away at (-1.3, -5.2). A vehicle with ID 22 is 12.8 meters away at (-8.0, -10.0). A vehicle with ID 28 is 17.1 meters away at (15.4, 7.5). A pedestrian with ID 15 is 19.6 meters away at (-7.6, -18.1). A vehicle with ID 17 is 20.2 meters away at (-13.8, -14.8). A vehicle with ID 10 is 24.5 meters away at (21.2, 12.3). A vehicle with ID 21 is 28.9 meters away at (-20.6, -20.2). A vehicle with ID 27 is 31.2 meters away at (26.6, 16.3). A vehicle with ID 12 is 39.8 meters away at (-29.7, -26.5).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.7006144 0.5474941] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.14957388 -0.08846468] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-236.90127563476562, -185.11236572265625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.986927  -0.7136574], 4.050295352935791 meters away.)"}
{"file_name": "images/scenario_270_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 5.5 meters away at (-5.5, 0.9). A vehicle with ID 66 is 5.6 meters away at (3.3, 4.6). A vehicle with ID 67 is 7.9 meters away at (-0.4, 7.9). A vehicle with ID 68 is 10.0 meters away at (-9.1, 4.0). A vehicle with ID 69 is 12.6 meters away at (-4.8, 11.7). A vehicle with ID 74 is 15.2 meters away at (13.5, 7.0). A vehicle with ID 70 is 16.9 meters away at (-8.4, 14.7). A unknown object with ID 72 is 17.4 meters away at (-3.3, 17.1). A unknown object with ID 73 is 17.9 meters away at (-2.8, 17.7). A vehicle with ID 77 is 18.0 meters away at (-6.6, -16.8).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-57.48447036743164, 111.9161605834961)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.461285    0.88562304], 5.532627105712891 meters away.)"}
{"file_name": "images/scenario_270_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -0.5) m/s. Its current heading (yaw) is -0.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 6.1 meters away at (-0.3, 6.1). A vehicle with ID 65 is 9.5 meters away at (-9.2, 2.6). A vehicle with ID 67 is 10.4 meters away at (-4.0, 9.5). A vehicle with ID 74 is 13.1 meters away at (9.9, 8.5). A vehicle with ID 68 is 14.0 meters away at (-12.8, 5.7). A unknown object with ID 49 is 15.5 meters away at (-3.1, 15.2). A vehicle with ID 69 is 15.7 meters away at (-8.4, 13.3). A pedestrian with ID 71 is 15.8 meters away at (15.7, -2.3). A vehicle with ID 81 is 17.9 meters away at (13.1, 12.2). A vehicle with ID 77 is 18.3 meters away at (-10.4, -15.1).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.04767602  0.04756344] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-57.48447036743164, 111.9161605834961)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.3012581  6.135453 ], 6.1428446769714355 meters away.)"}
{"file_name": "images/scenario_270_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 3.0) m/s. Its current heading (yaw) is 0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 6.5 meters away at (1.6, 6.3). A pedestrian with ID 71 is 8.6 meters away at (7.5, -4.3). A vehicle with ID 66 is 9.5 meters away at (-8.5, 4.0). A vehicle with ID 81 is 11.0 meters away at (4.7, 9.9). A vehicle with ID 67 is 14.4 meters away at (-12.3, 7.5). A vehicle with ID 83 is 14.5 meters away at (9.2, -11.2). A vehicle with ID 65 is 17.4 meters away at (-17.4, 0.3). A vehicle with ID 27 is 20.0 meters away at (10.8, 16.8). A vehicle with ID 86 is 20.1 meters away at (13.5, -14.8). A vehicle with ID 84 is 20.1 meters away at (5.2, -19.4).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.04451443 0.02635864] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-57.48447036743164, 111.9161605834961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.6167641 6.319126 ], 6.522674560546875 meters away.)"}
{"file_name": "images/scenario_270_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.5) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 4.6 meters away at (-4.3, 1.4). A vehicle with ID 74 is 7.6 meters away at (-7.3, -2.1). A vehicle with ID 27 is 8.5 meters away at (1.8, 8.3). A pedestrian with ID 71 is 12.6 meters away at (-2.4, -12.3). A vehicle with ID 26 is 15.0 meters away at (6.5, 13.5). A vehicle with ID 66 is 18.1 meters away at (-17.6, -4.5). A vehicle with ID 83 is 19.7 meters away at (0.2, -19.7). A vehicle with ID 16 is 20.4 meters away at (9.7, 18.0). A vehicle with ID 67 is 21.4 meters away at (-21.3, -1.1). A vehicle with ID 86 is 23.8 meters away at (4.5, -23.4).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.7473088   0.53144807] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-57.48447036743164, 111.9161605834961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.3316193  1.3949866], 4.5507049560546875 meters away.)"}
{"file_name": "images/scenario_271_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 1.4) m/s. Its current heading (yaw) is 1.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 23.5 meters away at (22.7, 5.9). A vehicle with ID 20 is 26.0 meters away at (25.5, 5.2). A unknown object with ID 28 is 45.5 meters away at (29.9, 34.3). A vehicle with ID 22 is 50.5 meters away at (50.5, 0.2). A vehicle with ID 24 is 53.0 meters away at (53.0, -0.0). A vehicle with ID 27 is 55.0 meters away at (-37.1, -40.6). A vehicle with ID 1 is 55.4 meters away at (55.4, -0.9). A vehicle with ID 25 is 57.8 meters away at (57.8, -1.4). A unknown object with ID 12 is 63.5 meters away at (-18.1, -60.9). A vehicle with ID 3 is 67.1 meters away at (63.1, -22.8).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [22.73977   5.933613], 23.501169204711914 meters away.)"}
{"file_name": "images/scenario_271_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 22.8 meters away at (22.2, 5.1). A vehicle with ID 20 is 25.4 meters away at (25.0, 4.4). A unknown object with ID 10 is 40.3 meters away at (10.7, 38.8). A unknown object with ID 28 is 44.6 meters away at (29.4, 33.5). A vehicle with ID 22 is 50.0 meters away at (50.0, -0.6). A vehicle with ID 24 is 52.5 meters away at (52.5, -0.7). A vehicle with ID 1 is 54.8 meters away at (54.8, -1.6). A vehicle with ID 27 is 55.9 meters away at (-37.6, -41.4). A vehicle with ID 25 is 57.3 meters away at (57.3, -2.3). A unknown object with ID 12 is 64.3 meters away at (-18.4, -61.6).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [22.248562   5.1191516], 22.829896926879883 meters away.)"}
{"file_name": "images/scenario_271_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 3.1) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 7.5 meters away at (7.0, -2.7). A unknown object with ID 13 is 13.9 meters away at (-12.5, 6.1). A vehicle with ID 21 is 20.3 meters away at (20.2, 2.0). A vehicle with ID 20 is 23.1 meters away at (23.0, 1.2). A unknown object with ID 28 is 40.6 meters away at (27.3, 30.1). A vehicle with ID 22 is 48.1 meters away at (48.0, -3.7). A vehicle with ID 24 is 50.6 meters away at (50.4, -4.0). A vehicle with ID 1 is 53.1 meters away at (52.9, -4.6). A vehicle with ID 25 is 55.6 meters away at (55.4, -5.3). A vehicle with ID 27 is 59.8 meters away at (-39.6, -44.8).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 6.9781985 -2.742497 ], 7.497769355773926 meters away.)"}
{"file_name": "images/scenario_271_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 3.5) m/s. Its current heading (yaw) is 0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 14.7 meters away at (13.7, -5.5). A vehicle with ID 20 is 17.6 meters away at (16.5, -6.0). A unknown object with ID 14 is 22.3 meters away at (21.8, -4.5). A unknown object with ID 17 is 22.8 meters away at (22.4, -4.5). A unknown object with ID 28 is 30.6 meters away at (20.4, 22.7). A vehicle with ID 22 is 42.9 meters away at (41.5, -10.8). A vehicle with ID 24 is 45.4 meters away at (43.9, -11.4). A vehicle with ID 1 is 47.9 meters away at (46.4, -11.9). A vehicle with ID 25 is 50.6 meters away at (48.9, -12.8). A vehicle with ID 23 is 55.2 meters away at (-45.0, 32.0).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 6.5825477 -3.7520168] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [13.679103 -5.494137], 14.741214752197266 meters away.)"}
{"file_name": "images/scenario_272_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 5.7) m/s. Its current heading (yaw) is 2.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 8.2 meters away at (-6.9, 4.4). A vehicle with ID 8 is 12.4 meters away at (1.0, -12.4). A vehicle with ID 55 is 13.5 meters away at (-1.5, 13.4). A vehicle with ID 54 is 15.0 meters away at (-11.3, 9.8). A vehicle with ID 61 is 18.8 meters away at (-4.7, 18.2). A vehicle with ID 63 is 20.7 meters away at (-14.4, 14.9). A vehicle with ID 15 is 23.5 meters away at (-3.8, -23.2). A pedestrian with ID 49 is 23.6 meters away at (21.3, -10.2). A vehicle with ID 66 is 23.9 meters away at (-7.8, 22.6). A pedestrian with ID 46 is 24.1 meters away at (6.3, -23.3).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0.9180752 4.983221 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.6882997 4.6976213] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.6012867 -1.1176991] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.00946504 -0.01095396] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.912693  -7.3412294]\n [-2.570038   2.4851987]\n [ 0.9545068  2.49772  ]\n [17.830175  -6.992581 ]\n [18.078173  -6.6213365]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.888488   4.3589516], 8.151792526245117 meters away.)"}
{"file_name": "images/scenario_272_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 6.6) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 4.3 meters away at (-3.6, -2.5). A vehicle with ID 55 is 6.4 meters away at (6.3, 1.2). A vehicle with ID 61 is 6.7 meters away at (3.1, 5.9). A vehicle with ID 63 is 7.2 meters away at (-6.7, 2.6). A vehicle with ID 48 is 7.9 meters away at (0.8, -7.9). A vehicle with ID 66 is 10.2 meters away at (-0.0, 10.2). A cyclist with ID 37 is 11.2 meters away at (-9.3, 6.1). A vehicle with ID 8 is 16.4 meters away at (8.3, -14.2). A vehicle with ID 71 is 19.7 meters away at (-6.3, 18.6). A vehicle with ID 76 is 24.8 meters away at (-9.6, 22.9).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [ 0.03056292 -0.09460796] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.6584415  5.712801 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.912693  -7.3412294]\n [-2.570038   2.4851987]\n [ 0.9545068  2.49772  ]\n [-2.0420935 -9.027376 ]\n [17.830175  -6.992581 ]\n [18.078173  -6.6213365]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.5548067 -2.5058384], 4.349238395690918 meters away.)"}
{"file_name": "images/scenario_272_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 7.1) m/s. Its current heading (yaw) is 2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 6.1 meters away at (3.8, 4.8). A cyclist with ID 37 is 7.8 meters away at (0.8, -7.7). A vehicle with ID 76 is 9.1 meters away at (0.5, 9.0). A vehicle with ID 66 is 10.6 meters away at (10.0, -3.5). A vehicle with ID 63 is 11.6 meters away at (3.3, -11.1). A vehicle with ID 78 is 14.1 meters away at (-2.7, 13.8). A vehicle with ID 61 is 15.3 meters away at (13.1, -7.9). A vehicle with ID 54 is 17.6 meters away at (6.6, -16.3). A vehicle with ID 8 is 19.2 meters away at (11.6, -15.4). A vehicle with ID 55 is 20.6 meters away at (16.3, -12.6).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [-0.03688976  0.02822114] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.030793   6.9411373] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.912693  -7.3412294]\n [-2.570038   2.4851987]\n [ 0.9545068  2.49772  ]\n [17.830175  -6.992581 ]\n [18.078173  -6.6213365]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.7715607 4.834038 ], 6.131279468536377 meters away.)"}
{"file_name": "images/scenario_272_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 7.2) m/s. Its current heading (yaw) is 2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 7.2 meters away at (2.9, 6.6). A vehicle with ID 78 is 7.9 meters away at (7.9, -0.4). A vehicle with ID 83 is 11.4 meters away at (-0.5, 11.4). A vehicle with ID 76 is 12.2 meters away at (11.1, -5.1). A vehicle with ID 71 is 17.2 meters away at (14.4, -9.4). A vehicle with ID 8 is 18.7 meters away at (11.4, -14.8). A cyclist with ID 37 is 24.7 meters away at (11.5, -21.9). A vehicle with ID 10 is 26.3 meters away at (-11.6, 23.6). A vehicle with ID 66 is 27.3 meters away at (20.7, -17.8). A vehicle with ID 63 is 29.0 meters away at (14.1, -25.4).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.5197983  7.5386868] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [-0.03536951  0.01197127] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.570038   2.4851987]\n [ 0.9545068  2.49772  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.9333134 6.596039 ], 7.218868255615234 meters away.)"}
{"file_name": "images/scenario_273_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -2.1) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 7.1 meters away at (-5.2, -4.8). A pedestrian with ID 104 is 14.4 meters away at (14.4, -0.8). A pedestrian with ID 105 is 14.8 meters away at (14.3, -3.9). A vehicle with ID 103 is 15.7 meters away at (9.8, 12.3). A vehicle with ID 106 is 22.5 meters away at (20.4, 9.6). A pedestrian with ID 107 is 25.8 meters away at (8.9, -24.2). A vehicle with ID 108 is 28.2 meters away at (24.4, 14.2). A vehicle with ID 100 is 29.0 meters away at (2.5, -28.9). A vehicle with ID 109 is 29.7 meters away at (-27.9, -10.2). A vehicle with ID 101 is 32.3 meters away at (1.3, -32.3).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [0.03754108 0.00377708] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [1.2143049 1.078864 ] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 0.6600935  -0.75892776] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.337079  -19.687214 ]\n [ -5.5645356 -22.457018 ]\n [ -9.710603  -29.849745 ]\n [-19.398952  -30.927582 ]\n [-17.815477  -28.178333 ]\n [-12.822381  -18.52305  ]\n [-11.685243  -19.522377 ]\n [-10.356936  -20.167473 ]\n [ -7.8930736 -24.873457 ]]", "nav_goal": "(195.62005615234375, -199.62655639648438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.2097545 -4.807498 ], 7.08897590637207 meters away.)"}
{"file_name": "images/scenario_273_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -4.3) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 2.8 meters away at (-2.3, 1.6). A pedestrian with ID 104 is 18.4 meters away at (17.4, 6.0). A pedestrian with ID 105 is 20.0 meters away at (19.5, 4.7). A pedestrian with ID 107 is 21.8 meters away at (12.4, -17.9). A vehicle with ID 103 is 22.8 meters away at (12.6, 19.0). A vehicle with ID 100 is 23.0 meters away at (5.8, -22.3). A vehicle with ID 109 is 25.2 meters away at (-24.9, -4.0). A vehicle with ID 101 is 26.0 meters away at (4.5, -25.6). A vehicle with ID 106 is 28.4 meters away at (23.2, 16.4). A vehicle with ID 112 is 29.3 meters away at (-24.9, -15.5).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [0.00054124 0.01783166] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [1.0285813 0.9470424] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.12933852  0.12421709] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.337079  -19.687214 ]\n [ -5.5645356 -22.457018 ]\n [ -9.710603  -29.849745 ]\n [-19.398952  -30.927582 ]\n [-17.815477  -28.178333 ]\n [-12.822381  -18.52305  ]\n [-11.685243  -19.522377 ]\n [-10.356936  -20.167473 ]\n [ -7.8930736 -24.873457 ]]", "nav_goal": "(195.62005615234375, -199.62655639648438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.2918792  1.5651827], 2.775339126586914 meters away.)"}
{"file_name": "images/scenario_273_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -5.9) m/s. Its current heading (yaw) is -1.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 11.9 meters away at (3.3, 11.4). A vehicle with ID 100 is 16.8 meters away at (11.3, -12.5). A pedestrian with ID 107 is 17.9 meters away at (16.7, -6.4). A vehicle with ID 101 is 18.6 meters away at (10.0, -15.8). A vehicle with ID 112 is 20.0 meters away at (-19.3, -5.4). A vehicle with ID 109 is 20.2 meters away at (-19.3, 6.2). A vehicle with ID 99 is 24.2 meters away at (17.2, -17.0). A vehicle with ID 114 is 25.8 meters away at (-25.7, -3.0). A vehicle with ID 87 is 27.0 meters away at (-25.6, 8.4). A pedestrian with ID 104 is 28.0 meters away at (23.0, 16.0).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.6755202  0.821794 ] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [ 0.00060437 -0.0309775 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -5.5645356 -22.457018 ]\n [ -9.710603  -29.849745 ]\n [-19.398952  -30.927582 ]\n [-17.815477  -28.178333 ]\n [-12.822381  -18.52305  ]\n [-11.685243  -19.522377 ]\n [ -7.8930736 -24.873457 ]]", "nav_goal": "(195.62005615234375, -199.62655639648438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.2816935 11.419403 ], 11.88159465789795 meters away.)"}
{"file_name": "images/scenario_273_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -5.2) m/s. Its current heading (yaw) is -1.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 101 is 9.7 meters away at (8.6, -4.5). A vehicle with ID 100 is 10.0 meters away at (9.9, -1.3). A pedestrian with ID 107 is 15.8 meters away at (14.2, 7.1). A vehicle with ID 99 is 16.8 meters away at (15.8, -5.8). A vehicle with ID 112 is 21.4 meters away at (-20.6, 5.8). A pedestrian with ID 118 is 21.5 meters away at (-17.9, -11.8). A vehicle with ID 102 is 22.8 meters away at (2.0, 22.7). A vehicle with ID 98 is 22.9 meters away at (20.6, -10.0). A vehicle with ID 30 is 24.2 meters away at (23.2, -7.0). A pedestrian with ID 38 is 24.7 meters away at (24.6, -2.4).", "velocity_description": "The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.5416653  1.1419867] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [-0.44372416  1.1960186 ] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.0286568   0.99576646] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -5.5645356 -22.457018 ]\n [ -9.710603  -29.849745 ]\n [-19.398952  -30.927582 ]\n [-17.815477  -28.178333 ]\n [-12.822381  -18.52305  ]\n [-11.685243  -19.522377 ]\n [ -7.8930736 -24.873457 ]]", "nav_goal": "(195.62005615234375, -199.62655639648438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.624718 -4.543646], 9.748357772827148 meters away.)"}
{"file_name": "images/scenario_274_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.6) m/s. Its current heading (yaw) is 2.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 82 is 7.0 meters away at (-3.1, -6.3). A vehicle with ID 84 is 8.0 meters away at (7.7, -2.2). A vehicle with ID 83 is 8.6 meters away at (2.3, -8.3). A vehicle with ID 81 is 11.1 meters away at (8.7, -6.8). A vehicle with ID 85 is 12.7 meters away at (7.7, -10.1). A unknown object with ID 86 is 14.1 meters away at (-2.7, 13.9). A vehicle with ID 89 is 19.3 meters away at (14.5, -12.8). A vehicle with ID 90 is 25.4 meters away at (20.0, -15.8). A unknown object with ID 92 is 25.4 meters away at (-24.1, -8.1). A vehicle with ID 93 is 27.4 meters away at (-5.1, 26.9).", "velocity_description": "The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-0.7510844   0.37077203] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [ 6.2700515 -2.256387 ] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-181.98353576660156, -50.30765151977539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.0528398 -6.293261 ], 6.994638442993164 meters away.)"}
{"file_name": "images/scenario_274_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 1.7) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 82 is 9.6 meters away at (3.9, -8.8). A unknown object with ID 86 is 12.8 meters away at (5.2, 11.7). A vehicle with ID 84 is 13.6 meters away at (13.0, -4.0). A vehicle with ID 83 is 14.3 meters away at (9.4, -10.8). A vehicle with ID 85 is 19.5 meters away at (14.8, -12.6). A unknown object with ID 92 is 20.0 meters away at (-16.9, -10.6). A pedestrian with ID 29 is 21.2 meters away at (-14.2, 15.7). A vehicle with ID 102 is 22.8 meters away at (-22.5, 3.6). A vehicle with ID 94 is 22.9 meters away at (-18.0, -14.0). A vehicle with ID 93 is 24.5 meters away at (2.0, 24.4).", "velocity_description": "The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-1.6771554  0.6520897] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.3335626 -0.8550491] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [ 5.9899406 -2.181697 ] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-181.98353576660156, -50.30765151977539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.9463837 -8.773074 ], 9.619811058044434 meters away.)"}
{"file_name": "images/scenario_274_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 2.2) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 7.5 meters away at (5.0, -5.5). A pedestrian with ID 29 is 11.7 meters away at (-4.8, 10.7). A unknown object with ID 92 is 15.2 meters away at (-4.6, -14.4). A unknown object with ID 45 is 15.3 meters away at (6.6, 13.8). A vehicle with ID 79 is 16.3 meters away at (-14.0, 8.5). A vehicle with ID 94 is 18.7 meters away at (-5.7, -17.8). A unknown object with ID 61 is 19.6 meters away at (8.8, 17.5). A vehicle with ID 84 is 20.6 meters away at (19.8, -5.5). A vehicle with ID 82 is 20.6 meters away at (16.3, -12.6). A pedestrian with ID 105 is 20.8 meters away at (-16.4, 12.7).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [ 8.771248  -2.9783254] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.5925196 -0.4704399] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-3.7856922  1.8119938] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [ 1.0707387  -0.38308266] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-181.98353576660156, -50.30765151977539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.039027  -5.5197153], 7.473891735076904 meters away.)"}
{"file_name": "images/scenario_274_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 2.4) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 79 is 3.9 meters away at (0.3, 3.9). A pedestrian with ID 105 is 7.2 meters away at (0.1, 7.2). A pedestrian with ID 67 is 7.9 meters away at (-0.2, 7.9). A pedestrian with ID 29 is 9.2 meters away at (6.5, 6.5). A vehicle with ID 80 is 14.6 meters away at (-14.5, -1.7). A vehicle with ID 77 is 17.5 meters away at (-15.1, 8.9). A vehicle with ID 18 is 20.9 meters away at (-20.8, 0.6). A unknown object with ID 92 is 21.3 meters away at (9.7, -19.0). A vehicle with ID 78 is 23.9 meters away at (-21.2, 11.1). A vehicle with ID 94 is 24.1 meters away at (8.6, -22.5).", "velocity_description": "The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [ 1.0274107  -0.48407456] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.9906235 -0.4807505] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.5759249   0.39950195] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-181.98353576660156, -50.30765151977539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.31575012 3.8975525 ], 3.9103214740753174 meters away.)"}
{"file_name": "images/scenario_275_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.4) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 3.5 meters away at (-3.1, -1.6). A vehicle with ID 73 is 6.6 meters away at (1.2, 6.5). A vehicle with ID 72 is 7.5 meters away at (-7.2, 1.9). A vehicle with ID 76 is 10.6 meters away at (-2.9, 10.2). A vehicle with ID 86 is 12.1 meters away at (-1.4, -12.0). A vehicle with ID 81 is 16.3 meters away at (-7.9, 14.2). A vehicle with ID 94 is 17.4 meters away at (-5.4, -16.5). A unknown object with ID 56 is 18.0 meters away at (14.8, 10.1). A vehicle with ID 70 is 18.6 meters away at (16.5, 8.6). A vehicle with ID 88 is 20.5 meters away at (13.4, -15.6).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-56.896446228027344, 111.33038330078125)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.0849094 -1.638203 ], 3.492903709411621 meters away.)"}
{"file_name": "images/scenario_275_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, -0.4) m/s. Its current heading (yaw) is -0.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 8.7 meters away at (-8.6, 1.1). A vehicle with ID 73 is 10.2 meters away at (-4.3, 9.3). A vehicle with ID 86 is 11.6 meters away at (-7.0, -9.3). A vehicle with ID 72 is 13.7 meters away at (-12.8, 4.8). A vehicle with ID 88 is 15.1 meters away at (7.7, -12.9). A vehicle with ID 76 is 15.5 meters away at (-8.5, 13.0). A unknown object with ID 39 is 15.7 meters away at (-4.0, 15.2). A vehicle with ID 70 is 15.7 meters away at (11.0, 11.3). A vehicle with ID 84 is 17.2 meters away at (15.2, -8.0). A vehicle with ID 94 is 17.5 meters away at (-11.0, -13.7).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-56.896446228027344, 111.33038330078125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.626315  1.094415], 8.695462226867676 meters away.)"}
{"file_name": "images/scenario_275_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 2.8) m/s. Its current heading (yaw) is 0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 9.0 meters away at (3.1, 8.5). A vehicle with ID 84 is 13.0 meters away at (7.5, -10.6). A vehicle with ID 69 is 13.7 meters away at (6.4, 12.2). A vehicle with ID 73 is 13.8 meters away at (-12.2, 6.5). A vehicle with ID 88 is 15.6 meters away at (0.0, -15.6). A vehicle with ID 78 is 15.8 meters away at (-15.7, 1.9). A vehicle with ID 75 is 16.5 meters away at (-16.4, -1.7). A unknown object with ID 39 is 17.2 meters away at (-11.8, 12.4). A vehicle with ID 90 is 18.3 meters away at (11.8, -14.0). A vehicle with ID 28 is 19.1 meters away at (9.7, 16.4).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 2.0119886 -1.785281 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[70.19889  63.00497 ]\n [71.85589  60.760494]\n [67.72087  64.940674]\n [71.861404 59.72458 ]]", "nav_goal": "(-56.896446228027344, 111.33038330078125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.0673428 8.471512 ], 9.009722709655762 meters away.)"}
{"file_name": "images/scenario_275_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 3.5) m/s. Its current heading (yaw) is 0.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 4.2 meters away at (-3.6, 2.1). A vehicle with ID 69 is 5.8 meters away at (-0.4, 5.8). A vehicle with ID 28 is 10.3 meters away at (2.9, 9.9). A vehicle with ID 27 is 16.9 meters away at (7.6, 15.1). A vehicle with ID 84 is 17.1 meters away at (0.8, -17.0). A vehicle with ID 73 is 18.8 meters away at (-18.8, 0.0). A vehicle with ID 102 is 20.0 meters away at (19.9, -2.1). A vehicle with ID 78 is 21.0 meters away at (-19.8, -6.8). A vehicle with ID 90 is 21.0 meters away at (5.0, -20.4). A vehicle with ID 74 is 21.2 meters away at (18.9, 9.7).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 1.4977899 -0.9834609] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[70.19889  63.00497 ]\n [71.85589  60.760494]\n [67.72087  64.940674]\n [71.861404 59.72458 ]]", "nav_goal": "(-56.896446228027344, 111.33038330078125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.5774822  2.1481814], 4.172896385192871 meters away.)"}
{"file_name": "images/scenario_276_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.7) m/s. Its current heading (yaw) is 2.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 15.4 meters away at (9.4, -12.1). A unknown object with ID 10 is 15.8 meters away at (11.0, -11.3). A unknown object with ID 20 is 17.7 meters away at (12.9, -12.1). A unknown object with ID 9 is 18.4 meters away at (12.4, -13.5). A unknown object with ID 19 is 18.9 meters away at (13.1, -13.7). A unknown object with ID 37 is 23.2 meters away at (-12.4, -19.6). A unknown object with ID 32 is 24.2 meters away at (-11.7, -21.1). A unknown object with ID 40 is 24.4 meters away at (-13.9, -20.0). A unknown object with ID 24 is 24.5 meters away at (-12.8, -20.9). A unknown object with ID 23 is 26.3 meters away at (-13.8, -22.4).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  9.446305 -12.10265 ], 15.35274600982666 meters away.)"}
{"file_name": "images/scenario_276_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 2.4) m/s. Its current heading (yaw) is 2.38 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 20.4 meters away at (14.0, -14.7). A unknown object with ID 10 is 20.9 meters away at (15.5, -14.1). A pedestrian with ID 15 is 21.6 meters away at (-21.3, -3.2). A pedestrian with ID 11 is 21.9 meters away at (-21.6, -3.9). A unknown object with ID 20 is 22.8 meters away at (17.3, -14.8). A unknown object with ID 9 is 23.5 meters away at (17.0, -16.2). A unknown object with ID 37 is 23.8 meters away at (-8.0, -22.4). A unknown object with ID 19 is 24.0 meters away at (17.5, -16.4). A unknown object with ID 40 is 24.8 meters away at (-9.4, -23.0). A unknown object with ID 32 is 25.0 meters away at (-7.2, -24.0).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.4886744 1.0096189] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.48162228 1.0203959 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 14.037806 -14.74769 ], 20.360607147216797 meters away.)"}
{"file_name": "images/scenario_276_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 4.3) m/s. Its current heading (yaw) is 1.79 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 19.7 meters away at (-17.2, -9.6). A unknown object with ID 16 is 27.9 meters away at (18.0, -21.4). A unknown object with ID 10 is 28.3 meters away at (19.4, -20.7). A unknown object with ID 37 is 29.3 meters away at (-4.0, -29.1). A unknown object with ID 40 is 30.0 meters away at (-5.7, -29.5). A unknown object with ID 20 is 30.1 meters away at (21.2, -21.4). A unknown object with ID 32 is 30.7 meters away at (-3.3, -30.6). A unknown object with ID 19 is 31.4 meters away at (21.6, -22.8). A unknown object with ID 23 is 32.3 meters away at (-5.4, -31.8). A unknown object with ID 21 is 33.1 meters away at (20.2, 26.2).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.00917715 0.01736098] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-17.22612   -9.626459], 19.733421325683594 meters away.)"}
{"file_name": "images/scenario_276_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 5.1) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 34.9 meters away at (10.0, 33.4). A unknown object with ID 16 is 35.6 meters away at (17.6, -31.0). A unknown object with ID 10 is 35.8 meters away at (19.0, -30.3). A unknown object with ID 20 is 37.4 meters away at (20.8, -31.0). A unknown object with ID 37 is 38.9 meters away at (-4.3, -38.7). A unknown object with ID 40 is 39.5 meters away at (-6.0, -39.0). A unknown object with ID 32 is 40.1 meters away at (-3.3, -40.0). A unknown object with ID 23 is 41.7 meters away at (-5.7, -41.3). A vehicle with ID 29 is 41.9 meters away at (8.9, 40.9). A vehicle with ID 26 is 72.5 meters away at (-42.8, -58.6).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [10.048056 33.424156], 34.90182876586914 meters away.)"}
{"file_name": "images/scenario_277_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 9.9) m/s. Its current heading (yaw) is 2.11 ", "actor_description": " The most relevant actors are: A cyclist with ID 3 is 17.8 meters away at (-6.9, 16.4). A unknown object with ID 5 is 23.9 meters away at (-23.7, 2.9). A unknown object with ID 15 is 25.9 meters away at (-25.2, 6.0). A unknown object with ID 9 is 26.7 meters away at (-25.7, 7.5). A vehicle with ID 16 is 33.4 meters away at (23.9, 23.3). A vehicle with ID 17 is 33.6 meters away at (-33.4, -3.3).", "velocity_description": "The cyclist with ID 3 is traveling at a (x, y) velocity of [-0.03786191  0.04529729] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-113.1465072631836, 275.68316650390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-6.865406 16.380209], 17.760772705078125 meters away.)"}
{"file_name": "images/scenario_277_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 10.0) m/s. Its current heading (yaw) is 2.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 18.3 meters away at (-13.6, -12.2). A unknown object with ID 15 is 19.0 meters away at (-13.1, -13.7). A unknown object with ID 5 is 20.4 meters away at (-11.6, -16.7). A unknown object with ID 10 is 21.2 meters away at (-11.3, -18.0). A unknown object with ID 1 is 24.3 meters away at (-7.2, -23.2). A vehicle with ID 17 is 31.2 meters away at (-21.3, -22.8). A vehicle with ID 16 is 36.1 meters away at (35.9, 3.7).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-113.1465072631836, 275.68316650390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-13.56798  -12.222036], 18.2611141204834 meters away.)"}
{"file_name": "images/scenario_277_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 9.8) m/s. Its current heading (yaw) is 2.10 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 43.0 meters away at (4.7, -42.8). A vehicle with ID 17 is 43.4 meters away at (-9.4, -42.4).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-113.1465072631836, 275.68316650390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  4.7077007 -42.788887 ], 43.047080993652344 meters away.)"}
{"file_name": "images/scenario_277_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 10.0) m/s. Its current heading (yaw) is 2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 61.9 meters away at (2.6, -61.8).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-113.1465072631836, 275.68316650390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  2.6385498 -61.84451  ], 61.9007682800293 meters away.)"}
{"file_name": "images/scenario_278_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.6) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 4.2 meters away at (4.2, 0.5). A vehicle with ID 51 is 7.1 meters away at (0.5, -7.1). A unknown object with ID 49 is 9.0 meters away at (-7.6, -4.8). A unknown object with ID 50 is 9.3 meters away at (-8.2, -4.4). A unknown object with ID 52 is 9.7 meters away at (-8.1, -5.4). A vehicle with ID 47 is 15.6 meters away at (-3.3, -15.3). A pedestrian with ID 12 is 16.5 meters away at (-9.1, 13.8). A pedestrian with ID 10 is 16.6 meters away at (-0.2, 16.6). A pedestrian with ID 13 is 17.2 meters away at (-9.3, 14.5). A vehicle with ID 53 is 17.6 meters away at (-15.1, 9.0).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0.83593094 1.8155601 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.42281428 0.9398283 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0.20486316 0.48426902] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.69092566 0.4369603 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.6538669 1.2563782] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.77581567 0.42915615] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.000862   8.208819 ]\n [ 8.091696  26.659933 ]\n [ 6.066805  15.184075 ]\n [ 8.20634   26.891443 ]\n [ 9.3830805 13.996803 ]\n [22.213295   8.068397 ]\n [18.509562  13.413955 ]\n [ 6.298084  23.694387 ]\n [21.601976   6.570426 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [4.2003546  0.52084607], 4.2325239181518555 meters away.)"}
{"file_name": "images/scenario_278_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 2.5) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 5.8 meters away at (1.3, -5.7). A vehicle with ID 45 is 6.8 meters away at (5.9, 3.3). A unknown object with ID 49 is 11.8 meters away at (-8.8, -7.9). A unknown object with ID 50 is 12.0 meters away at (-9.4, -7.4). A unknown object with ID 52 is 12.6 meters away at (-9.3, -8.4). A pedestrian with ID 12 is 14.8 meters away at (-8.2, 12.4). A pedestrian with ID 13 is 15.5 meters away at (-8.6, 13.0). A vehicle with ID 47 is 16.2 meters away at (-3.3, -15.8). A pedestrian with ID 10 is 16.4 meters away at (0.0, 16.4). A vehicle with ID 53 is 17.4 meters away at (-16.3, 6.1).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [1.7653054 4.0351934] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [2.0418162 3.574675 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.0497326  0.81297517] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.04754  0.819988] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [1.0176051 2.3283138] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.63873696 1.5154258 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.000862  8.208819]\n [ 8.091696 26.659933]\n [ 8.20634  26.891443]\n [22.213295  8.068397]\n [18.509562 13.413955]\n [ 6.298084 23.694387]\n [21.601976  6.570426]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.3377095 -5.6633453], 5.819187641143799 meters away.)"}
{"file_name": "images/scenario_278_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 4.1) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 4.5 meters away at (3.8, -2.4). A vehicle with ID 45 is 10.5 meters away at (9.7, 3.8). A pedestrian with ID 12 is 11.4 meters away at (-8.8, 7.4). A pedestrian with ID 13 is 12.0 meters away at (-9.0, 8.0). A pedestrian with ID 10 is 12.7 meters away at (-1.5, 12.6). A vehicle with ID 47 is 16.1 meters away at (-3.1, -15.8). A unknown object with ID 49 is 18.5 meters away at (-11.5, -14.5). A unknown object with ID 50 is 18.6 meters away at (-12.2, -14.0). A vehicle with ID 53 is 19.1 meters away at (-19.0, -0.6). A unknown object with ID 52 is 19.2 meters away at (-12.0, -15.0).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [3.5055554 4.865305 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [4.549183  2.9329214] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.0763409  0.73082274] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.1221852 0.7500968] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.6093733 1.4505624] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [1.8967087 4.250817 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.000862  8.208819]\n [ 8.091696 26.659933]\n [ 8.20634  26.891443]\n [22.213295  8.068397]\n [18.509562 13.413955]\n [ 6.298084 23.694387]\n [21.601976  6.570426]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.7816978 -2.4494228], 4.505653381347656 meters away.)"}
{"file_name": "images/scenario_278_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 5.3) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (-4.0, 5.8). A vehicle with ID 51 is 10.0 meters away at (8.8, -4.9). A pedestrian with ID 12 is 10.1 meters away at (-10.1, -0.7). A pedestrian with ID 13 is 10.4 meters away at (-10.4, -0.2). A vehicle with ID 48 is 15.6 meters away at (-10.2, 11.8). A vehicle with ID 47 is 15.8 meters away at (-2.5, -15.6). A vehicle with ID 45 is 17.0 meters away at (16.9, -2.1). A vehicle with ID 1 is 21.8 meters away at (-9.3, 19.7). A unknown object with ID 55 is 23.2 meters away at (-23.0, -2.3). A vehicle with ID 54 is 24.6 meters away at (20.3, -13.9).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.709352  1.3740487] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [5.4000316 2.4454374] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.0239674 0.8708644] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.0378968 0.8204072] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [2.4533043 5.1647615] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [6.0634856 0.5153044] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.166784   -0.73215955] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.000862  8.208819]\n [ 8.091696 26.659933]\n [ 8.20634  26.891443]\n [22.213295  8.068397]\n [18.509562 13.413955]\n [ 6.298084 23.694387]\n [21.601976  6.570426]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-3.9674134  5.7916126], 7.020195484161377 meters away.)"}
{"file_name": "images/scenario_279_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 0.4) m/s. Its current heading (yaw) is 2.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 14.9 meters away at (9.0, -12.0). A vehicle with ID 30 is 16.4 meters away at (-4.9, -15.6). A vehicle with ID 33 is 16.5 meters away at (-15.9, -4.3). A vehicle with ID 31 is 23.7 meters away at (22.9, -6.2). A vehicle with ID 32 is 26.3 meters away at (20.9, -16.0). A vehicle with ID 35 is 28.3 meters away at (-28.2, 2.7). A unknown object with ID 8 is 29.7 meters away at (20.1, -21.9). A vehicle with ID 28 is 29.7 meters away at (-12.1, 27.1). A vehicle with ID 22 is 30.2 meters away at (29.0, -8.3). A vehicle with ID 34 is 33.8 meters away at (28.3, -18.6).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.22362146 1.2036061 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(154.0502471923828, 101.44878387451172)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  8.966332 -11.954061], 14.943047523498535 meters away.)"}
{"file_name": "images/scenario_279_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.1) m/s. Its current heading (yaw) is 2.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 3.6 meters away at (-1.1, 3.4). A vehicle with ID 33 is 13.9 meters away at (-13.8, -1.7). A vehicle with ID 30 is 16.2 meters away at (-2.8, -16.0). A vehicle with ID 29 is 16.6 meters away at (11.1, -12.3). A vehicle with ID 31 is 25.7 meters away at (24.9, -6.6). A vehicle with ID 35 is 26.3 meters away at (-26.2, 2.2). A vehicle with ID 32 is 28.2 meters away at (23.0, -16.4). A vehicle with ID 28 is 28.6 meters away at (-10.1, 26.7). A unknown object with ID 8 is 31.2 meters away at (22.0, -22.2). A vehicle with ID 22 is 32.4 meters away at (31.2, -8.7).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-0.47359997  2.3170645 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(154.0502471923828, 101.44878387451172)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-1.1051273  3.4446974], 3.6176300048828125 meters away.)"}
{"file_name": "images/scenario_279_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 1.1) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 14.7 meters away at (-14.4, 3.1). A vehicle with ID 30 is 17.0 meters away at (-0.1, -17.0). A vehicle with ID 29 is 19.1 meters away at (13.8, -13.2). A vehicle with ID 35 is 23.5 meters away at (-23.5, 1.1). A vehicle with ID 28 is 26.8 meters away at (-7.5, 25.7). A vehicle with ID 31 is 28.6 meters away at (27.6, -7.4). A vehicle with ID 32 is 31.0 meters away at (25.8, -17.2). A vehicle with ID 37 is 32.8 meters away at (-28.6, 16.1). A vehicle with ID 22 is 34.8 meters away at (33.5, -9.5). A vehicle with ID 38 is 37.1 meters away at (-32.6, 17.7).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.3550956  2.9261355] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(154.0502471923828, 101.44878387451172)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-14.373289    3.0776484], 14.69909381866455 meters away.)"}
{"file_name": "images/scenario_279_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 4.4) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 19.7 meters away at (-19.3, -4.1). A vehicle with ID 33 is 20.2 meters away at (-20.0, 3.0). A vehicle with ID 28 is 20.7 meters away at (-3.3, 20.5). A vehicle with ID 30 is 22.7 meters away at (4.1, -22.3). A vehicle with ID 29 is 25.8 meters away at (18.1, -18.5). A vehicle with ID 37 is 26.6 meters away at (-24.3, 10.7). A vehicle with ID 40 is 33.4 meters away at (-31.0, 12.4). A vehicle with ID 39 is 33.6 meters away at (-33.6, -0.2). A vehicle with ID 31 is 34.3 meters away at (31.9, -12.6). A vehicle with ID 32 is 37.5 meters away at (30.0, -22.4).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-5.4222784  2.0859172] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(154.0502471923828, 101.44878387451172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-19.28843    -4.1281424], 19.725238800048828 meters away.)"}
{"file_name": "images/scenario_280_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -4.3) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 19.3 meters away at (-9.6, -16.7). A pedestrian with ID 6 is 24.4 meters away at (23.2, 7.3). A unknown object with ID 11 is 24.8 meters away at (-9.2, -23.0). A pedestrian with ID 7 is 24.9 meters away at (23.5, 8.2). A pedestrian with ID 8 is 25.3 meters away at (24.4, 6.8). A pedestrian with ID 12 is 78.3 meters away at (-7.6, 77.9).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.00837454 0.01203503] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.01345903 -0.02174642] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.00757076 0.01100186] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.0088124  0.00733593] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-154.4105682373047, -209.23095703125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -9.623728 -16.72758 ], 19.29839515686035 meters away.)"}
{"file_name": "images/scenario_280_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -5.2) m/s. Its current heading (yaw) is -1.53 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 12.4 meters away at (-9.9, -7.4). A unknown object with ID 11 is 16.7 meters away at (-9.5, -13.7).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-154.4105682373047, -209.23095703125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.932764 -7.353426], 12.358506202697754 meters away.)"}
{"file_name": "images/scenario_280_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -5.3) m/s. Its current heading (yaw) is -1.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 10.4 meters away at (-9.8, -3.4). A unknown object with ID 9 is 10.7 meters away at (-10.2, 3.0). A pedestrian with ID 5 is 73.9 meters away at (5.2, -73.7). A vehicle with ID 1 is 74.6 meters away at (3.2, -74.5).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.20231208 -0.395355  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-154.4105682373047, -209.23095703125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.830399  -3.3896198], 10.398377418518066 meters away.)"}
{"file_name": "images/scenario_280_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -5.4) m/s. Its current heading (yaw) is -1.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 12.5 meters away at (-10.2, 7.3). A unknown object with ID 9 is 17.3 meters away at (-10.6, 13.7). A vehicle with ID 1 is 63.9 meters away at (2.9, -63.8).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-154.4105682373047, -209.23095703125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-10.183993    7.2898026], 12.524174690246582 meters away.)"}
{"file_name": "images/scenario_281_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -7.3) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 14.2 meters away at (-7.5, -12.0). A unknown object with ID 20 is 16.4 meters away at (-10.0, 13.0).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [-11.690374  10.674902] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -7.546077 -11.993426], 14.169881820678711 meters away.)"}
{"file_name": "images/scenario_281_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -7.2) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 38.3 meters away at (-26.6, 27.5).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-26.629316  27.502449], 38.281917572021484 meters away.)"}
{"file_name": "images/scenario_281_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -6.6) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 32.9 meters away at (11.9, -30.7). A unknown object with ID 20 is 59.7 meters away at (-42.8, 41.6).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.996453  8.50107 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 11.8947525 -30.675278 ], 32.900726318359375 meters away.)"}
{"file_name": "images/scenario_281_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -5.7) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 21.5 meters away at (-21.4, -1.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.950831  8.685268] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-21.4169     -1.4634476], 21.466842651367188 meters away.)"}
{"file_name": "images/scenario_282_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.4) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 7.3 meters away at (2.3, 6.9). A vehicle with ID 7 is 7.7 meters away at (-5.0, 5.8). A vehicle with ID 9 is 13.3 meters away at (-13.3, 0.2). A vehicle with ID 13 is 16.1 meters away at (4.7, 15.4). A vehicle with ID 12 is 18.4 meters away at (-11.5, -14.3). A vehicle with ID 15 is 23.0 meters away at (-4.9, -22.5). A vehicle with ID 16 is 24.0 meters away at (-13.3, -20.0). A unknown object with ID 11 is 27.3 meters away at (-26.5, -6.7). A vehicle with ID 17 is 29.2 meters away at (-14.8, -25.1). A vehicle with ID 21 is 34.2 meters away at (-34.1, -1.8).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[15.5478115 38.077053 ]\n [12.588772  40.23151  ]\n [11.204251  40.475723 ]]", "nav_goal": "(-151.670654296875, -34.805240631103516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.3443213 6.898667 ], 7.286113262176514 meters away.)"}
{"file_name": "images/scenario_282_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 7.0 meters away at (2.2, 6.6). A vehicle with ID 7 is 7.5 meters away at (-5.1, 5.5). A vehicle with ID 9 is 13.3 meters away at (-13.3, -0.1). A vehicle with ID 13 is 15.7 meters away at (4.6, 15.1). A vehicle with ID 12 is 18.6 meters away at (-11.6, -14.6). A vehicle with ID 15 is 23.3 meters away at (-5.0, -22.8). A vehicle with ID 16 is 24.3 meters away at (-13.4, -20.3). A unknown object with ID 10 is 27.7 meters away at (-4.6, -27.3). A vehicle with ID 17 is 29.5 meters away at (-14.9, -25.4). A vehicle with ID 21 is 34.3 meters away at (-34.3, -2.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[15.5478115 38.077053 ]\n [12.588772  40.23151  ]\n [11.204251  40.475723 ]]", "nav_goal": "(-151.670654296875, -34.805240631103516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.2380166 6.6057324], 6.974555015563965 meters away.)"}
{"file_name": "images/scenario_282_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 6.9 meters away at (2.2, 6.6). A vehicle with ID 7 is 7.5 meters away at (-5.2, 5.4). A vehicle with ID 9 is 13.4 meters away at (-13.4, -0.1). A vehicle with ID 13 is 15.7 meters away at (4.6, 15.0). A vehicle with ID 12 is 18.6 meters away at (-11.6, -14.6). A vehicle with ID 15 is 23.4 meters away at (-5.0, -22.8). A vehicle with ID 16 is 24.4 meters away at (-13.4, -20.3). A unknown object with ID 10 is 27.7 meters away at (-4.7, -27.3). A vehicle with ID 17 is 29.5 meters away at (-14.9, -25.5). A vehicle with ID 21 is 34.3 meters away at (-34.2, -2.2).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[15.5478115 38.077053 ]\n [12.588772  40.23151  ]\n [11.204251  40.475723 ]]", "nav_goal": "(-151.670654296875, -34.805240631103516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.2178674 6.570824 ], 6.935031890869141 meters away.)"}
{"file_name": "images/scenario_282_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 6.9 meters away at (2.2, 6.6). A vehicle with ID 7 is 7.5 meters away at (-5.1, 5.4). A vehicle with ID 9 is 13.4 meters away at (-13.4, -0.1). A vehicle with ID 13 is 15.7 meters away at (4.5, 15.0). A vehicle with ID 12 is 18.6 meters away at (-11.6, -14.6). A vehicle with ID 15 is 23.4 meters away at (-5.0, -22.9). A vehicle with ID 16 is 24.4 meters away at (-13.4, -20.3). A unknown object with ID 10 is 27.7 meters away at (-4.7, -27.3). A vehicle with ID 17 is 29.5 meters away at (-14.9, -25.5). A vehicle with ID 21 is 34.3 meters away at (-34.2, -2.3).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[15.5478115 38.077053 ]\n [12.588772  40.23151  ]\n [11.204251  40.475723 ]]", "nav_goal": "(-151.670654296875, -34.805240631103516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.2316258 6.567337 ], 6.936142444610596 meters away.)"}
{"file_name": "images/scenario_283_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.4) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 9.5 meters away at (-9.3, -1.7). A vehicle with ID 49 is 12.4 meters away at (5.0, -11.4). A vehicle with ID 52 is 15.8 meters away at (1.5, -15.8). A vehicle with ID 60 is 22.0 meters away at (-3.4, -21.8). A pedestrian with ID 29 is 26.0 meters away at (18.8, -17.9). A vehicle with ID 51 is 27.3 meters away at (-7.4, -26.3). A vehicle with ID 61 is 28.0 meters away at (4.6, -27.7). A unknown object with ID 59 is 31.5 meters away at (-20.4, 24.1). A vehicle with ID 66 is 34.6 meters away at (-1.4, -34.6). A vehicle with ID 68 is 39.4 meters away at (-5.2, -39.1).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.3310235   0.20436004] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-0.06194118  0.36776748] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-103.2825698852539, 64.5986099243164)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-9.34947   -1.6528608], 9.494447708129883 meters away.)"}
{"file_name": "images/scenario_283_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -1.8) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 9.0 meters away at (1.5, -8.8). A unknown object with ID 45 is 12.9 meters away at (-12.9, 1.0). A vehicle with ID 52 is 13.3 meters away at (-2.0, -13.2). A pedestrian with ID 4 is 16.2 meters away at (-8.2, -14.0). A pedestrian with ID 5 is 16.6 meters away at (-7.5, -14.8). A vehicle with ID 60 is 20.5 meters away at (-7.0, -19.3). A vehicle with ID 61 is 25.1 meters away at (1.1, -25.1). A vehicle with ID 51 is 25.9 meters away at (-10.9, -23.5). A vehicle with ID 54 is 31.7 meters away at (-14.8, -28.0). A vehicle with ID 66 is 32.4 meters away at (-4.9, -32.1).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.77724826 0.99674964] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.83334947 0.9448865 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-103.2825698852539, 64.5986099243164)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.4966176 -8.846153 ], 8.971860885620117 meters away.)"}
{"file_name": "images/scenario_283_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -0.7) m/s. Its current heading (yaw) is -0.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 7.6 meters away at (-4.8, -5.8). A vehicle with ID 52 is 13.2 meters away at (-8.4, -10.2). A pedestrian with ID 4 is 15.8 meters away at (-12.8, -9.1). A pedestrian with ID 5 is 15.8 meters away at (-12.3, -9.9). A unknown object with ID 45 is 19.6 meters away at (-19.1, 4.2). A vehicle with ID 60 is 21.0 meters away at (-13.3, -16.3). A vehicle with ID 61 is 22.7 meters away at (-5.3, -22.0). A vehicle with ID 51 is 26.8 meters away at (-17.3, -20.5). A vehicle with ID 66 is 31.2 meters away at (-11.4, -29.0). A pedestrian with ID 13 is 31.8 meters away at (-23.4, -21.6).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.8298668  0.90129346] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.75415725 0.93087786] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.56989646 1.0877873 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-103.2825698852539, 64.5986099243164)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.7806354 -5.8440127], 7.550295352935791 meters away.)"}
{"file_name": "images/scenario_283_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 2.1) m/s. Its current heading (yaw) is 0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 14.2 meters away at (-12.4, -7.0). A unknown object with ID 34 is 17.1 meters away at (-12.5, 11.6). A vehicle with ID 52 is 19.6 meters away at (-15.9, -11.4). A pedestrian with ID 4 is 20.5 meters away at (-18.8, -8.4). A pedestrian with ID 5 is 20.6 meters away at (-18.5, -9.1). A vehicle with ID 61 is 26.5 meters away at (-13.0, -23.1). A pedestrian with ID 55 is 26.6 meters away at (21.9, 15.1). A pedestrian with ID 56 is 26.7 meters away at (22.6, 14.1). A vehicle with ID 60 is 27.2 meters away at (-20.9, -17.4). A pedestrian with ID 1 is 30.0 meters away at (29.9, 2.1).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.9013432 0.8680731] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.8566768  0.88786054] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.8777042 -0.8965806] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9834284 -0.8594597] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.8829696  0.8698566] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-103.2825698852539, 64.5986099243164)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.382252  -6.958421], 14.203513145446777 meters away.)"}
{"file_name": "images/scenario_284_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.6) m/s. Its current heading (yaw) is -1.96 ", "actor_description": " The most relevant actors are: A pedestrian with ID 80 is 4.7 meters away at (4.5, 1.3). A pedestrian with ID 85 is 17.3 meters away at (10.0, -14.1). A pedestrian with ID 86 is 17.9 meters away at (9.9, -14.9). A vehicle with ID 79 is 26.4 meters away at (5.3, 25.9). A pedestrian with ID 46 is 27.8 meters away at (-3.7, 27.5). A vehicle with ID 81 is 30.1 meters away at (3.4, 29.9). A unknown object with ID 90 is 33.1 meters away at (10.0, -31.6). A unknown object with ID 43 is 33.2 meters away at (11.5, -31.1). A unknown object with ID 91 is 34.6 meters away at (13.4, -31.9). A vehicle with ID 30 is 38.1 meters away at (-11.9, 36.2).", "velocity_description": "The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.27291283 0.7979948 ] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.0520695  0.4465223] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.0429934   0.49592805] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [2.388862 5.072185] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.14264283 -0.43045637] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [4.5018597 1.3286514], 4.693831443786621 meters away.)"}
{"file_name": "images/scenario_284_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.7) m/s. Its current heading (yaw) is -1.96 ", "actor_description": " The most relevant actors are: A pedestrian with ID 86 is 14.6 meters away at (14.5, 1.7). A pedestrian with ID 85 is 14.8 meters away at (14.6, 2.6). A pedestrian with ID 57 is 17.1 meters away at (-17.0, -1.8). A pedestrian with ID 80 is 21.6 meters away at (11.4, 18.3). A unknown object with ID 90 is 23.1 meters away at (16.4, -16.2). A unknown object with ID 43 is 23.9 meters away at (17.9, -15.8). A unknown object with ID 92 is 24.5 meters away at (-5.7, -23.8). A unknown object with ID 93 is 25.1 meters away at (-7.2, -24.1). A unknown object with ID 38 is 25.6 meters away at (-4.8, -25.2). A unknown object with ID 91 is 25.7 meters away at (19.7, -16.6).", "velocity_description": "The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.8259634   0.76966673] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.85583174  0.72516036] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.48608428 -1.2690234 ] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.24877132 0.85346013] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [14.4675665  1.7348042], 14.571206092834473 meters away.)"}
{"file_name": "images/scenario_284_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -7.7) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 92 is 8.5 meters away at (1.1, -8.4). A unknown object with ID 93 is 8.6 meters away at (-0.5, -8.6). A unknown object with ID 38 is 9.8 meters away at (2.0, -9.6). A unknown object with ID 75 is 10.2 meters away at (-0.1, -10.2). A unknown object with ID 44 is 11.1 meters away at (-0.3, -11.1). A pedestrian with ID 57 is 16.0 meters away at (-11.2, 11.4). A unknown object with ID 90 is 23.0 meters away at (23.0, -1.0). A unknown object with ID 39 is 24.8 meters away at (-18.6, -16.4). A unknown object with ID 23 is 26.7 meters away at (26.6, -2.6). A unknown object with ID 22 is 26.7 meters away at (-19.3, -18.4).", "velocity_description": "The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.4562645 -1.101793 ] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 1.0903015 -8.380104 ], 8.45073413848877 meters away.)"}
{"file_name": "images/scenario_284_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -8.0) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 44 is 8.0 meters away at (6.7, 4.4). A unknown object with ID 72 is 8.6 meters away at (6.9, 5.1). A unknown object with ID 75 is 9.1 meters away at (7.1, 5.7). A unknown object with ID 55 is 9.1 meters away at (8.1, 4.1). A unknown object with ID 93 is 9.6 meters away at (6.6, 7.0). A unknown object with ID 31 is 9.6 meters away at (7.2, 6.3). A unknown object with ID 92 is 10.7 meters away at (8.0, 7.2). A unknown object with ID 39 is 11.6 meters away at (-11.6, -0.8). A unknown object with ID 74 is 12.3 meters away at (-12.3, 0.9). A unknown object with ID 22 is 12.6 meters away at (-12.3, -2.8).", "velocity_description": "The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [6.6709404 4.442501 ], 8.014815330505371 meters away.)"}
{"file_name": "images/scenario_285_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -1.2) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 22.8 meters away at (12.8, -18.9). A vehicle with ID 26 is 24.0 meters away at (1.9, -24.0). A vehicle with ID 23 is 24.8 meters away at (12.0, -21.7). A vehicle with ID 29 is 31.6 meters away at (10.5, -29.8). A pedestrian with ID 31 is 32.1 meters away at (28.9, 13.9). A vehicle with ID 24 is 35.8 meters away at (26.2, -24.5). A vehicle with ID 42 is 36.3 meters away at (9.2, -35.2). A unknown object with ID 44 is 41.7 meters away at (12.4, 39.9). A pedestrian with ID 10 is 43.1 meters away at (32.3, -28.5). A vehicle with ID 45 is 45.8 meters away at (2.3, 45.8).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3844994 -0.9379375] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(39.524864196777344, -25.17490577697754)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 12.76498  -18.866285], 22.77897071838379 meters away.)"}
{"file_name": "images/scenario_285_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -2.2) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 16.6 meters away at (6.8, -15.2). A vehicle with ID 23 is 19.0 meters away at (6.0, -18.1). A vehicle with ID 26 is 20.8 meters away at (-4.0, -20.4). A vehicle with ID 29 is 26.5 meters away at (4.4, -26.1). A vehicle with ID 24 is 29.0 meters away at (20.1, -20.8). A pedestrian with ID 31 is 30.2 meters away at (25.9, 15.6). A vehicle with ID 42 is 31.6 meters away at (3.1, -31.4). A unknown object with ID 14 is 37.0 meters away at (34.8, 12.5). A unknown object with ID 3 is 38.6 meters away at (0.5, -38.6). A pedestrian with ID 32 is 42.2 meters away at (37.9, -18.5).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.6066163 -1.0643616] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.6156139  -0.55915684] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(39.524864196777344, -25.17490577697754)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  6.7621546 -15.183704 ], 16.62141990661621 meters away.)"}
{"file_name": "images/scenario_285_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.7) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 11.3 meters away at (0.6, -11.3). A vehicle with ID 23 is 14.2 meters away at (-0.2, -14.2). A unknown object with ID 13 is 19.0 meters away at (3.7, -18.6). A vehicle with ID 26 is 19.4 meters away at (-10.1, -16.5). A vehicle with ID 24 is 21.9 meters away at (14.0, -16.9). A vehicle with ID 29 is 22.3 meters away at (-1.8, -22.3). A pedestrian with ID 31 is 28.9 meters away at (22.8, 17.7). A unknown object with ID 14 is 33.0 meters away at (28.7, 16.3). A pedestrian with ID 32 is 33.7 meters away at (29.7, -15.8). A pedestrian with ID 35 is 35.8 meters away at (30.8, -18.3).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.4482418 -0.8970257] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.0017921  -0.46365246] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.0227964 -1.1879582] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(39.524864196777344, -25.17490577697754)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  0.6456785 -11.308147 ], 11.326566696166992 meters away.)"}
{"file_name": "images/scenario_285_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -1.3) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 9.2 meters away at (-4.0, -8.3). A vehicle with ID 23 is 12.1 meters away at (-4.7, -11.2). A vehicle with ID 24 is 16.6 meters away at (9.2, -13.9). A vehicle with ID 26 is 20.0 meters away at (-14.9, -13.4). A vehicle with ID 29 is 20.2 meters away at (-6.4, -19.2). A pedestrian with ID 32 is 26.4 meters away at (22.8, -13.5). A pedestrian with ID 31 is 28.1 meters away at (21.0, 18.6). A pedestrian with ID 35 is 29.3 meters away at (23.8, -17.2). A unknown object with ID 9 is 36.9 meters away at (34.5, -13.2). A unknown object with ID 44 is 50.6 meters away at (-4.5, 50.4).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.1312833 -0.3397022] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.469204   -0.90031505] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.1040587  -0.81112355] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(39.524864196777344, -25.17490577697754)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.0163984 -8.307525 ], 9.227481842041016 meters away.)"}
{"file_name": "images/scenario_286_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.2 meters away at (2.2, 2.3). A vehicle with ID 21 is 6.7 meters away at (-6.7, 0.4). A vehicle with ID 22 is 6.9 meters away at (-5.8, 3.7). A vehicle with ID 23 is 8.1 meters away at (7.2, -3.8). A vehicle with ID 25 is 9.1 meters away at (5.0, 7.5). A vehicle with ID 26 is 10.1 meters away at (-6.7, 7.6). A vehicle with ID 27 is 10.3 meters away at (7.0, -7.6). A vehicle with ID 10 is 15.1 meters away at (2.7, -14.9). A pedestrian with ID 39 is 29.5 meters away at (0.0, 29.5). A vehicle with ID 35 is 30.7 meters away at (-30.2, 5.8).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 8.293962 -4.561364] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.9873744  1.0647843] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-7.419158   -0.01307003] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00033255 -0.00284578] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.693016   8.158119]\n [-35.998882  36.21864 ]\n [-38.72177   31.328455]\n [-19.05898    5.246706]\n [-16.100029  13.785754]\n [-35.02284   38.743965]\n [-37.809784  34.094994]\n [-16.835459  10.655128]]", "nav_goal": "(98.16783142089844, 246.7042999267578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.2176037 2.344328 ], 3.2270171642303467 meters away.)"}
{"file_name": "images/scenario_286_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.2 meters away at (2.2, 2.3). A vehicle with ID 21 is 6.7 meters away at (-6.7, 0.4). A vehicle with ID 22 is 6.9 meters away at (-5.8, 3.7). A vehicle with ID 27 is 7.0 meters away at (3.9, -5.9). A vehicle with ID 23 is 8.1 meters away at (7.2, -3.8). A vehicle with ID 26 is 10.1 meters away at (-6.7, 7.6). A vehicle with ID 10 is 20.7 meters away at (-10.3, -18.0). A vehicle with ID 25 is 23.7 meters away at (23.5, -2.4). A pedestrian with ID 39 is 29.5 meters away at (0.0, 29.5). A vehicle with ID 35 is 30.8 meters away at (-30.2, 5.9).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.9584217  0.5138065] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.6246185 -2.7298372] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [10.153852  -5.0572476] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00615294  0.0016072 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.693016   8.158119]\n [-38.72177   31.328455]\n [-16.80211   22.087692]\n [-13.987097  18.680569]\n [-19.05898    5.246706]\n [-19.15112   25.86224 ]\n [-16.100029  13.785754]\n [-37.809784  34.094994]\n [-16.835459  10.655128]]", "nav_goal": "(98.16783142089844, 246.7042999267578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.238538 2.335681], 3.2351906299591064 meters away.)"}
{"file_name": "images/scenario_286_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.2 meters away at (2.2, 2.3). A vehicle with ID 27 is 6.0 meters away at (2.8, -5.2). A vehicle with ID 21 is 6.7 meters away at (-6.7, 0.4). A vehicle with ID 22 is 6.9 meters away at (-5.8, 3.7). A vehicle with ID 23 is 8.1 meters away at (7.2, -3.8). A vehicle with ID 26 is 10.1 meters away at (-6.7, 7.6). A vehicle with ID 14 is 26.1 meters away at (-20.1, 16.6). A pedestrian with ID 39 is 29.5 meters away at (0.0, 29.5). A vehicle with ID 35 is 30.8 meters away at (-30.2, 5.8). A vehicle with ID 10 is 31.6 meters away at (-19.3, -25.1).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ -3.9127457 -14.0907545] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.00173756 0.004289  ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.1869946 -4.147173 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.693016   8.158119]\n [-21.650427  29.036493]\n [-19.05898    5.246706]\n [-16.100029  13.785754]\n [-16.835459  10.655128]\n [-25.23117   32.63167 ]]", "nav_goal": "(98.16783142089844, 246.7042999267578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.2266178 2.3382444], 3.2288100719451904 meters away.)"}
{"file_name": "images/scenario_286_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.2 meters away at (2.2, 2.3). A vehicle with ID 27 is 5.9 meters away at (2.8, -5.2). A vehicle with ID 21 is 6.7 meters away at (-6.7, 0.4). A vehicle with ID 22 is 6.9 meters away at (-5.8, 3.7). A vehicle with ID 23 is 8.1 meters away at (7.2, -3.8). A vehicle with ID 26 is 10.1 meters away at (-6.7, 7.6). A vehicle with ID 15 is 29.0 meters away at (-26.4, -11.9). A pedestrian with ID 39 is 29.5 meters away at (0.0, 29.5). A vehicle with ID 35 is 30.8 meters away at (-30.3, 5.8). A unknown object with ID 8 is 32.9 meters away at (31.1, -10.8).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ -2.4243925 -14.838567 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.0012428   0.00551104] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.693016   8.158119]\n [-35.998882  36.21864 ]\n [-38.72177   31.328455]\n [-19.05898    5.246706]\n [-16.100029  13.785754]\n [-35.02284   38.743965]\n [-37.809784  34.094994]\n [-16.835459  10.655128]]", "nav_goal": "(98.16783142089844, 246.7042999267578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.2306838 2.3312488], 3.2265572547912598 meters away.)"}
{"file_name": "images/scenario_287_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 0.2) m/s. Its current heading (yaw) is 3.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 3.1 meters away at (0.3, 3.1). A vehicle with ID 39 is 10.4 meters away at (0.1, -10.4). A vehicle with ID 44 is 10.4 meters away at (-2.9, -10.0). A vehicle with ID 47 is 11.9 meters away at (-6.0, -10.3). A vehicle with ID 34 is 14.9 meters away at (11.2, -9.8). A vehicle with ID 50 is 15.0 meters away at (-11.3, -9.8). A vehicle with ID 30 is 17.3 meters away at (14.6, -9.3). A vehicle with ID 54 is 17.4 meters away at (-14.4, -9.7). A vehicle with ID 49 is 20.5 meters away at (-1.4, -20.4). A vehicle with ID 45 is 20.6 meters away at (4.6, -20.1).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [0.26796722 3.0508978 ], 3.06264328956604 meters away.)"}
{"file_name": "images/scenario_287_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.0, 0.2) m/s. Its current heading (yaw) is 3.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 10.7 meters away at (-8.0, 7.2). A vehicle with ID 54 is 11.4 meters away at (4.8, -10.3). A vehicle with ID 56 is 12.3 meters away at (-11.4, -4.4). A vehicle with ID 50 is 13.1 meters away at (8.1, -10.3). A vehicle with ID 47 is 17.2 meters away at (13.5, -10.7). A vehicle with ID 57 is 19.5 meters away at (-19.0, -4.2). A vehicle with ID 44 is 19.6 meters away at (16.6, -10.5). A unknown object with ID 37 is 19.8 meters away at (19.7, 2.4). A vehicle with ID 39 is 22.4 meters away at (19.5, -10.9). A vehicle with ID 52 is 23.6 meters away at (12.0, -20.4).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.966507  7.175455], 10.721585273742676 meters away.)"}
{"file_name": "images/scenario_287_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.6, -0.2) m/s. Its current heading (yaw) is -3.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 4.7 meters away at (1.7, -4.4). A vehicle with ID 13 is 10.0 meters away at (8.9, -4.6). A vehicle with ID 56 is 10.1 meters away at (9.0, -4.6). A vehicle with ID 9 is 14.9 meters away at (12.9, 7.3). A vehicle with ID 16 is 24.6 meters away at (3.3, -24.4). A vehicle with ID 54 is 27.5 meters away at (25.4, -10.5). A vehicle with ID 50 is 30.5 meters away at (28.7, -10.5). A vehicle with ID 47 is 35.8 meters away at (34.1, -10.7). A vehicle with ID 52 is 38.4 meters away at (32.4, -20.7). A vehicle with ID 44 is 38.6 meters away at (37.1, -10.7).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.6867561 -4.4261484], 4.736658573150635 meters away.)"}
{"file_name": "images/scenario_287_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.8, -0.6) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 23.5 meters away at (23.2, -3.8). A vehicle with ID 56 is 30.5 meters away at (30.3, -3.9). A vehicle with ID 16 is 34.2 meters away at (24.6, -23.7). A vehicle with ID 54 is 47.8 meters away at (46.7, -9.9). A unknown object with ID 37 is 61.7 meters away at (61.6, 2.8). A vehicle with ID 49 is 63.0 meters away at (59.6, -20.4). A vehicle with ID 24 is 69.0 meters away at (65.9, -20.4).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [23.217575  -3.7603276], 23.520116806030273 meters away.)"}
{"file_name": "images/scenario_288_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -7.5) m/s. Its current heading (yaw) is -1.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 12.4 meters away at (12.3, -1.6). A pedestrian with ID 29 is 12.6 meters away at (12.6, -0.8). A vehicle with ID 28 is 30.1 meters away at (-5.7, 29.5). A vehicle with ID 31 is 31.3 meters away at (5.5, -30.8). A vehicle with ID 22 is 45.0 meters away at (-30.0, -33.6). A unknown object with ID 21 is 66.6 meters away at (9.3, -65.9).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.01630221 -0.02984379] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.09078187 -0.05049748] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.07450818 1.7834553 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-0.03309041 -9.957521  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.9048327  1.0694863] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [12.3074    -1.6036644], 12.411439895629883 meters away.)"}
{"file_name": "images/scenario_288_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -6.0) m/s. Its current heading (yaw) is -1.59 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 17.5 meters away at (12.9, 11.9). A pedestrian with ID 29 is 18.3 meters away at (13.2, 12.7). A vehicle with ID 22 is 37.5 meters away at (-32.9, -18.0). A vehicle with ID 31 is 37.9 meters away at (6.2, -37.4). A vehicle with ID 28 is 52.0 meters away at (-5.0, 51.8). A unknown object with ID 17 is 55.6 meters away at (-11.6, 54.4). A pedestrian with ID 24 is 61.8 meters away at (-0.3, -61.8). A pedestrian with ID 13 is 79.2 meters away at (-2.1, 79.2).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.01716988 0.00221014] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.00996493 -0.00368903] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.7039269  0.7815132] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ -0.01560697 -10.383563  ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.0983925 6.208541 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01257442 -0.00418586] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00472214 0.00344198] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [12.876475 11.863773], 17.508647918701172 meters away.)"}
{"file_name": "images/scenario_288_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -4.6) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 36.7 meters away at (-36.1, -6.6). A pedestrian with ID 1 is 37.2 meters away at (-35.9, -9.7). A pedestrian with ID 2 is 38.0 meters away at (-36.8, -9.3). A pedestrian with ID 3 is 45.1 meters away at (12.4, -43.3). A vehicle with ID 31 is 48.5 meters away at (6.2, -48.1). A pedestrian with ID 24 is 51.2 meters away at (-0.1, -51.2).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.6843364 -0.0803569] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.01440077 -0.00683547] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00206942  0.00350435] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.85900307  0.6675492 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ -0.06606811 -10.3242445 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.01342617 -0.00839606] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-36.117218  -6.554882], 36.707218170166016 meters away.)"}
{"file_name": "images/scenario_288_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -2.8) m/s. Its current heading (yaw) is -1.65 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 35.9 meters away at (-35.8, -2.5). A pedestrian with ID 3 is 36.3 meters away at (10.7, -34.7). A pedestrian with ID 2 is 36.7 meters away at (-36.7, -2.1). A vehicle with ID 22 is 39.0 meters away at (-39.0, -0.6). A pedestrian with ID 24 is 43.9 meters away at (-0.1, -43.9). A pedestrian with ID 15 is 44.0 meters away at (11.8, -42.3). A vehicle with ID 31 is 59.4 meters away at (6.5, -59.1).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00951398 -0.00544435] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.69269276  0.93342507] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.0446314  0.00130589] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.2984989 -1.0339725] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.04330952 0.00780304] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.5586469  0.37101737] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.24112633 -7.476549  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-35.815437  -2.521595], 35.90409469604492 meters away.)"}
{"file_name": "images/scenario_289_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 5.3 meters away at (4.3, -3.1). A pedestrian with ID 67 is 8.7 meters away at (-6.8, -5.4). A vehicle with ID 63 is 10.2 meters away at (9.1, 4.6). A unknown object with ID 65 is 14.2 meters away at (13.4, 4.4). A unknown object with ID 50 is 14.6 meters away at (13.9, 4.5). A unknown object with ID 66 is 14.7 meters away at (14.0, 4.2). A vehicle with ID 30 is 15.0 meters away at (9.1, -12.0). A vehicle with ID 68 is 21.7 meters away at (15.3, 15.4). A vehicle with ID 60 is 22.5 meters away at (-6.7, -21.4). A vehicle with ID 69 is 23.7 meters away at (8.2, 22.2).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.5494031 -1.083887 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.89525  34.256027]\n [27.044281 34.030926]\n [25.652782 35.350708]\n [25.597519 35.379032]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.3198624 -3.0869431], 5.3094658851623535 meters away.)"}
{"file_name": "images/scenario_289_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.4) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 5.3 meters away at (4.7, -2.6). A pedestrian with ID 67 is 8.3 meters away at (-4.2, -7.2). A unknown object with ID 42 is 8.4 meters away at (-8.4, 0.2). A vehicle with ID 63 is 10.8 meters away at (9.4, 5.2). A unknown object with ID 65 is 14.4 meters away at (13.6, 4.9). A unknown object with ID 50 is 14.6 meters away at (13.8, 5.0). A vehicle with ID 30 is 14.9 meters away at (9.6, -11.4). A unknown object with ID 66 is 15.1 meters away at (14.2, 5.0). A vehicle with ID 60 is 21.8 meters away at (-6.3, -20.9). A vehicle with ID 68 is 22.3 meters away at (15.7, 15.9).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 1.314965  -0.9196763] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.89525  34.256027]\n [27.044281 34.030926]\n [25.652782 35.350708]\n [25.597519 35.379032]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.6743484 -2.5608492], 5.329866886138916 meters away.)"}
{"file_name": "images/scenario_289_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -2.3) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 6.3 meters away at (6.3, 0.0). A pedestrian with ID 67 is 6.8 meters away at (-0.5, -6.7). A unknown object with ID 42 is 7.3 meters away at (-6.8, 2.8). A vehicle with ID 63 is 13.5 meters away at (11.0, 7.7). A vehicle with ID 30 is 14.3 meters away at (11.2, -8.9). A unknown object with ID 50 is 17.2 meters away at (15.4, 7.6). A unknown object with ID 65 is 17.5 meters away at (16.0, 7.3). A unknown object with ID 66 is 17.6 meters away at (15.9, 7.7). A vehicle with ID 60 is 18.9 meters away at (-4.7, -18.3). A vehicle with ID 75 is 20.1 meters away at (-8.2, -18.3).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.9705391 -1.0260968] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0.81202435 1.248214  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.89525  34.256027]\n [27.044281 34.030926]\n [25.652782 35.350708]\n [25.597519 35.379032]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [6.2710133 0.0171833], 6.271036624908447 meters away.)"}
{"file_name": "images/scenario_289_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -4.0) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 67 is 5.5 meters away at (4.9, -2.5). A vehicle with ID 75 is 8.5 meters away at (-1.9, -8.3). A unknown object with ID 37 is 11.3 meters away at (11.0, -2.7). A vehicle with ID 60 is 11.7 meters away at (-0.6, -11.7). A vehicle with ID 64 is 12.3 meters away at (10.4, 6.6). A unknown object with ID 72 is 13.2 meters away at (-11.3, -6.8). A unknown object with ID 33 is 14.2 meters away at (1.7, -14.1). A unknown object with ID 31 is 15.1 meters away at (1.6, -15.0). A vehicle with ID 30 is 15.5 meters away at (15.3, -2.3). A vehicle with ID 58 is 16.3 meters away at (-3.2, -16.0).", "velocity_description": "The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.37088996 -1.317159  ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [1.5778186 2.5383086] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.89525  34.256027]\n [27.044281 34.030926]\n [25.652782 35.350708]\n [25.597519 35.379032]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 4.8579674 -2.487834 ], 5.457945346832275 meters away.)"}
{"file_name": "images/scenario_290_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.6) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 10.2 meters away at (3.5, -9.6). A vehicle with ID 23 is 20.4 meters away at (19.9, 4.7). A pedestrian with ID 27 is 22.9 meters away at (-12.5, -19.2). A pedestrian with ID 28 is 23.7 meters away at (-13.2, -19.6). A pedestrian with ID 34 is 33.3 meters away at (32.8, 5.4). A pedestrian with ID 38 is 36.3 meters away at (-8.5, -35.3). A pedestrian with ID 40 is 37.1 meters away at (-8.8, -36.0).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.37753102 2.7283099 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 3.4317396 -1.7045331] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00108183  0.00367214] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.006829    0.00101779] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.00679175 0.01689362] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.02376814  0.0888956 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.07746183  0.13629681] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.4910188 -9.608452 ], 10.222991943359375 meters away.)"}
{"file_name": "images/scenario_290_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 8.4 meters away at (5.8, -6.1). A pedestrian with ID 27 is 23.3 meters away at (-12.7, -19.6). A pedestrian with ID 28 is 24.1 meters away at (-13.3, -20.1). A vehicle with ID 23 is 28.4 meters away at (28.4, -0.3). A pedestrian with ID 34 is 33.0 meters away at (32.7, 4.9). A pedestrian with ID 38 is 36.8 meters away at (-8.6, -35.7). A pedestrian with ID 40 is 37.4 meters away at (-9.0, -36.3).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.110345  1.4538879] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.00364501 0.01665351] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.01277236 0.02471243] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 5.0727773 -2.757517 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00029409 -0.01462824] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00828645 -0.25110424] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01091435 -0.38959846] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 5.796979  -6.0503345], 8.379231452941895 meters away.)"}
{"file_name": "images/scenario_290_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.6) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 9.5 meters away at (8.7, -3.8). A pedestrian with ID 27 is 24.5 meters away at (-13.0, -20.8). A pedestrian with ID 28 is 25.2 meters away at (-13.7, -21.2). A pedestrian with ID 34 is 32.5 meters away at (32.3, 4.0). A pedestrian with ID 38 is 37.3 meters away at (-8.9, -36.2). A pedestrian with ID 40 is 38.2 meters away at (-9.1, -37.1). A vehicle with ID 23 is 39.9 meters away at (39.2, -7.2). A unknown object with ID 12 is 41.9 meters away at (41.7, -3.8). A unknown object with ID 7 is 47.7 meters away at (46.8, -9.2). A unknown object with ID 20 is 48.5 meters away at (47.6, -9.6).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.454212  1.4197956] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.0038175   0.01629164] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.01220525 0.02244342] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.01105111 0.03135423] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.05660116 0.84884155] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.15906544 0.8497365 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 5.9255986 -3.246901 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 8.749566  -3.7500849], 9.5193510055542 meters away.)"}
{"file_name": "images/scenario_290_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.90 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 11.8 meters away at (11.2, -3.6). A pedestrian with ID 27 is 25.8 meters away at (-13.6, -21.9). A pedestrian with ID 28 is 26.6 meters away at (-14.3, -22.4). A pedestrian with ID 34 is 31.8 meters away at (31.7, 2.9). A pedestrian with ID 38 is 36.5 meters away at (-9.4, -35.3). A pedestrian with ID 40 is 37.4 meters away at (-9.4, -36.2). A unknown object with ID 12 is 41.4 meters away at (41.1, -4.9). A unknown object with ID 11 is 41.4 meters away at (40.9, -6.3). A unknown object with ID 14 is 42.8 meters away at (42.1, -7.9). A unknown object with ID 16 is 45.1 meters away at (44.2, -8.9).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.6181847  0.27488697] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.03725637 0.00933173] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00871211  0.00176863] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.01297899 0.00064337] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.11040273 1.0894344 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.12453653 1.100959  ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [11.180535  -3.6173296], 11.75114631652832 meters away.)"}
{"file_name": "images/scenario_291_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -5.9) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 3.3 meters away at (-2.6, 2.0). A vehicle with ID 18 is 5.3 meters away at (5.2, -0.4). A vehicle with ID 21 is 5.9 meters away at (-1.9, -5.6). A vehicle with ID 20 is 7.2 meters away at (5.6, -4.5). A vehicle with ID 22 is 9.0 meters away at (-0.3, -9.0). A vehicle with ID 23 is 12.4 meters away at (-7.3, -10.0). A unknown object with ID 19 is 17.3 meters away at (16.1, -6.4). A vehicle with ID 24 is 21.1 meters away at (-10.9, -18.0). A vehicle with ID 10 is 36.2 meters away at (-23.5, -27.6). A vehicle with ID 1 is 60.1 meters away at (-42.9, -42.1).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [1.0481956  0.82742363] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.7291281 2.1437068] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [4.946025 3.587378] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.9759188   0.15754737]\n [ 3.1455066  -6.7748218 ]\n [ 0.80619854  0.28925973]\n [ 2.9076116  -6.264     ]]", "nav_goal": "(-237.0980682373047, -183.2947998046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.5902748  1.9711633], 3.254997491836548 meters away.)"}
{"file_name": "images/scenario_291_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, -6.9) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 8.1 meters away at (7.0, -4.0). A vehicle with ID 23 is 9.6 meters away at (9.2, 2.8). A vehicle with ID 10 is 11.8 meters away at (-2.9, -11.5). A vehicle with ID 21 is 16.3 meters away at (14.6, 7.2). A vehicle with ID 22 is 16.7 meters away at (16.2, 3.8). A vehicle with ID 20 is 23.9 meters away at (22.4, 8.4). A vehicle with ID 18 is 25.2 meters away at (21.9, 12.5). A vehicle with ID 1 is 28.6 meters away at (-17.5, -22.7). A unknown object with ID 19 is 33.5 meters away at (32.8, 6.6). A vehicle with ID 17 is 54.5 meters away at (-39.1, -38.0).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.8160185 0.6504744] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.8149567 2.781049 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.763195 3.424429] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.9759188   0.15754737]\n [ 3.1455066  -6.7748218 ]\n [ 0.80619854  0.28925973]\n [ 2.9076116  -6.264     ]]", "nav_goal": "(-237.0980682373047, -183.2947998046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.0375595 -3.9919262], 8.090903282165527 meters away.)"}
{"file_name": "images/scenario_291_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, -7.7) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 7.7 meters away at (6.8, -3.5). A vehicle with ID 10 is 16.1 meters away at (15.8, 3.4). A vehicle with ID 17 is 20.6 meters away at (-11.8, -16.9). A vehicle with ID 24 is 27.7 meters away at (25.6, 10.8). A vehicle with ID 6 is 30.7 meters away at (27.9, 12.8). A vehicle with ID 23 is 32.7 meters away at (27.6, 17.5). A vehicle with ID 2 is 34.0 meters away at (-23.3, -24.8). A cyclist with ID 5 is 36.2 meters away at (-31.5, -17.9). A vehicle with ID 22 is 39.3 meters away at (34.6, 18.6). A vehicle with ID 21 is 39.7 meters away at (33.1, 22.0).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [1.886644 1.431337] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [3.910899  2.7598426] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [3.939312  2.8263147] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-3.796994  -2.9349756] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 3.1455066 -6.7748218]\n [ 2.9076116 -6.264    ]]", "nav_goal": "(-237.0980682373047, -183.2947998046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.8172455 -3.5118408], 7.668628215789795 meters away.)"}
{"file_name": "images/scenario_291_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, -8.0) m/s. Its current heading (yaw) is -2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 4.6 meters away at (2.6, -3.8). A vehicle with ID 17 is 14.2 meters away at (13.7, 3.7). A cyclist with ID 5 is 22.4 meters away at (-20.9, -7.9). A unknown object with ID 3 is 24.4 meters away at (13.5, 20.3). A vehicle with ID 1 is 30.8 meters away at (27.5, 13.7). A pedestrian with ID 14 is 35.3 meters away at (22.9, 26.9). A vehicle with ID 10 is 39.3 meters away at (34.3, 19.2). A vehicle with ID 24 is 52.3 meters away at (44.7, 27.0). A vehicle with ID 23 is 57.0 meters away at (46.3, 33.3). A vehicle with ID 22 is 63.4 meters away at (53.3, 34.4).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [3.317345  2.3278646] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.86495   2.0709524] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-3.8608093 -3.0163867] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-2.7224808 -2.3925164] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 3.1455066 -6.7748218]\n [ 2.9076116 -6.264    ]]", "nav_goal": "(-237.0980682373047, -183.2947998046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.552681 -3.802391], 4.579777240753174 meters away.)"}
{"file_name": "images/scenario_292_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.8) m/s. Its current heading (yaw) is -2.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 31.3 meters away at (-31.2, 2.6). A unknown object with ID 9 is 34.8 meters away at (10.7, -33.1). A vehicle with ID 6 is 47.2 meters away at (-45.2, 13.7). A vehicle with ID 5 is 55.1 meters away at (-51.7, 18.9).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-95.60356140136719, -63.281768798828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-31.202703    2.6001496], 31.31085205078125 meters away.)"}
{"file_name": "images/scenario_292_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -2.0) m/s. Its current heading (yaw) is -2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 29.1 meters away at (-28.3, 6.5). A unknown object with ID 9 is 32.2 meters away at (13.8, -29.1). A vehicle with ID 6 is 45.9 meters away at (-42.4, 17.5). A vehicle with ID 5 is 54.0 meters away at (-49.0, 22.7).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-95.60356140136719, -63.281768798828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-28.349316    6.5387483], 29.093624114990234 meters away.)"}
{"file_name": "images/scenario_292_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 0.2) m/s. Its current heading (yaw) is 3.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 23.4 meters away at (-21.6, 9.0). A unknown object with ID 9 is 33.7 meters away at (20.7, -26.5). A vehicle with ID 6 is 40.9 meters away at (-35.6, 20.1). A vehicle with ID 5 is 49.2 meters away at (-42.3, 25.2).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-95.60356140136719, -63.281768798828125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-21.620392   8.986557], 23.41366195678711 meters away.)"}
{"file_name": "images/scenario_292_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 3.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 13.7 meters away at (-12.6, 5.3). A vehicle with ID 6 is 31.4 meters away at (-26.7, 16.4). A vehicle with ID 5 is 39.4 meters away at (-33.1, 21.3). A unknown object with ID 9 is 42.4 meters away at (29.7, -30.2).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-95.60356140136719, -63.281768798828125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.648733   5.28128 ], 13.707018852233887 meters away.)"}
{"file_name": "images/scenario_293_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -1.7) m/s. Its current heading (yaw) is -2.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 28.8 meters away at (-16.8, -23.5). A unknown object with ID 19 is 30.3 meters away at (-18.1, -24.2). A unknown object with ID 20 is 32.5 meters away at (-18.7, -26.6). A unknown object with ID 4 is 54.8 meters away at (-33.4, -43.5). A unknown object with ID 1 is 56.7 meters away at (-34.9, -44.6).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-16.77955  -23.460993], 28.843917846679688 meters away.)"}
{"file_name": "images/scenario_293_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -3.4) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 20.5 meters away at (-9.5, -18.2). A unknown object with ID 13 is 20.8 meters away at (-8.9, -18.8). A unknown object with ID 19 is 22.0 meters away at (-10.9, -19.0). A unknown object with ID 20 is 24.2 meters away at (-11.4, -21.3). A unknown object with ID 4 is 46.3 meters away at (-26.2, -38.2). A unknown object with ID 1 is 48.1 meters away at (-27.6, -39.4). A vehicle with ID 11 is 76.4 meters away at (-52.7, -55.3).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -9.540739 -18.159311], 20.513076782226562 meters away.)"}
{"file_name": "images/scenario_293_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -3.4) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 12.1 meters away at (-4.1, -11.4). A unknown object with ID 19 is 13.5 meters away at (-5.6, -12.3). A unknown object with ID 20 is 15.7 meters away at (-6.0, -14.6). A unknown object with ID 4 is 37.7 meters away at (-20.7, -31.5). A unknown object with ID 1 is 39.5 meters away at (-22.2, -32.6). A vehicle with ID 10 is 67.6 meters away at (-47.2, -48.5). A vehicle with ID 11 is 67.8 meters away at (-47.3, -48.6).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-78.26022 -73.9836 ]\n [-78.09257 -73.79814]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -4.101589 -11.426755], 12.140583038330078 meters away.)"}
{"file_name": "images/scenario_293_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -3.4) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 5.3 meters away at (2.0, -4.9). A unknown object with ID 19 is 5.8 meters away at (0.7, -5.7). A unknown object with ID 20 is 8.0 meters away at (0.2, -8.0). A unknown object with ID 15 is 28.5 meters away at (-13.4, -25.1). A unknown object with ID 4 is 28.9 meters away at (-14.5, -24.9). A unknown object with ID 1 is 30.6 meters away at (-15.9, -26.1). A unknown object with ID 2 is 32.7 meters away at (-16.8, -28.0). A vehicle with ID 10 is 58.7 meters away at (-40.9, -42.0). A vehicle with ID 11 is 58.8 meters away at (-41.0, -42.1). A cyclist with ID 18 is 75.2 meters away at (-44.6, -60.6).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [ 11.425288 -10.190851] m/s.", "light_description": "There are active red lights at the following coordinates: [[-78.26022 -73.9836 ]\n [-78.09257 -73.79814]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 2.042925 -4.85466 ], 5.266997814178467 meters away.)"}
{"file_name": "images/scenario_294_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 1.9) m/s. Its current heading (yaw) is 0.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 5.1 meters away at (0.2, -5.1). A vehicle with ID 48 is 10.0 meters away at (-9.9, -1.8). A vehicle with ID 50 is 12.3 meters away at (-5.0, -11.2). A vehicle with ID 51 is 15.6 meters away at (-14.1, -6.7). A vehicle with ID 12 is 18.7 meters away at (17.8, -5.7). A vehicle with ID 52 is 19.8 meters away at (-10.0, -17.1). A vehicle with ID 53 is 21.7 meters away at (-18.3, -11.7). A unknown object with ID 57 is 22.1 meters away at (3.3, 21.8). A unknown object with ID 59 is 23.0 meters away at (2.4, 22.9). A unknown object with ID 49 is 23.2 meters away at (23.1, 0.7).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 0.7765765 -0.9198823] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.19348812 -5.136139  ], 5.139781951904297 meters away.)"}
{"file_name": "images/scenario_294_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 0.7) m/s. Its current heading (yaw) is 0.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 9.2 meters away at (-4.4, -8.0). A vehicle with ID 48 is 15.3 meters away at (-14.5, -4.7). A vehicle with ID 50 is 17.7 meters away at (-10.0, -14.7). A vehicle with ID 12 is 18.6 meters away at (15.3, -10.6). A unknown object with ID 49 is 18.6 meters away at (18.5, -2.1). A unknown object with ID 57 is 19.0 meters away at (-1.4, 19.0). A unknown object with ID 11 is 19.5 meters away at (19.5, -1.0). A unknown object with ID 16 is 19.6 meters away at (-2.1, 19.4). A vehicle with ID 13 is 20.2 meters away at (-12.2, 16.1). A pedestrian with ID 32 is 20.9 meters away at (6.1, 20.0).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 1.0900221 -1.1631507] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 1.559882  -1.3666664] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00839816 -1.0166466 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.3671255 -8.044218 ], 9.15320873260498 meters away.)"}
{"file_name": "images/scenario_294_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -1.6) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A unknown object with ID 49 is 11.5 meters away at (11.4, -1.5). A unknown object with ID 11 is 12.4 meters away at (12.4, -0.4). A vehicle with ID 47 is 13.6 meters away at (-11.4, -7.4). A vehicle with ID 12 is 15.7 meters away at (10.2, -12.0). A pedestrian with ID 32 is 19.5 meters away at (0.7, 19.5). A vehicle with ID 13 is 20.8 meters away at (-15.7, 13.7). A unknown object with ID 57 is 21.2 meters away at (-8.3, 19.5). A vehicle with ID 50 is 21.9 meters away at (-16.9, -13.9). A vehicle with ID 48 is 21.9 meters away at (-21.6, -4.0). A vehicle with ID 63 is 22.2 meters away at (1.8, 22.1).", "velocity_description": "The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 0.6030391 -0.530722 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [1.0854971  0.27212375] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 2.3924003 -1.9813718] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [11.435446  -1.5075252], 11.534385681152344 meters away.)"}
{"file_name": "images/scenario_294_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -3.5) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A unknown object with ID 49 is 4.8 meters away at (3.1, 3.7). A unknown object with ID 11 is 6.3 meters away at (4.1, 4.9). A vehicle with ID 12 is 8.1 meters away at (2.8, -7.6). A vehicle with ID 47 is 19.8 meters away at (-19.7, -2.1). A vehicle with ID 13 is 22.4 meters away at (-17.7, 13.7). A vehicle with ID 6 is 26.2 meters away at (14.4, -21.9). A pedestrian with ID 32 is 26.5 meters away at (-5.5, 25.9). A vehicle with ID 63 is 28.0 meters away at (-6.6, 27.2). A unknown object with ID 57 is 29.9 meters away at (-16.7, 24.8). A vehicle with ID 48 is 29.9 meters away at (-29.9, 1.2).", "velocity_description": "The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 3.9893665 -3.1074557] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.9886979 0.7959056] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.6723779 0.7148266] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [3.120533  3.6704352], 4.817656993865967 meters away.)"}
{"file_name": "images/scenario_295_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -5.9) m/s. Its current heading (yaw) is -1.22 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 9.8 meters away at (9.3, 3.0). A unknown object with ID 45 is 18.8 meters away at (12.7, -13.8). A pedestrian with ID 35 is 19.1 meters away at (-1.6, 19.1). A unknown object with ID 46 is 19.6 meters away at (13.0, -14.6). A unknown object with ID 47 is 20.3 meters away at (10.6, -17.3). A unknown object with ID 36 is 21.0 meters away at (-3.5, 20.7). A vehicle with ID 48 is 21.1 meters away at (12.0, -17.4). A unknown object with ID 41 is 22.4 meters away at (-18.6, 12.6). A unknown object with ID 38 is 23.3 meters away at (-1.9, 23.2). A unknown object with ID 42 is 24.0 meters away at (-19.0, 14.7).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.0060005  0.01200357] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [9.3228245 2.959465 ], 9.781282424926758 meters away.)"}
{"file_name": "images/scenario_295_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -5.8) m/s. Its current heading (yaw) is -1.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 8.0 meters away at (5.9, -5.4). A unknown object with ID 45 is 8.3 meters away at (8.0, -2.0). A unknown object with ID 46 is 8.8 meters away at (8.3, -2.8). A vehicle with ID 48 is 9.0 meters away at (7.3, -5.2). A pedestrian with ID 39 is 30.4 meters away at (4.2, -30.1). A pedestrian with ID 40 is 30.8 meters away at (2.5, -30.7). A pedestrian with ID 35 is 31.5 meters away at (-6.2, 30.9). A unknown object with ID 36 is 33.5 meters away at (-8.1, 32.5). A unknown object with ID 41 is 33.7 meters away at (-23.2, 24.4). A unknown object with ID 43 is 35.4 meters away at (5.7, -35.0).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.57125753  0.3786967 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.02311691  0.04185611] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.02595607 -0.00256598] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 5.919363  -5.4440613], 8.042180061340332 meters away.)"}
{"file_name": "images/scenario_295_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -5.0) m/s. Its current heading (yaw) is -1.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 5.9 meters away at (0.6, 5.9). A unknown object with ID 1 is 6.4 meters away at (4.8, 4.3). A vehicle with ID 48 is 6.5 meters away at (2.2, 6.1). A pedestrian with ID 39 is 18.9 meters away at (-1.9, -18.8). A pedestrian with ID 40 is 19.6 meters away at (-2.8, -19.4). A unknown object with ID 43 is 23.7 meters away at (0.5, -23.7). A pedestrian with ID 14 is 24.6 meters away at (-2.4, -24.5). A unknown object with ID 22 is 26.0 meters away at (-0.5, 26.0). A pedestrian with ID 35 is 43.8 meters away at (-11.5, 42.2). A unknown object with ID 41 is 45.8 meters away at (-28.6, 35.8).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.15619704 -0.03837707] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.02244767  0.04137134] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.01658613 0.00417637] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.00100204 0.01660074] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [0.63894176 5.875477  ], 5.910116195678711 meters away.)"}
{"file_name": "images/scenario_295_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.3) m/s. Its current heading (yaw) is -1.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 39 is 12.0 meters away at (-7.0, -9.7). A unknown object with ID 19 is 12.5 meters away at (-11.3, -5.3). A pedestrian with ID 40 is 13.0 meters away at (-7.8, -10.4). A unknown object with ID 1 is 13.2 meters away at (-0.2, 13.2). A unknown object with ID 43 is 15.3 meters away at (-4.5, -14.6). A unknown object with ID 47 is 15.5 meters away at (-4.4, 14.8). A vehicle with ID 48 is 15.6 meters away at (-3.0, 15.3). A pedestrian with ID 28 is 45.3 meters away at (-20.2, -40.6). A pedestrian with ID 5 is 46.4 meters away at (-20.6, -41.6). A pedestrian with ID 35 is 53.9 meters away at (-16.5, 51.3).", "velocity_description": "The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.00600913 -0.00242986] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00168201 -0.0230974 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0306306   0.22663024] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.0753919   0.34955612] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00824515 -0.01793785] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.037691 -9.74155 ], 12.01777458190918 meters away.)"}
{"file_name": "images/scenario_296_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.8) m/s. Its current heading (yaw) is -1.81 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 23.0 meters away at (-13.5, -18.6). A vehicle with ID 18 is 37.1 meters away at (-31.8, 19.2). A unknown object with ID 1 is 43.0 meters away at (18.0, -39.1). A unknown object with ID 17 is 44.5 meters away at (19.2, -40.2). A vehicle with ID 15 is 59.8 meters away at (33.1, -49.8). A pedestrian with ID 20 is 74.9 meters away at (55.3, -50.6).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 1.5123736 -1.3485875] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.3301177 -1.0439059] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(71.4325942993164, -90.17811584472656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-13.460448 -18.604855], 22.963542938232422 meters away.)"}
{"file_name": "images/scenario_296_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.81 ", "actor_description": " The most relevant actors are: A pedestrian with ID 4 is 22.3 meters away at (15.6, -15.9). A unknown object with ID 14 is 22.5 meters away at (-13.3, -18.1). A cyclist with ID 2 is 22.5 meters away at (15.8, -16.1). A vehicle with ID 18 is 32.6 meters away at (-28.1, 16.5). A vehicle with ID 15 is 59.6 meters away at (33.3, -49.4).", "velocity_description": "The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.4998208 -1.2194062] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [ 1.9092872 -1.3644271] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 1.9503345 -1.7629254] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(71.4325942993164, -90.17811584472656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 15.565958 -15.907291], 22.256256103515625 meters away.)"}
{"file_name": "images/scenario_296_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.81 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 22.5 meters away at (-13.3, -18.1). A pedestrian with ID 4 is 26.6 meters away at (18.9, -18.8). A cyclist with ID 2 is 27.0 meters away at (19.1, -19.0). A vehicle with ID 18 is 27.5 meters away at (-24.2, 13.0). A vehicle with ID 15 is 59.6 meters away at (33.4, -49.3).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.6069424 -1.166676 ] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [ 1.7181138 -1.4786748] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 2.185961 -1.748266] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(71.4325942993164, -90.17811584472656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-13.308746 -18.089739], 22.457992553710938 meters away.)"}
{"file_name": "images/scenario_296_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 21.3 meters away at (-19.0, 9.6). A unknown object with ID 14 is 22.4 meters away at (-13.3, -18.1). A pedestrian with ID 4 is 31.2 meters away at (22.4, -21.7). A cyclist with ID 2 is 31.2 meters away at (22.4, -21.7). A vehicle with ID 15 is 59.7 meters away at (33.5, -49.4). A pedestrian with ID 3 is 72.6 meters away at (-66.4, 29.3).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.0823271 -1.2992246] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.5161332 -1.3191212] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [ 1.6513776 -1.4717932] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00403535  0.00813937] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(71.4325942993164, -90.17811584472656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-19.030872   9.600872], 21.315505981445312 meters away.)"}
{"file_name": "images/scenario_297_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 8.0 meters away at (-4.4, 6.7).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00287494 -0.00531033] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-4.43838  6.71159], 8.046405792236328 meters away.)"}
{"file_name": "images/scenario_297_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.8) m/s. Its current heading (yaw) is 2.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 7.1 meters away at (-4.0, 5.8). A vehicle with ID 6 is 79.1 meters away at (51.4, -60.1).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00027751  0.00485334] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-4.01564   5.798946], 7.053590297698975 meters away.)"}
{"file_name": "images/scenario_297_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 1.2) m/s. Its current heading (yaw) is 1.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 5.2 meters away at (-3.3, 4.0). A unknown object with ID 7 is 72.1 meters away at (-66.7, -27.5).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.0011357  -0.00034498] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-3.2760441  3.9849157], 5.158683776855469 meters away.)"}
{"file_name": "images/scenario_297_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 1.5) m/s. Its current heading (yaw) is 1.67 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 2.9 meters away at (-2.7, 1.2).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00663154  0.00707071] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-2.661452   1.2498341], 2.9403083324432373 meters away.)"}
{"file_name": "images/scenario_298_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -0.4) m/s. Its current heading (yaw) is -0.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 8.7 meters away at (-6.7, 5.6). A vehicle with ID 45 is 11.3 meters away at (-9.6, 5.9). A vehicle with ID 49 is 12.5 meters away at (-6.2, 10.8). A vehicle with ID 51 is 14.6 meters away at (-9.3, 11.2). A vehicle with ID 62 is 16.4 meters away at (-5.7, 15.4). A vehicle with ID 59 is 18.2 meters away at (1.1, 18.2). A vehicle with ID 52 is 18.9 meters away at (-16.7, -8.8). A vehicle with ID 63 is 18.9 meters away at (-14.7, 11.9). A vehicle with ID 55 is 20.3 meters away at (-16.9, -11.3). A vehicle with ID 69 is 21.2 meters away at (-17.3, 12.2).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-6.57753    2.5374527] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(113.49971771240234, -215.45150756835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.6764946  5.628981 ], 8.732754707336426 meters away.)"}
{"file_name": "images/scenario_298_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -0.4) m/s. Its current heading (yaw) is -0.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 18.2 meters away at (-16.9, 6.6). A vehicle with ID 49 is 20.2 meters away at (-16.5, 11.8). A pedestrian with ID 68 is 20.5 meters away at (-5.3, 19.8). A vehicle with ID 45 is 21.0 meters away at (-19.9, 6.9). A vehicle with ID 59 is 21.2 meters away at (-9.1, 19.1). A vehicle with ID 51 is 23.0 meters away at (-19.5, 12.2). A pedestrian with ID 86 is 23.6 meters away at (-4.2, 23.2). A vehicle with ID 71 is 27.3 meters away at (-14.6, 23.1). A vehicle with ID 63 is 28.0 meters away at (-24.9, 12.8). A vehicle with ID 52 is 28.1 meters away at (-27.0, -7.8).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.38620982 -1.0700349 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.35295936 -1.3323768 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(113.49971771240234, -215.45150756835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-16.909012   6.611201], 18.155513763427734 meters away.)"}
{"file_name": "images/scenario_298_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -0.3) m/s. Its current heading (yaw) is -0.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 104 is 17.0 meters away at (16.0, -5.7). A pedestrian with ID 68 is 23.4 meters away at (-14.2, 18.5). A vehicle with ID 44 is 26.1 meters away at (-25.0, 7.4). A vehicle with ID 59 is 26.3 meters away at (-17.3, 19.8). A pedestrian with ID 86 is 26.6 meters away at (-14.8, 22.0). A vehicle with ID 49 is 27.6 meters away at (-24.6, 12.6). A vehicle with ID 45 is 29.1 meters away at (-28.1, 7.6). A unknown object with ID 21 is 30.0 meters away at (27.5, -11.8). A vehicle with ID 51 is 30.5 meters away at (-27.7, 12.9). A vehicle with ID 71 is 33.0 meters away at (-22.7, 23.9).", "velocity_description": "The vehicle with ID 104 is traveling at a (x, y) velocity of [-1.1103488   0.16538736] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.5171573 -0.9382213] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.4099227  -0.28158915] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(113.49971771240234, -215.45150756835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.032156  -5.7491674], 17.031822204589844 meters away.)"}
{"file_name": "images/scenario_298_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -0.1) m/s. Its current heading (yaw) is -0.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 104 is 10.5 meters away at (9.2, -5.1). A pedestrian with ID 68 is 27.5 meters away at (-21.4, 17.3). A vehicle with ID 1 is 27.9 meters away at (26.9, -7.2). A vehicle with ID 59 is 30.5 meters away at (-22.7, 20.3). A vehicle with ID 44 is 31.5 meters away at (-30.5, 7.8). A pedestrian with ID 86 is 31.7 meters away at (-23.0, 21.8). A vehicle with ID 49 is 32.8 meters away at (-30.1, 13.0). A vehicle with ID 45 is 34.6 meters away at (-33.6, 8.1). A pedestrian with ID 34 is 35.7 meters away at (13.0, -33.2). A vehicle with ID 51 is 35.8 meters away at (-33.2, 13.3).", "velocity_description": "The vehicle with ID 104 is traveling at a (x, y) velocity of [-0.8649401   0.05675973] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.80635315 -0.8943443 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.037881    0.83631927] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.0825385  -0.15064804] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00225255 -0.01924007] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(113.49971771240234, -215.45150756835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.202286 -5.060812], 10.502089500427246 meters away.)"}
{"file_name": "images/scenario_299_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.3) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 3.9 meters away at (-3.8, -0.9). A vehicle with ID 66 is 6.0 meters away at (3.7, -4.6). A vehicle with ID 65 is 7.8 meters away at (-5.4, -5.6). A vehicle with ID 67 is 10.7 meters away at (1.9, -10.5). A vehicle with ID 81 is 11.7 meters away at (-8.2, 8.4). A vehicle with ID 71 is 12.0 meters away at (0.3, 12.0). A vehicle with ID 63 is 13.1 meters away at (-7.2, -10.9). A vehicle with ID 68 is 16.5 meters away at (0.1, -16.5). A vehicle with ID 59 is 17.5 meters away at (-14.3, 10.0). A vehicle with ID 60 is 19.3 meters away at (-9.1, -17.0).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(209.1344451904297, -135.98187255859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.7874718 -0.8591423], 3.883692502975464 meters away.)"}
{"file_name": "images/scenario_299_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -5.6) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 3.2 meters away at (-3.0, 1.2). A vehicle with ID 68 is 6.2 meters away at (4.3, -4.5). A vehicle with ID 67 is 6.2 meters away at (6.0, 1.4). A vehicle with ID 65 is 6.6 meters away at (-1.2, 6.5). A vehicle with ID 60 is 7.0 meters away at (-5.0, -4.9). A vehicle with ID 66 is 10.7 meters away at (7.9, 7.3). A vehicle with ID 61 is 11.1 meters away at (0.4, 11.1). A vehicle with ID 64 is 12.3 meters away at (-6.6, -10.3). A vehicle with ID 69 is 14.2 meters away at (1.0, -14.2). A vehicle with ID 72 is 20.3 meters away at (-0.8, -20.3).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(209.1344451904297, -135.98187255859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.0215464  1.1574574], 3.2356529235839844 meters away.)"}
{"file_name": "images/scenario_299_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -4.2) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 3.1 meters away at (-3.1, -0.3). A vehicle with ID 60 is 5.2 meters away at (-1.6, 5.0). A vehicle with ID 69 is 6.2 meters away at (4.4, -4.4). A vehicle with ID 68 is 9.3 meters away at (7.7, 5.3). A vehicle with ID 72 is 10.7 meters away at (2.6, -10.4). A vehicle with ID 63 is 11.0 meters away at (0.3, 11.0). A vehicle with ID 67 is 14.7 meters away at (9.5, 11.3). A vehicle with ID 65 is 16.6 meters away at (2.2, 16.5). A vehicle with ID 66 is 20.6 meters away at (11.3, 17.2). A vehicle with ID 61 is 21.3 meters away at (3.8, 21.0).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(209.1344451904297, -135.98187255859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.1267796 -0.3094406], 3.1420540809631348 meters away.)"}
{"file_name": "images/scenario_299_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -2.2) m/s. Its current heading (yaw) is -1.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 6.2 meters away at (-0.8, 6.1). A vehicle with ID 72 is 6.4 meters away at (5.0, -4.0). A vehicle with ID 69 is 7.1 meters away at (6.8, 2.0). A vehicle with ID 60 is 11.3 meters away at (0.8, 11.3). A vehicle with ID 68 is 15.5 meters away at (10.1, 11.8). A vehicle with ID 63 is 17.7 meters away at (2.8, 17.4). A vehicle with ID 52 is 18.2 meters away at (-14.7, -10.8). A vehicle with ID 1 is 18.4 meters away at (-17.3, -6.2). A vehicle with ID 67 is 21.3 meters away at (11.8, 17.8). A vehicle with ID 2 is 22.9 meters away at (13.2, -18.8).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-8.896862  2.715833] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-3.4001956  1.099456 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(209.1344451904297, -135.98187255859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.7589874  6.107647 ], 6.154625415802002 meters away.)"}
{"file_name": "images/scenario_300_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 13.8 meters away at (-12.1, -6.5). A vehicle with ID 12 is 20.1 meters away at (-20.1, -1.5). A vehicle with ID 18 is 24.3 meters away at (8.4, -22.7). A vehicle with ID 17 is 26.1 meters away at (-25.7, 4.5). A vehicle with ID 19 is 27.1 meters away at (16.7, 21.4). A vehicle with ID 11 is 32.4 meters away at (15.6, -28.4). A vehicle with ID 10 is 36.6 meters away at (-12.2, -34.6). A vehicle with ID 16 is 46.8 meters away at (-21.9, -41.4). A vehicle with ID 15 is 57.3 meters away at (35.7, -44.8). A vehicle with ID 20 is 63.9 meters away at (-48.4, -41.7).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.241221   0.9529484] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.561649   1.2637836] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.37494773 0.25222293] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.9186454 0.862621 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.8622644  2.2231288] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.7526455  -8.438816 ]\n [ -9.264076   -6.8744807]\n [ -7.6800184 -21.92467  ]\n [ -2.0895054 -14.040097 ]\n [  1.0161382 -12.140441 ]]", "nav_goal": "(-129.72891235351562, 188.11410522460938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.121205   -6.5490527], 13.777289390563965 meters away.)"}
{"file_name": "images/scenario_300_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 13.8 meters away at (-12.1, -6.5). A vehicle with ID 12 is 20.1 meters away at (-20.1, -1.5). A vehicle with ID 18 is 23.1 meters away at (7.4, -21.9). A vehicle with ID 17 is 26.1 meters away at (-25.7, 4.6). A vehicle with ID 19 is 27.1 meters away at (16.7, 21.4). A vehicle with ID 8 is 29.0 meters away at (5.0, -28.5). A vehicle with ID 10 is 34.2 meters away at (-9.0, -33.0). A vehicle with ID 2 is 42.0 meters away at (-39.2, 15.3). A vehicle with ID 16 is 43.8 meters away at (-18.7, -39.5). A vehicle with ID 15 is 51.3 meters away at (31.1, -40.8).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.3916976  1.210707 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [3.994179  1.2765763] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.6681455 1.102586 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.0934489  1.0701925] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.7526455  -8.438816 ]\n [ -9.264076   -6.8744807]\n [ -7.6800184 -21.92467  ]\n [ -2.0895054 -14.040097 ]\n [  1.0161382 -12.140441 ]]", "nav_goal": "(-129.72891235351562, 188.11410522460938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.13343    -6.5383806], 13.782979011535645 meters away.)"}
{"file_name": "images/scenario_300_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 13.8 meters away at (-12.1, -6.5). A vehicle with ID 12 is 20.1 meters away at (-20.1, -1.5). A vehicle with ID 18 is 23.1 meters away at (7.5, -21.9). A vehicle with ID 17 is 26.1 meters away at (-25.7, 4.6). A vehicle with ID 19 is 27.1 meters away at (16.7, 21.4). A vehicle with ID 8 is 27.4 meters away at (3.4, -27.1). A vehicle with ID 10 is 34.3 meters away at (3.5, -34.1). A vehicle with ID 16 is 39.4 meters away at (-14.6, -36.6). A vehicle with ID 15 is 50.0 meters away at (30.2, -39.9). A vehicle with ID 20 is 63.9 meters away at (-48.4, -41.7).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.31531203  0.2553199 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 7.5295973 -2.8184042] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [2.8072147 2.0177393] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.7526455  -8.438816 ]\n [ -9.264076   -6.8744807]\n [ -7.6800184 -21.92467  ]\n [ -2.0895054 -14.040097 ]\n [  1.0161382 -12.140441 ]]", "nav_goal": "(-129.72891235351562, 188.11410522460938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.14268   -6.526984], 13.785724639892578 meters away.)"}
{"file_name": "images/scenario_300_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 13.8 meters away at (-12.1, -6.5). A pedestrian with ID 6 is 16.7 meters away at (8.2, 14.5). A vehicle with ID 12 is 20.1 meters away at (-20.1, -1.5). A vehicle with ID 18 is 23.1 meters away at (7.5, -21.9). A vehicle with ID 17 is 26.1 meters away at (-25.7, 4.6). A vehicle with ID 19 is 27.1 meters away at (16.7, 21.4). A vehicle with ID 8 is 27.2 meters away at (3.2, -27.0). A vehicle with ID 16 is 33.9 meters away at (-8.1, -32.9). A vehicle with ID 15 is 50.0 meters away at (30.2, -39.8). A vehicle with ID 20 is 63.9 meters away at (-48.4, -41.7).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00255769  0.00325484] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [3.9171834 1.259243 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.7526455  -8.438816 ]\n [ -9.264076   -6.8744807]\n [ -7.6800184 -21.92467  ]\n [ -2.0895054 -14.040097 ]\n [  1.0161382 -12.140441 ]]", "nav_goal": "(-129.72891235351562, 188.11410522460938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.118049   -6.5481834], 13.774099349975586 meters away.)"}
{"file_name": "images/scenario_301_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.9) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 5.0 meters away at (-4.4, -2.4). A vehicle with ID 82 is 5.2 meters away at (1.9, -4.8). A pedestrian with ID 83 is 10.9 meters away at (8.4, 7.0). A vehicle with ID 79 is 11.3 meters away at (-11.3, 0.1). A vehicle with ID 84 is 11.4 meters away at (8.3, -7.8). A vehicle with ID 48 is 16.9 meters away at (13.1, -10.7). A pedestrian with ID 81 is 17.1 meters away at (-7.5, 15.3). A vehicle with ID 78 is 17.1 meters away at (-17.0, 1.9). A pedestrian with ID 102 is 35.6 meters away at (34.8, -7.4). A pedestrian with ID 103 is 36.0 meters away at (34.9, -8.9).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.9684085   0.47285676] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.1178419  -0.09955151] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [ 0.00019175 -0.01899244] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.00719695 -0.01829499] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(234.4920196533203, -142.67393493652344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.406971  -2.4052744], 5.020631313323975 meters away.)"}
{"file_name": "images/scenario_301_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -3.9) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 4.3 meters away at (0.5, -4.2). A vehicle with ID 84 is 4.4 meters away at (-4.1, -1.5). A vehicle with ID 82 is 10.6 meters away at (-10.5, 1.5). A pedestrian with ID 83 is 15.3 meters away at (-5.4, 14.3). A vehicle with ID 80 is 17.4 meters away at (-16.9, 4.0). A pedestrian with ID 102 is 22.3 meters away at (22.3, -0.9). A pedestrian with ID 103 is 22.5 meters away at (22.4, -2.3). A pedestrian with ID 105 is 22.9 meters away at (22.8, -1.6). A pedestrian with ID 72 is 23.1 meters away at (23.0, -1.9). A vehicle with ID 79 is 24.8 meters away at (-24.0, 6.5).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.9009813   0.27306962] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [ 0.01212899 -0.07106026] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.01031848 -0.02402296] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [-0.01466702 -0.03992552] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.04340552 -0.02103249] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(234.4920196533203, -142.67393493652344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.5287037 -4.225561 ], 4.258508682250977 meters away.)"}
{"file_name": "images/scenario_301_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -5.0) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 11.2 meters away at (-10.3, 4.4). A unknown object with ID 59 is 12.3 meters away at (7.0, -10.1). A pedestrian with ID 103 is 13.1 meters away at (11.4, 6.4). A pedestrian with ID 72 is 13.9 meters away at (11.9, 7.1). A pedestrian with ID 102 is 14.0 meters away at (11.5, 8.0). A unknown object with ID 68 is 14.4 meters away at (13.4, 5.1). A unknown object with ID 75 is 16.0 meters away at (13.9, -7.8). A pedestrian with ID 61 is 16.6 meters away at (16.4, 2.7). A vehicle with ID 84 is 16.8 meters away at (-15.1, 7.3). A pedestrian with ID 43 is 18.7 meters away at (15.7, 10.0).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.03786799 -0.01436364] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.09559143 -0.01934019] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.04640581 -0.00143281] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.02232471 -0.01447497] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.1157032  -0.20282045] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(234.4920196533203, -142.67393493652344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.3058605   4.41918  ], 11.213380813598633 meters away.)"}
{"file_name": "images/scenario_301_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -5.5) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 75 is 3.0 meters away at (1.6, 2.5). A unknown object with ID 59 is 5.3 meters away at (-5.3, 0.3). A unknown object with ID 26 is 7.5 meters away at (7.3, -1.9). A unknown object with ID 55 is 8.0 meters away at (3.7, -7.1). A unknown object with ID 41 is 13.1 meters away at (7.9, -10.5). A unknown object with ID 57 is 15.6 meters away at (9.9, -12.1). A pedestrian with ID 103 is 16.9 meters away at (-0.8, 16.8). A pedestrian with ID 72 is 17.7 meters away at (-0.5, 17.7). A pedestrian with ID 102 is 18.4 meters away at (-0.9, 18.3). A unknown object with ID 21 is 20.4 meters away at (20.1, -3.7).", "velocity_description": "The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-0.01499024 -0.02361093] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.00781949 0.00300335] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [ 0.01987542 -0.00628216] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(234.4920196533203, -142.67393493652344)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [1.615448 2.511345], 2.9860551357269287 meters away.)"}
{"file_name": "images/scenario_302_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, 2.3) m/s. Its current heading (yaw) is 0.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 15.2 meters away at (-13.0, -7.9). A vehicle with ID 10 is 26.7 meters away at (26.4, 4.1). A vehicle with ID 20 is 33.1 meters away at (-16.4, -28.7). A unknown object with ID 22 is 45.3 meters away at (-43.6, -12.4). A unknown object with ID 23 is 45.4 meters away at (-44.7, -7.7). A unknown object with ID 24 is 45.6 meters away at (-44.6, -9.2). A unknown object with ID 25 is 45.7 meters away at (-43.6, -13.7). A vehicle with ID 26 is 52.5 meters away at (-52.1, -6.0). A vehicle with ID 18 is 54.6 meters away at (51.1, 19.2). A unknown object with ID 27 is 63.0 meters away at (-63.0, -2.4).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.03669237 -0.00951032] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [  6.6504955 -11.654197 ] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.2839813232422, -147.97674560546875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-13.038394  -7.859956], 15.224276542663574 meters away.)"}
{"file_name": "images/scenario_302_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, 2.4) m/s. Its current heading (yaw) is 0.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 9.4 meters away at (9.4, -0.5). A vehicle with ID 18 is 37.1 meters away at (34.1, 14.6). A vehicle with ID 7 is 47.6 meters away at (44.1, 17.8). A vehicle with ID 20 is 61.2 meters away at (-19.2, -58.1). A vehicle with ID 14 is 62.6 meters away at (-58.3, -22.8). A unknown object with ID 23 is 62.9 meters away at (-61.7, -12.3). A unknown object with ID 24 is 63.2 meters away at (-61.6, -13.9). A unknown object with ID 25 is 63.3 meters away at (-60.6, -18.3). A vehicle with ID 1 is 64.4 meters away at (62.9, 14.1). A vehicle with ID 26 is 69.9 meters away at (-69.1, -10.7).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [  7.35401  -12.859993] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.2839813232422, -147.97674560546875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.435106   -0.50315094], 9.44851303100586 meters away.)"}
{"file_name": "images/scenario_302_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.0, 2.5) m/s. Its current heading (yaw) is 0.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 9.6 meters away at (-8.1, -5.2). A vehicle with ID 18 is 19.1 meters away at (16.3, 9.9). A vehicle with ID 7 is 29.4 meters away at (26.4, 13.0). A vehicle with ID 1 is 46.1 meters away at (45.2, 9.3). A vehicle with ID 6 is 66.5 meters away at (54.6, 37.9). A vehicle with ID 8 is 69.0 meters away at (53.2, 43.9). A pedestrian with ID 16 is 73.1 meters away at (-72.8, -6.5). A vehicle with ID 12 is 73.7 meters away at (-73.7, 1.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.51154685 0.8036517 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [  6.868812 -11.865758] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.2839813232422, -147.97674560546875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.081867  -5.2150974], 9.618410110473633 meters away.)"}
{"file_name": "images/scenario_302_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.9, 2.5) m/s. Its current heading (yaw) is 0.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 5.2 meters away at (-1.5, 5.0). A vehicle with ID 7 is 11.8 meters away at (8.4, 8.2). A vehicle with ID 1 is 27.6 meters away at (27.2, 4.4). A vehicle with ID 10 is 27.9 meters away at (-26.0, -10.0). A vehicle with ID 6 is 49.2 meters away at (36.7, 32.7). A vehicle with ID 8 is 52.6 meters away at (35.3, 39.0).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.2839813232422, -147.97674560546875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.542984  4.992319], 5.225327968597412 meters away.)"}
{"file_name": "images/scenario_303_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 3.9) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 48 is 7.8 meters away at (-5.9, 5.0). A vehicle with ID 49 is 13.2 meters away at (9.5, 9.2). A unknown object with ID 26 is 14.7 meters away at (-14.0, -4.6). A vehicle with ID 31 is 22.5 meters away at (18.7, -12.6). A vehicle with ID 51 is 23.0 meters away at (-22.6, 4.5). A vehicle with ID 53 is 23.7 meters away at (18.9, -14.3). A vehicle with ID 50 is 24.1 meters away at (-21.9, -10.1). A vehicle with ID 52 is 27.4 meters away at (-26.3, -7.9). A vehicle with ID 58 is 27.8 meters away at (-4.0, 27.5). A vehicle with ID 54 is 32.3 meters away at (-32.2, -2.6).", "velocity_description": "The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [4.987304  1.8218895] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.645748 29.384203]\n [ 9.78638  20.013943]\n [18.258911 31.09691 ]\n [19.577116 29.748413]\n [11.8389   22.632692]]", "nav_goal": "(196.6746368408203, 189.53302001953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-5.9370975  4.9959893], 7.759448528289795 meters away.)"}
{"file_name": "images/scenario_303_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.4) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 13.1 meters away at (13.1, -0.9). A unknown object with ID 48 is 14.3 meters away at (-13.6, -4.3). A vehicle with ID 58 is 21.6 meters away at (-11.7, 18.2). A vehicle with ID 20 is 25.1 meters away at (12.7, -21.6). A vehicle with ID 53 is 26.3 meters away at (11.2, -23.8). A vehicle with ID 51 is 30.7 meters away at (-30.3, -4.9). A vehicle with ID 14 is 31.4 meters away at (22.2, 22.3). A pedestrian with ID 65 is 32.4 meters away at (-5.5, 32.0). A vehicle with ID 46 is 33.9 meters away at (15.8, 30.0). A vehicle with ID 50 is 35.5 meters away at (-29.7, -19.5).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [ 6.132001 -2.45391 ] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.3358219 -0.5647726] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.645748 29.384203]\n [ 9.78638  20.013943]\n [18.258911 31.09691 ]\n [19.577116 29.748413]\n [11.8389   22.632692]]", "nav_goal": "(196.6746368408203, 189.53302001953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [13.0695305 -0.9047508], 13.100809097290039 meters away.)"}
{"file_name": "images/scenario_303_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 6.3) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 16.5 meters away at (12.7, 10.6). A vehicle with ID 46 is 19.5 meters away at (6.3, 18.4). A vehicle with ID 58 is 22.1 meters away at (-21.2, 6.5). A pedestrian with ID 65 is 22.7 meters away at (-12.4, 19.0). A vehicle with ID 47 is 25.4 meters away at (10.5, 23.2). A vehicle with ID 49 is 26.2 meters away at (16.2, -20.7). A unknown object with ID 48 is 28.1 meters away at (-23.1, -15.9). A vehicle with ID 20 is 33.5 meters away at (3.2, -33.3). A vehicle with ID 53 is 35.4 meters away at (1.6, -35.3). A vehicle with ID 67 is 38.4 meters away at (-27.7, 26.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.229889   -0.68002677] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 6.5133686 -5.0876684] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.645748 29.384203]\n [ 9.78638  20.013943]\n [18.258911 31.09691 ]\n [19.577116 29.748413]\n [11.8389   22.632692]]", "nav_goal": "(196.6746368408203, 189.53302001953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.684711 10.585657], 16.521442413330078 meters away.)"}
{"file_name": "images/scenario_303_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 7.2) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.4 meters away at (1.9, -2.8). A vehicle with ID 46 is 6.7 meters away at (-4.5, 4.9). A vehicle with ID 47 is 9.7 meters away at (-0.5, 9.7). A vehicle with ID 34 is 21.2 meters away at (-3.9, 20.9). A vehicle with ID 77 is 26.2 meters away at (19.3, 17.7). A vehicle with ID 58 is 32.8 meters away at (-32.0, -7.0). A unknown object with ID 30 is 37.9 meters away at (12.7, 35.7). A vehicle with ID 20 is 47.4 meters away at (-7.3, -46.8). A vehicle with ID 6 is 48.8 meters away at (34.1, 34.9). A vehicle with ID 51 is 58.9 meters away at (-50.6, -30.1).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.645748 29.384203]\n [ 9.78638  20.013943]\n [18.258911 31.09691 ]\n [19.577116 29.748413]\n [11.8389   22.632692]]", "nav_goal": "(196.6746368408203, 189.53302001953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.8678932 -2.846527 ], 3.4046647548675537 meters away.)"}
{"file_name": "images/scenario_304_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.0) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 6.7 meters away at (-2.2, 6.3). A vehicle with ID 59 is 11.8 meters away at (-6.8, -9.6). A vehicle with ID 62 is 13.5 meters away at (-11.5, -7.1). A vehicle with ID 64 is 16.8 meters away at (-16.3, -4.0). A vehicle with ID 67 is 22.2 meters away at (-22.2, -0.7). A vehicle with ID 69 is 27.8 meters away at (-27.6, 2.9). A vehicle with ID 70 is 28.0 meters away at (-20.1, 19.6). A vehicle with ID 58 is 30.2 meters away at (29.0, -8.6). A pedestrian with ID 61 is 30.4 meters away at (13.7, -27.1). A vehicle with ID 63 is 30.9 meters away at (1.3, -30.9).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [-3.3934703  1.9424932] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.3137157   0.87917626] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-259.9692687988281, 143.0629425048828)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.23341   6.298958], 6.683187007904053 meters away.)"}
{"file_name": "images/scenario_304_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 4.6) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 6.6 meters away at (6.5, 1.3). A vehicle with ID 67 is 11.5 meters away at (-7.0, -9.2). A vehicle with ID 70 is 12.1 meters away at (-4.9, 11.0). A vehicle with ID 64 is 12.5 meters away at (-1.2, -12.5). A vehicle with ID 69 is 13.7 meters away at (-12.4, -5.6). A vehicle with ID 62 is 16.0 meters away at (3.7, -15.6). A pedestrian with ID 72 is 17.4 meters away at (-4.0, 16.9). A pedestrian with ID 36 is 18.2 meters away at (-4.6, 17.6). A pedestrian with ID 44 is 18.8 meters away at (-5.3, 18.0). A pedestrian with ID 31 is 19.4 meters away at (-6.1, 18.4).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [-3.2893126  1.7600799] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.05399609 -0.01210024] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.02572235  0.00210987] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.00569116 -0.01121079] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.03878588  0.00308846] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-259.9692687988281, 143.0629425048828)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [6.4558372 1.2525024], 6.57621431350708 meters away.)"}
{"file_name": "images/scenario_304_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 5.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 10.2 meters away at (10.0, 1.6). A pedestrian with ID 74 is 11.3 meters away at (6.2, 9.5). A pedestrian with ID 73 is 12.1 meters away at (8.1, 9.0). A pedestrian with ID 31 is 12.6 meters away at (8.9, 9.0). A pedestrian with ID 44 is 12.9 meters away at (9.7, 8.6). A pedestrian with ID 36 is 13.2 meters away at (10.4, 8.1). A pedestrian with ID 72 is 13.3 meters away at (11.0, 7.4). A vehicle with ID 69 is 15.3 meters away at (2.6, -15.1). A vehicle with ID 37 is 15.5 meters away at (-15.5, -0.1). A vehicle with ID 57 is 16.2 meters away at (15.5, -4.9).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.00257845 0.00866472] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.01177426 -0.00830455] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.01767613 0.00181283] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.02148962 0.00561706] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.01944239 0.00264217] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.01461327 0.00120856] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 9.947626 -5.833927] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-2.783983   1.4840744] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-259.9692687988281, 143.0629425048828)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [10.04739    1.5921803], 10.172761917114258 meters away.)"}
{"file_name": "images/scenario_304_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 4.8) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 21 is 2.1 meters away at (-0.7, -1.9). A vehicle with ID 27 is 6.3 meters away at (-6.0, -1.6). A vehicle with ID 25 is 8.5 meters away at (-1.7, 8.3). A vehicle with ID 45 is 8.7 meters away at (-6.0, -6.3). A vehicle with ID 56 is 13.5 meters away at (-11.0, -8.0). A vehicle with ID 20 is 17.6 meters away at (-17.1, -4.2). A pedestrian with ID 74 is 21.6 meters away at (21.5, -0.5). A vehicle with ID 17 is 22.5 meters away at (-22.5, -1.2). A pedestrian with ID 73 is 24.1 meters away at (24.1, -0.9). A vehicle with ID 75 is 24.6 meters away at (-4.8, -24.1).", "velocity_description": "The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 8.710013  -5.1345587] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 8.696526 -5.17183 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.75833005  0.13287233] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.0213151  -0.04534722] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-121.76207    55.977047]\n [-121.74682    55.969997]]", "nav_goal": "(-259.9692687988281, 143.0629425048828)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.7378082 -1.9310379], 2.0671885013580322 meters away.)"}
{"file_name": "images/scenario_305_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 12.8 meters away at (2.9, -12.5). A vehicle with ID 32 is 13.5 meters away at (13.5, -0.2). A vehicle with ID 36 is 17.8 meters away at (9.9, -14.8). A vehicle with ID 42 is 24.1 meters away at (16.7, -17.3). A vehicle with ID 49 is 31.1 meters away at (24.1, -19.6). A vehicle with ID 51 is 33.0 meters away at (32.3, -6.7). A vehicle with ID 37 is 33.1 meters away at (31.3, -10.7). A vehicle with ID 30 is 33.1 meters away at (-32.8, 4.2). A vehicle with ID 56 is 36.8 meters away at (29.8, -21.6). A vehicle with ID 35 is 41.1 meters away at (-40.6, 6.9).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.005924   1.5269438] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-5.025402   1.7059951] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 0.45254827 -0.15951839] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.117262    -0.39625224]\n [-14.719766     5.007679  ]\n [-23.938377     1.4733518 ]\n [-12.937533     7.652931  ]]", "nav_goal": "(110.6349105834961, 206.27391052246094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.912651 -12.474641], 12.810160636901855 meters away.)"}
{"file_name": "images/scenario_305_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 8.5 meters away at (8.3, 1.7). A vehicle with ID 28 is 12.8 meters away at (3.0, -12.5). A vehicle with ID 36 is 17.9 meters away at (9.9, -14.9). A vehicle with ID 37 is 23.1 meters away at (21.8, -7.6). A vehicle with ID 42 is 24.1 meters away at (16.7, -17.3). A vehicle with ID 49 is 31.2 meters away at (24.2, -19.7). A vehicle with ID 30 is 31.8 meters away at (-31.6, 3.8). A vehicle with ID 51 is 33.0 meters away at (32.3, -6.7). A vehicle with ID 56 is 36.8 meters away at (29.8, -21.6). A vehicle with ID 35 is 40.0 meters away at (-39.4, 6.5).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.3325897  0.4802459] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.358796   1.4123198] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 0.67340326 -0.23652157] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.117262    -0.39625224]\n [-14.719766     5.007679  ]\n [-23.938377     1.4733518 ]\n [-12.937533     7.652931  ]]", "nav_goal": "(110.6349105834961, 206.27391052246094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [8.291337  1.6678898], 8.457429885864258 meters away.)"}
{"file_name": "images/scenario_305_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 7.4 meters away at (7.1, 2.1). A vehicle with ID 28 is 12.8 meters away at (3.0, -12.5). A vehicle with ID 37 is 15.2 meters away at (14.3, -5.1). A vehicle with ID 36 is 17.9 meters away at (9.9, -14.9). A vehicle with ID 42 is 24.1 meters away at (16.8, -17.3). A vehicle with ID 30 is 30.6 meters away at (-30.4, 3.3). A vehicle with ID 49 is 31.2 meters away at (24.2, -19.7). A vehicle with ID 62 is 31.9 meters away at (30.1, -10.5). A vehicle with ID 51 is 33.0 meters away at (32.3, -6.7). A vehicle with ID 56 is 36.8 meters away at (29.8, -21.6).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-3.039199   1.0249385] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 0.54665023 -0.20271906] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-5.6937013  2.0318844] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.117262    -0.39625224]\n [-14.719766     5.007679  ]\n [-23.938377     1.4733518 ]\n [-12.937533     7.652931  ]]", "nav_goal": "(110.6349105834961, 206.27391052246094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [7.080282 2.111622], 7.388460159301758 meters away.)"}
{"file_name": "images/scenario_305_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 7.4 meters away at (7.0, 2.1). A vehicle with ID 37 is 10.5 meters away at (9.9, -3.6). A vehicle with ID 28 is 12.8 meters away at (3.0, -12.5). A vehicle with ID 36 is 17.9 meters away at (9.9, -14.9). A pedestrian with ID 24 is 21.7 meters away at (-14.9, -15.8). A vehicle with ID 62 is 22.6 meters away at (21.3, -7.4). A vehicle with ID 42 is 24.1 meters away at (16.8, -17.3). A vehicle with ID 30 is 29.8 meters away at (-29.7, 3.1). A vehicle with ID 49 is 31.2 meters away at (24.2, -19.7). A vehicle with ID 51 is 33.1 meters away at (32.4, -6.7).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.4834782  0.4757063] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.5653238 1.249551 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-2.7458808  0.9476644] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.117262    -0.39625224]\n [-14.719766     5.007679  ]\n [-23.938377     1.4733518 ]\n [-12.937533     7.652931  ]]", "nav_goal": "(110.6349105834961, 206.27391052246094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [7.0360365 2.1273673], 7.350612163543701 meters away.)"}
{"file_name": "images/scenario_306_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.3) m/s. Its current heading (yaw) is -1.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 3.5 meters away at (3.2, -1.4). A unknown object with ID 23 is 21.5 meters away at (14.0, -16.3). A unknown object with ID 24 is 22.7 meters away at (15.3, -16.8). A pedestrian with ID 36 is 35.6 meters away at (31.1, -17.4). A unknown object with ID 11 is 36.2 meters away at (29.8, -20.7). A vehicle with ID 34 is 36.4 meters away at (-34.7, 11.1). A pedestrian with ID 37 is 50.4 meters away at (-50.4, -0.3). A pedestrian with ID 40 is 54.9 meters away at (-54.3, 8.1). A cyclist with ID 41 is 54.9 meters away at (-54.4, 7.9). A unknown object with ID 43 is 57.9 meters away at (-55.4, 16.8).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.363126  -0.5757499] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.3224843 -1.1715662] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.5737876 -1.4123578] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [ 0.61642766 -1.4968272 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 69.22844  -49.316513]\n [ 67.43483  -52.28206 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.2336128 -1.4278401], 3.5348236560821533 meters away.)"}
{"file_name": "images/scenario_306_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.4) m/s. Its current heading (yaw) is -1.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 3.3 meters away at (3.2, -1.0). A unknown object with ID 23 is 21.1 meters away at (14.1, -15.7). A unknown object with ID 24 is 22.3 meters away at (15.3, -16.3). A pedestrian with ID 13 is 29.3 meters away at (-29.0, 4.8). A pedestrian with ID 36 is 38.0 meters away at (33.5, -18.0). A pedestrian with ID 40 is 53.2 meters away at (-53.0, 5.2). A unknown object with ID 43 is 58.1 meters away at (-55.6, 16.9). A unknown object with ID 45 is 60.1 meters away at (-57.4, 17.8). A unknown object with ID 46 is 62.3 meters away at (-59.4, 18.6). A unknown object with ID 47 is 66.7 meters away at (-62.9, 22.2).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.05051817 1.2630054 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.308827   -0.29135317] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.68407935 -1.3393457 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.1690311 -1.0374669], 3.334530830383301 meters away.)"}
{"file_name": "images/scenario_306_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -1.1) m/s. Its current heading (yaw) is -1.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 3.3 meters away at (3.2, 0.7). A unknown object with ID 23 is 19.9 meters away at (14.1, -14.0). A unknown object with ID 3 is 20.9 meters away at (16.4, -12.8). A unknown object with ID 24 is 21.1 meters away at (15.3, -14.5). A unknown object with ID 2 is 21.4 meters away at (16.2, -13.9). A pedestrian with ID 36 is 40.0 meters away at (36.1, -17.3). A unknown object with ID 35 is 49.1 meters away at (-49.1, 1.9). A pedestrian with ID 40 is 51.2 meters away at (-51.0, 4.3). A unknown object with ID 43 is 58.6 meters away at (-55.5, 18.6). A unknown object with ID 45 is 60.6 meters away at (-57.4, 19.6).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.2305019 -0.5166638] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.7654669 -1.082643 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.2145827 0.7089648], 3.2918343544006348 meters away.)"}
{"file_name": "images/scenario_306_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.9) m/s. Its current heading (yaw) is -1.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 5.1 meters away at (3.7, 3.5). A unknown object with ID 23 is 18.4 meters away at (14.6, -11.2). A unknown object with ID 3 is 18.8 meters away at (16.2, -9.5). A unknown object with ID 4 is 19.6 meters away at (16.8, -10.1). A unknown object with ID 24 is 19.7 meters away at (15.8, -11.7). A unknown object with ID 2 is 20.1 meters away at (16.6, -11.2). A pedestrian with ID 36 is 42.2 meters away at (39.2, -15.6). A unknown object with ID 35 is 48.8 meters away at (-48.6, 4.7). A unknown object with ID 43 is 59.1 meters away at (-55.0, 21.6). A unknown object with ID 46 is 63.3 meters away at (-58.8, 23.3).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.2778984 -0.5498872] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.7029138 3.5192292], 5.108477592468262 meters away.)"}
{"file_name": "images/scenario_307_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 5.2) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 8.8 meters away at (-8.7, 1.1). A pedestrian with ID 20 is 26.8 meters away at (-26.7, -1.0). A vehicle with ID 23 is 27.9 meters away at (-25.1, 12.1). A vehicle with ID 32 is 33.5 meters away at (-24.3, 23.0). A vehicle with ID 16 is 36.0 meters away at (-30.7, 18.7). A vehicle with ID 35 is 46.3 meters away at (36.7, -28.3). A pedestrian with ID 36 is 59.7 meters away at (53.5, -26.5). A vehicle with ID 38 is 62.3 meters away at (55.3, -28.7). A vehicle with ID 21 is 73.3 meters away at (61.3, -40.1).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1056043  0.6925912] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-9.122492  4.197523] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.02014893 -0.00724516] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-10.107772   6.688374] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.686245   1.1491985], 8.761935234069824 meters away.)"}
{"file_name": "images/scenario_307_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 5.1) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 9.5 meters away at (-9.4, 1.7). A vehicle with ID 22 is 11.6 meters away at (7.1, -9.3). A vehicle with ID 32 is 15.2 meters away at (-8.5, 12.6). A pedestrian with ID 20 is 16.6 meters away at (-13.2, -10.0). A vehicle with ID 16 is 36.6 meters away at (-32.8, 16.1). A unknown object with ID 12 is 39.5 meters away at (-34.3, 19.5). A unknown object with ID 13 is 39.7 meters away at (-33.9, 20.6). A unknown object with ID 27 is 40.9 meters away at (-35.3, 20.7). A vehicle with ID 35 is 65.1 meters away at (52.4, -38.8). A vehicle with ID 21 is 68.5 meters away at (57.3, -37.6).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.0633496   0.67118657] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-8.59837   3.655134] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-9.754961  6.142455] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.363182   1.6881695], 9.514152526855469 meters away.)"}
{"file_name": "images/scenario_307_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, 4.0) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 8.0 meters away at (7.2, 3.5). A vehicle with ID 23 is 9.7 meters away at (6.3, -7.4). A pedestrian with ID 20 is 17.6 meters away at (0.5, -17.6). A unknown object with ID 12 is 21.1 meters away at (-18.4, 10.4). A unknown object with ID 13 is 21.3 meters away at (-18.0, 11.5). A unknown object with ID 27 is 22.3 meters away at (-19.0, 11.7). A vehicle with ID 22 is 29.5 meters away at (23.0, -18.4). A vehicle with ID 16 is 35.7 meters away at (-33.0, 13.8). A vehicle with ID 21 is 64.7 meters away at (54.5, -34.8).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1206247   0.73260707] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-7.2264595  3.0115132] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-9.103554   5.8524184] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [7.2273903 3.5156078], 8.037080764770508 meters away.)"}
{"file_name": "images/scenario_307_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 3.3) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 3.5 meters away at (-1.9, 2.9). A unknown object with ID 13 is 4.2 meters away at (-1.5, 3.9). A vehicle with ID 32 is 24.0 meters away at (23.7, -3.9). A vehicle with ID 23 is 27.3 meters away at (22.9, -14.8). A pedestrian with ID 20 is 27.8 meters away at (14.8, -23.6). A vehicle with ID 16 is 31.2 meters away at (-29.0, 11.6). A unknown object with ID 30 is 31.7 meters away at (-23.6, 21.1). A unknown object with ID 2 is 32.5 meters away at (-25.1, 20.6). A vehicle with ID 22 is 47.4 meters away at (39.6, -26.0). A vehicle with ID 21 is 61.8 meters away at (53.7, -30.5).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1182588   0.74582815] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-5.195266   2.1770191] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-8.732385   5.8273983] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.931366  2.905304], 3.4886910915374756 meters away.)"}
{"file_name": "images/scenario_308_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 2.7) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 8.2 meters away at (-5.0, -6.5). A vehicle with ID 11 is 14.4 meters away at (-1.1, -14.4). A vehicle with ID 13 is 23.3 meters away at (12.7, -19.6). A vehicle with ID 14 is 25.8 meters away at (-3.5, -25.6). A vehicle with ID 15 is 30.9 meters away at (-4.2, -30.6). A pedestrian with ID 17 is 31.4 meters away at (-15.3, -27.4). A pedestrian with ID 18 is 31.7 meters away at (-16.3, -27.2). A vehicle with ID 19 is 36.3 meters away at (-4.6, -36.0). A cyclist with ID 16 is 37.9 meters away at (36.5, 10.2). A vehicle with ID 21 is 39.8 meters away at (30.3, 25.9).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0.6324352 0.967986 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.00631955 -0.01016524] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00995957 -0.00262645] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [ 4.383061  -3.5801964] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-80.50341033935547, 44.501590728759766)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.008969  -6.5020556], 8.207709312438965 meters away.)"}
{"file_name": "images/scenario_308_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 3.9) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 14.0 meters away at (8.1, -11.4). A vehicle with ID 11 is 23.4 meters away at (10.2, -21.1). A vehicle with ID 14 is 33.2 meters away at (7.9, -32.2). A pedestrian with ID 17 is 34.5 meters away at (-3.7, -34.3). A pedestrian with ID 18 is 34.6 meters away at (-5.8, -34.1). A vehicle with ID 13 is 35.7 meters away at (24.1, -26.3). A vehicle with ID 15 is 38.0 meters away at (7.1, -37.4). A vehicle with ID 19 is 43.2 meters away at (6.7, -42.7). A vehicle with ID 21 is 45.9 meters away at (41.6, 19.2). A cyclist with ID 16 is 58.3 meters away at (58.2, -3.9).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [1.3854768 0.8850136] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.1109634  -0.33603364] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7810317   0.31981435] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [ 5.6742043 -3.7537003] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-80.50341033935547, 44.501590728759766)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  8.0645895 -11.442953 ], 13.999242782592773 meters away.)"}
{"file_name": "images/scenario_308_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 4.4) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 33.1 meters away at (27.0, -19.2). A vehicle with ID 11 is 38.6 meters away at (25.0, -29.4). A vehicle with ID 14 is 46.6 meters away at (22.8, -40.6). A unknown object with ID 8 is 50.4 meters away at (-16.3, 47.7). A vehicle with ID 13 is 52.1 meters away at (38.9, -34.7). A pedestrian with ID 2 is 53.0 meters away at (-37.8, 37.2). A vehicle with ID 21 is 57.5 meters away at (56.4, 10.8). A vehicle with ID 4 is 71.0 meters away at (71.0, 1.9).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.878221  -0.5429435] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.8657434 1.1984801] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-80.50341033935547, 44.501590728759766)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 27.012463 -19.17967 ], 33.12903594970703 meters away.)"}
{"file_name": "images/scenario_308_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 3.9) m/s. Its current heading (yaw) is 2.65 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 37.9 meters away at (-21.2, 31.5). A vehicle with ID 11 is 54.8 meters away at (40.0, -37.5). A vehicle with ID 12 is 58.0 meters away at (48.9, -31.1). A vehicle with ID 13 is 68.8 meters away at (53.9, -42.7). A vehicle with ID 21 is 71.3 meters away at (71.3, 2.8).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.62120086 1.1951442 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.1649075 -2.8009584] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-80.50341033935547, 44.501590728759766)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-21.161243  31.46441 ], 37.91843032836914 meters away.)"}
{"file_name": "images/scenario_309_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 0.5) m/s. Its current heading (yaw) is 2.97 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 6.8 meters away at (0.3, -6.8). A unknown object with ID 32 is 7.3 meters away at (2.8, -6.7). A unknown object with ID 9 is 7.3 meters away at (-2.1, -7.0). A vehicle with ID 36 is 8.0 meters away at (5.9, -5.4). A vehicle with ID 31 is 16.2 meters away at (-3.3, -15.8). A pedestrian with ID 39 is 18.6 meters away at (17.7, 5.7). A pedestrian with ID 40 is 20.3 meters away at (-19.8, -4.7). A pedestrian with ID 41 is 20.9 meters away at (-20.1, -5.5). A vehicle with ID 33 is 21.6 meters away at (-5.2, -20.9). A vehicle with ID 55 is 22.4 meters away at (0.2, 22.4).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 5.0418277 -1.581988 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.2800554 -0.4337973] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.5282931  0.6207418] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.5484353  0.6194232] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(131.80929565429688, -154.56192016601562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 0.29142904 -6.768671  ], 6.774941921234131 meters away.)"}
{"file_name": "images/scenario_309_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -1.5) m/s. Its current heading (yaw) is -2.78 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 7.7 meters away at (4.7, -6.2). A unknown object with ID 30 is 9.3 meters away at (7.1, -6.0). A unknown object with ID 32 is 11.3 meters away at (9.7, -5.9). A vehicle with ID 31 is 15.5 meters away at (3.5, -15.0). A pedestrian with ID 40 is 16.1 meters away at (-15.8, -3.0). A pedestrian with ID 41 is 16.5 meters away at (-16.1, -3.6). A vehicle with ID 33 is 20.2 meters away at (1.6, -20.1). A unknown object with ID 42 is 21.7 meters away at (-1.5, 21.6). A vehicle with ID 36 is 23.6 meters away at (22.3, -7.6). A vehicle with ID 55 is 24.2 meters away at (7.0, 23.1).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.393357   0.5411475] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.4060086   0.54089826] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 4.49316   -1.3093534] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(131.80929565429688, -154.56192016601562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 4.696111  -6.1513295], 7.739012718200684 meters away.)"}
{"file_name": "images/scenario_309_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -4.0) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A pedestrian with ID 41 is 11.4 meters away at (-11.0, 3.2). A pedestrian with ID 40 is 11.5 meters away at (-10.8, 3.8). A unknown object with ID 9 is 12.3 meters away at (12.3, -0.4). A vehicle with ID 31 is 14.5 meters away at (11.1, -9.3). A unknown object with ID 30 is 14.7 meters away at (14.7, -0.3). A vehicle with ID 33 is 17.2 meters away at (9.3, -14.5). A unknown object with ID 32 is 17.3 meters away at (17.3, -0.2). A unknown object with ID 34 is 26.4 meters away at (-15.3, -21.5). A vehicle with ID 57 is 26.5 meters away at (-23.9, 11.6). A unknown object with ID 42 is 28.1 meters away at (6.2, 27.4).", "velocity_description": "The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.3784989   0.60205746] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.3176959   0.64689285] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(131.80929565429688, -154.56192016601562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-10.950939    3.2018526], 11.409422874450684 meters away.)"}
{"file_name": "images/scenario_309_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -4.9) m/s. Its current heading (yaw) is -2.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 15.7 meters away at (14.8, -5.3). A unknown object with ID 34 is 15.7 meters away at (-9.8, -12.3). A vehicle with ID 31 is 16.4 meters away at (16.4, -0.1). A unknown object with ID 35 is 19.3 meters away at (-11.0, -15.9). A unknown object with ID 9 is 19.8 meters away at (17.7, 8.9). A unknown object with ID 30 is 22.2 meters away at (20.3, 9.1). A unknown object with ID 32 is 24.5 meters away at (22.7, 9.1). A vehicle with ID 20 is 30.0 meters away at (24.0, 18.0). A vehicle with ID 47 is 38.0 meters away at (-12.6, -35.8). A unknown object with ID 42 is 38.5 meters away at (11.6, 36.7).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-11.847841    3.6213648] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(131.80929565429688, -154.56192016601562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [14.767944 -5.257455], 15.675872802734375 meters away.)"}
{"file_name": "images/scenario_310_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.3) m/s. Its current heading (yaw) is 2.77 ", "actor_description": " The most relevant actors are: A pedestrian with ID 56 is 8.8 meters away at (4.1, 7.8). A pedestrian with ID 54 is 9.2 meters away at (7.1, 5.9). A vehicle with ID 66 is 9.3 meters away at (7.8, -5.0). A pedestrian with ID 62 is 10.1 meters away at (2.7, 9.7). A pedestrian with ID 70 is 12.7 meters away at (2.5, 12.5). A vehicle with ID 74 is 16.1 meters away at (-3.1, 15.8). A pedestrian with ID 48 is 16.8 meters away at (16.7, 1.4). A pedestrian with ID 45 is 17.2 meters away at (17.0, 2.0). A pedestrian with ID 49 is 18.3 meters away at (18.3, 0.8). A pedestrian with ID 50 is 18.7 meters away at (18.6, 1.4).", "velocity_description": "The pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.0367208  0.8160684] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-1.277732    0.70379764] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-4.5266013  1.2577413] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.8152567  0.819701 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.55954784 -1.1448106 ] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 0.72765523 -4.898339  ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.0635885   0.44955158] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.0415319  0.4505208] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.0071527  0.4955878] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.0328255   0.49717584] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [4.0598836 7.7977695], 8.791351318359375 meters away.)"}
{"file_name": "images/scenario_310_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 3.7 meters away at (1.2, -3.5). A vehicle with ID 74 is 7.0 meters away at (2.2, 6.6). A pedestrian with ID 54 is 9.0 meters away at (5.2, 7.3). A pedestrian with ID 56 is 10.1 meters away at (2.9, 9.7). A pedestrian with ID 70 is 10.8 meters away at (4.2, 10.0). A pedestrian with ID 62 is 11.4 meters away at (2.5, 11.2). A pedestrian with ID 48 is 15.2 meters away at (15.1, 2.3). A pedestrian with ID 45 is 15.7 meters away at (15.4, 3.0). A pedestrian with ID 49 is 16.8 meters away at (16.7, 1.4). A pedestrian with ID 50 is 17.2 meters away at (17.0, 2.1).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [-2.4338424   0.41238725] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 4.3283844 -3.7617996] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.9476122  0.7885771] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.66895485  1.0984957 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.63017106 -1.2546161 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.2023996  0.5448221] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.93954945  0.63796884] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.9607033   0.59551895] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.92839324  0.4620285 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.925693   0.4506293] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.2339091 -3.526075 ], 3.7357375621795654 meters away.)"}
{"file_name": "images/scenario_310_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 3.8 meters away at (-2.0, -3.2). A pedestrian with ID 70 is 9.7 meters away at (5.7, 7.9). A vehicle with ID 2 is 9.8 meters away at (8.0, -5.7). A pedestrian with ID 54 is 10.2 meters away at (3.3, 9.6). A pedestrian with ID 56 is 12.5 meters away at (2.8, 12.2). A vehicle with ID 74 is 13.5 meters away at (13.5, -0.1). A pedestrian with ID 62 is 13.7 meters away at (1.2, 13.7). A pedestrian with ID 48 is 13.8 meters away at (13.3, 3.8). A pedestrian with ID 49 is 15.0 meters away at (14.8, 2.4). A pedestrian with ID 50 is 15.4 meters away at (15.1, 2.9).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [-0.9951489   0.03306453] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.8581478  -0.94752395] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.8380816  0.7142298] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.7990749  1.1934501] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.27803573  1.2189864 ] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 6.8414407 -2.9765708] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.55483097  1.0608037 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.0218318   0.47622046] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.0009974  0.50683  ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.98395073  0.47361353] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.9822097 -3.1883974], 3.754335403442383 meters away.)"}
{"file_name": "images/scenario_310_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 4.1 meters away at (-2.7, -3.1). A vehicle with ID 16 is 6.7 meters away at (4.7, -4.9). A vehicle with ID 2 is 6.8 meters away at (4.7, -4.9). A pedestrian with ID 70 is 10.1 meters away at (7.8, 6.4). A pedestrian with ID 48 is 11.8 meters away at (11.0, 4.3). A pedestrian with ID 54 is 12.5 meters away at (1.9, 12.3). A pedestrian with ID 49 is 13.1 meters away at (12.8, 3.1). A pedestrian with ID 50 is 13.5 meters away at (13.0, 3.6). A pedestrian with ID 56 is 14.6 meters away at (2.0, 14.5). A pedestrian with ID 62 is 15.8 meters away at (0.6, 15.8).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-0.5451763  0.1310353] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.1077151 -0.5867975] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.1552149   0.37026542] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.67755145  1.3806745 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.0858903   0.34398174] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.073513   0.3991446] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.41084874  1.1497113 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.2790293  1.0620949] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.657167  -3.1471994], 4.118907928466797 meters away.)"}
{"file_name": "images/scenario_311_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 6.5) m/s. Its current heading (yaw) is 1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 9.4 meters away at (-1.1, -9.3). A vehicle with ID 7 is 17.4 meters away at (13.9, -10.5). A vehicle with ID 2 is 21.1 meters away at (1.4, -21.0). A vehicle with ID 8 is 39.9 meters away at (13.7, -37.5).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.9786379  7.2759323] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.6636794  7.527975 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 14.556986 -30.721731]\n [ 11.297343 -33.69844 ]]", "nav_goal": "(-174.8455352783203, 232.3780059814453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.0788782 -9.339377 ], 9.40148639678955 meters away.)"}
{"file_name": "images/scenario_311_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 6.2) m/s. Its current heading (yaw) is 1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 7.2 meters away at (-1.5, -7.1). A vehicle with ID 2 is 20.2 meters away at (2.6, -20.0). A vehicle with ID 7 is 29.4 meters away at (18.1, -23.1). A vehicle with ID 8 is 53.3 meters away at (18.0, -50.2).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.7656631  8.008679 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.7930582  6.7532635] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 14.556986 -30.721731]\n [ 11.297343 -33.69844 ]]", "nav_goal": "(-174.8455352783203, 232.3780059814453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.4616618 -7.088003 ], 7.237143516540527 meters away.)"}
{"file_name": "images/scenario_311_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 6.0) m/s. Its current heading (yaw) is 2.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 3.8 meters away at (-3.0, -2.4). A vehicle with ID 2 is 17.4 meters away at (2.9, -17.2). A vehicle with ID 7 is 42.3 meters away at (23.2, -35.4). A vehicle with ID 8 is 67.7 meters away at (23.1, -63.6). A vehicle with ID 6 is 70.0 meters away at (-31.4, 62.6).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.8594208  9.012888 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-3.1777596  8.428368 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.12110568 -1.816347  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [  9.936602 -11.311935] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-174.8455352783203, 232.3780059814453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.9744654 -2.3513489], 3.791607141494751 meters away.)"}
{"file_name": "images/scenario_311_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 5.8) m/s. Its current heading (yaw) is 2.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 7.6 meters away at (-6.4, 4.2). A vehicle with ID 2 is 10.6 meters away at (0.8, -10.5). A vehicle with ID 6 is 28.5 meters away at (-6.5, 27.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.6840277  9.621713 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-4.610542  9.900418] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [  8.642049 -12.076416] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-174.8455352783203, 232.3780059814453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.376169   4.2131996], 7.642420291900635 meters away.)"}
{"file_name": "images/scenario_312_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, 7.3) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 6.8 meters away at (-6.0, 3.1). A vehicle with ID 83 is 7.4 meters away at (-2.6, 6.9). A unknown object with ID 84 is 7.4 meters away at (7.4, -0.8). A vehicle with ID 80 is 9.3 meters away at (-9.3, -0.6). A vehicle with ID 88 is 10.6 meters away at (0.8, 10.6). A vehicle with ID 78 is 13.5 meters away at (-12.8, -4.3). A vehicle with ID 90 is 15.1 meters away at (4.3, 14.4). A unknown object with ID 92 is 18.6 meters away at (16.1, 9.4). A vehicle with ID 76 is 18.7 meters away at (-16.5, -8.7). A vehicle with ID 93 is 20.3 meters away at (8.2, 18.6).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.0423923  3.1070309], 6.79442024230957 meters away.)"}
{"file_name": "images/scenario_312_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 7.5) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 93 is 6.1 meters away at (-4.6, 4.0). A vehicle with ID 97 is 7.8 meters away at (-1.1, 7.7). A vehicle with ID 90 is 8.4 meters away at (-8.4, -0.1). A vehicle with ID 100 is 12.0 meters away at (2.5, 11.7). A vehicle with ID 88 is 12.6 meters away at (-11.9, -3.9). A unknown object with ID 84 is 16.1 meters away at (-5.4, -15.2). A vehicle with ID 102 is 16.9 meters away at (6.1, 15.8). A vehicle with ID 83 is 17.1 meters away at (-15.3, -7.7). A vehicle with ID 105 is 21.9 meters away at (9.6, 19.7). A vehicle with ID 81 is 22.0 meters away at (-18.8, -11.5).", "velocity_description": "The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.5786915  4.0110664], 6.087123394012451 meters away.)"}
{"file_name": "images/scenario_312_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 7.1) m/s. Its current heading (yaw) is 0.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 105 is 6.3 meters away at (-3.4, 5.4). A vehicle with ID 102 is 6.9 meters away at (-6.7, 1.5). A vehicle with ID 108 is 9.9 meters away at (0.7, 9.9). A vehicle with ID 100 is 10.6 meters away at (-10.3, -2.4). A vehicle with ID 110 is 14.5 meters away at (4.4, 13.9). A vehicle with ID 97 is 15.3 meters away at (-13.8, -6.5). A vehicle with ID 112 is 19.6 meters away at (8.0, 17.9). A vehicle with ID 93 is 20.2 meters away at (-17.4, -10.3). A vehicle with ID 90 is 25.8 meters away at (-21.4, -14.4). A vehicle with ID 59 is 27.3 meters away at (13.5, 23.8).", "velocity_description": "The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.372345   5.3650475], 6.336911201477051 meters away.)"}
{"file_name": "images/scenario_312_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, 7.3) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 112 is 6.1 meters away at (-4.9, 3.7). A vehicle with ID 110 is 8.5 meters away at (-8.5, -0.4). A vehicle with ID 59 is 9.5 meters away at (0.6, 9.5). A unknown object with ID 49 is 12.7 meters away at (0.8, -12.7). A vehicle with ID 108 is 12.9 meters away at (-12.1, -4.3). A vehicle with ID 43 is 14.9 meters away at (4.7, 14.1). A vehicle with ID 105 is 18.5 meters away at (-16.2, -8.8). A vehicle with ID 102 is 23.5 meters away at (-19.7, -12.8). A vehicle with ID 100 is 28.7 meters away at (-23.3, -16.8). A vehicle with ID 97 is 33.9 meters away at (-26.8, -20.8).", "velocity_description": "The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.888199   3.6693878], 6.112192153930664 meters away.)"}
{"file_name": "images/scenario_313_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -5.8) m/s. Its current heading (yaw) is -2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 49.4 meters away at (40.9, 27.6).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [ 12.2971945 -17.50745  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(87.85938262939453, -244.48863220214844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [40.931633 27.58373 ], 49.35849380493164 meters away.)"}
{"file_name": "images/scenario_313_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -7.2) m/s. Its current heading (yaw) is -2.17 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(87.85938262939453, -244.48863220214844)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_313_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -8.7) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 68.5 meters away at (11.2, -67.6).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(87.85938262939453, -244.48863220214844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 11.198664 -67.59566 ], 68.51702880859375 meters away.)"}
{"file_name": "images/scenario_313_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -9.4) m/s. Its current heading (yaw) is -1.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 51.8 meters away at (15.1, -49.5). A pedestrian with ID 7 is 54.8 meters away at (23.2, 49.6). A vehicle with ID 1 is 73.1 meters away at (27.9, -67.6).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.30858225 0.00967383] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(87.85938262939453, -244.48863220214844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 15.110264 -49.51058 ], 51.76502227783203 meters away.)"}
{"file_name": "images/scenario_314_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 4.0 meters away at (-3.8, 1.0). A vehicle with ID 41 is 11.0 meters away at (4.0, 10.2). A vehicle with ID 36 is 16.5 meters away at (-13.2, -9.9). A vehicle with ID 39 is 19.8 meters away at (12.9, 15.1). A vehicle with ID 37 is 29.8 meters away at (-22.1, -20.0). A vehicle with ID 46 is 32.0 meters away at (17.6, 26.7). A vehicle with ID 40 is 35.8 meters away at (-28.1, -22.2). A vehicle with ID 42 is 41.4 meters away at (-29.8, -28.7). A unknown object with ID 26 is 43.5 meters away at (20.7, 38.2). A vehicle with ID 45 is 45.4 meters away at (29.5, 34.6).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [-2.0366728 -2.3740926] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-2.6781433 -3.1698844] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.9453223 -2.291456 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [5.8542757 6.7721963] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-0.5438592 -0.6895903] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.7723556 -5.7189364] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.29192328 -0.2981706 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [6.542266 7.38989 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 38.06295   65.147255]\n [-33.61048  -34.36977 ]\n [ 38.24779   65.16204 ]\n [ 36.68333   63.434635]\n [ 38.324467  65.090836]\n [-28.01506  -38.81349 ]\n [-33.933464 -34.155754]]", "nav_goal": "(-121.1974105834961, 77.5549087524414)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.8432236  1.0138702], 3.97470760345459 meters away.)"}
{"file_name": "images/scenario_314_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 6.9) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 4.2 meters away at (-1.4, 4.0). A vehicle with ID 41 is 14.4 meters away at (-11.7, -8.4). A vehicle with ID 39 is 20.3 meters away at (13.4, 15.3). A unknown object with ID 19 is 21.2 meters away at (5.5, 20.4). A vehicle with ID 38 is 24.3 meters away at (-18.3, -16.0). A vehicle with ID 36 is 38.7 meters away at (-27.6, -27.2). A vehicle with ID 35 is 47.7 meters away at (6.9, 47.2). A vehicle with ID 37 is 48.2 meters away at (-34.0, -34.2). A vehicle with ID 45 is 48.4 meters away at (32.2, 36.1). A cyclist with ID 3 is 57.4 meters away at (29.9, 49.0).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.864591  -3.3731425] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.5475252 -1.8441291] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [6.5157514 7.4682703] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.0821345 -1.2342743] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.86943203 -1.0340569 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [7.834316  7.8461967] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [0.02387767 0.02941626] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 38.06295   65.147255]\n [-33.61048  -34.36977 ]\n [ 38.24779   65.16204 ]\n [ 36.68333   63.434635]\n [ 38.324467  65.090836]\n [-33.933464 -34.155754]]", "nav_goal": "(-121.1974105834961, 77.5549087524414)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.4154682  4.006441 ], 4.249131679534912 meters away.)"}
{"file_name": "images/scenario_314_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.0) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 22.8 meters away at (-17.4, -14.7). A unknown object with ID 23 is 23.8 meters away at (-23.4, 4.7). A vehicle with ID 39 is 24.3 meters away at (16.4, 18.0). A vehicle with ID 35 is 34.6 meters away at (-4.0, 34.4). A vehicle with ID 41 is 35.5 meters away at (-25.5, -24.7). A vehicle with ID 8 is 37.8 meters away at (35.9, 11.9). A cyclist with ID 3 is 40.9 meters away at (19.0, 36.2). A vehicle with ID 32 is 41.7 meters away at (25.7, 32.8). A pedestrian with ID 12 is 42.3 meters away at (5.1, 42.0). A cyclist with ID 1 is 42.4 meters away at (17.1, 38.8).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.0906527 -2.463352 ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [7.819569 8.094091] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.2656828 -1.4686555] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [0.01169515 0.01060555] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.04791597 -0.7538722 ] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [0.04408777 0.05530335] m/s.", "light_description": "There are active red lights at the following coordinates: [[45.682785 58.31694 ]\n [38.06295  65.147255]\n [63.867165 51.903004]\n [38.24779  65.16204 ]\n [36.68333  63.434635]\n [63.871223 51.909008]\n [64.82805  52.969563]\n [52.936974 66.21578 ]\n [38.324467 65.090836]\n [64.07827  51.768898]]", "nav_goal": "(-121.1974105834961, 77.5549087524414)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-17.378664 -14.718191], 22.77373695373535 meters away.)"}
{"file_name": "images/scenario_314_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.7) m/s. Its current heading (yaw) is 0.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 26.1 meters away at (15.6, 21.0). A vehicle with ID 35 is 26.1 meters away at (-12.0, 23.2). A vehicle with ID 8 is 26.8 meters away at (26.7, 1.4). A cyclist with ID 3 is 27.7 meters away at (10.0, 25.8). A cyclist with ID 1 is 29.4 meters away at (8.1, 28.2). A cyclist with ID 25 is 29.5 meters away at (9.7, 27.9). A pedestrian with ID 12 is 30.6 meters away at (-3.4, 30.4). A vehicle with ID 39 is 33.5 meters away at (24.0, 23.4). A vehicle with ID 9 is 34.2 meters away at (21.4, 26.7). A vehicle with ID 46 is 41.9 meters away at (-30.1, -29.1).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.15349   -1.9273913] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 0.66769874 -0.36764234] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [ 0.06054874 -0.01637905] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.08872388 -0.13012874] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-0.07047099 -0.19970882] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.54528064 -0.41692284] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [8.749997  7.8172145] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.0336306 -1.0522819] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-1.4656103 -1.5483023] m/s.", "light_description": "There are active red lights at the following coordinates: [[38.06295  65.147255]\n [63.867165 51.903004]\n [38.24779  65.16204 ]\n [36.68333  63.434635]\n [63.871223 51.909008]\n [64.82805  52.969563]\n [52.936974 66.21578 ]\n [38.324467 65.090836]\n [64.07827  51.768898]]", "nav_goal": "(-121.1974105834961, 77.5549087524414)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [15.570328 20.968685], 26.117443084716797 meters away.)"}
{"file_name": "images/scenario_315_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 5.5) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 3.1 meters away at (-0.3, 3.1). A unknown object with ID 40 is 6.4 meters away at (1.0, -6.4). A unknown object with ID 31 is 7.0 meters away at (-4.4, 5.5). A unknown object with ID 79 is 7.7 meters away at (7.6, -1.4). A unknown object with ID 77 is 14.0 meters away at (8.8, -10.8). A pedestrian with ID 88 is 14.1 meters away at (-13.7, -3.1). A unknown object with ID 90 is 15.4 meters away at (-15.1, 2.9). A unknown object with ID 76 is 16.5 meters away at (15.4, -5.9). A pedestrian with ID 91 is 24.1 meters away at (-13.9, 19.7). A vehicle with ID 86 is 29.2 meters away at (25.3, -14.6).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 1.1869522 -0.7204742] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.9146048  1.0296366] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-8.976718   5.2919173] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.859047  18.41146 ]\n [-54.328686  18.723564]]", "nav_goal": "(-101.31370544433594, 213.04254150390625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.3087616  3.0671024], 3.0826046466827393 meters away.)"}
{"file_name": "images/scenario_315_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 7.2) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A pedestrian with ID 91 is 9.4 meters away at (1.5, 9.3). A unknown object with ID 90 is 9.9 meters away at (2.2, -9.6). A unknown object with ID 71 is 10.0 meters away at (9.8, -2.2). A unknown object with ID 34 is 17.3 meters away at (10.0, -14.2). A pedestrian with ID 88 is 18.2 meters away at (5.9, -17.3). A vehicle with ID 69 is 22.6 meters away at (-20.3, -9.9). A vehicle with ID 38 is 23.6 meters away at (-19.4, 13.5). A pedestrian with ID 98 is 24.2 meters away at (-23.9, 3.9). A unknown object with ID 40 is 26.4 meters away at (18.4, -19.0). A pedestrian with ID 100 is 26.5 meters away at (-25.9, 5.3).", "velocity_description": "The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.83977354  1.1799641 ] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 1.1197281 -0.7473239] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [  9.505729 -10.79556 ] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-0.00502529  0.01130646] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.00490599  0.00802719] m/s.", "light_description": "There are active red lights at the following coordinates: [[-33.904263  20.097607]\n [-53.859047  18.41146 ]\n [-54.328686  18.723564]]", "nav_goal": "(-101.31370544433594, 213.04254150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [1.5228653 9.279474 ], 9.403603553771973 meters away.)"}
{"file_name": "images/scenario_315_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 8.2) m/s. Its current heading (yaw) is 2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 13.7 meters away at (-3.3, 13.2). A pedestrian with ID 98 is 14.4 meters away at (-8.7, -11.5). A pedestrian with ID 100 is 14.7 meters away at (-10.7, -10.0). A pedestrian with ID 91 is 15.6 meters away at (15.1, -3.7). A vehicle with ID 27 is 19.0 meters away at (-6.6, 17.8). A vehicle with ID 33 is 20.1 meters away at (-18.3, -8.4). A vehicle with ID 60 is 24.0 meters away at (-9.6, 22.0). A vehicle with ID 69 is 25.8 meters away at (-5.3, -25.3). A vehicle with ID 38 is 27.4 meters away at (16.8, -21.7). A pedestrian with ID 28 is 28.0 meters away at (-25.2, 12.2).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-0.00046382  0.02568579] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [0.02525034 0.02971932] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.7079904  1.0717396] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [11.534075 -8.471035] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.6997496 -0.9274371] m/s.", "light_description": "There are active red lights at the following coordinates: [[-33.904263  20.097607]\n [-53.859047  18.41146 ]\n [-33.98678   20.446257]\n [-54.328686  18.723564]\n [-33.73878   20.817501]]", "nav_goal": "(-101.31370544433594, 213.04254150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.3420067 13.243603 ], 13.658771514892578 meters away.)"}
{"file_name": "images/scenario_315_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 8.8) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 6.2 meters away at (-6.2, 0.4). A vehicle with ID 60 is 6.4 meters away at (4.0, 4.9). A vehicle with ID 27 is 7.0 meters away at (7.0, 0.7). A vehicle with ID 29 is 11.0 meters away at (10.3, -3.8). A pedestrian with ID 28 is 12.1 meters away at (-10.1, -6.7). A vehicle with ID 20 is 13.5 meters away at (-2.3, 13.3). A pedestrian with ID 24 is 18.4 meters away at (-17.3, 6.4). A vehicle with ID 19 is 18.7 meters away at (-5.6, 17.8). A pedestrian with ID 25 is 18.8 meters away at (-17.9, 5.8). A pedestrian with ID 26 is 19.4 meters away at (-18.7, 5.1).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [ 6.82898  -9.088393] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.74664205 -0.88741845] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.83066905 -1.1265891 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.8187691 -1.1396748] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.8035809 -1.0591006] m/s.", "light_description": "There are active red lights at the following coordinates: [[-33.904263  20.097607]\n [-53.859047  18.41146 ]\n [-54.328686  18.723564]]", "nav_goal": "(-101.31370544433594, 213.04254150390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.203209    0.39739227], 6.2159247398376465 meters away.)"}
{"file_name": "images/scenario_316_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 1.0) m/s. Its current heading (yaw) is 1.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 24 is 23.7 meters away at (-14.9, -18.5). A vehicle with ID 25 is 29.8 meters away at (-13.3, -26.7). A vehicle with ID 26 is 37.0 meters away at (-11.9, -35.0). A vehicle with ID 21 is 43.4 meters away at (-43.4, -1.1). A vehicle with ID 22 is 67.4 meters away at (-67.2, 5.0).", "velocity_description": "The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01914418  0.00966259] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-14.866743 -18.52047 ], 23.749269485473633 meters away.)"}
{"file_name": "images/scenario_316_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.8) m/s. Its current heading (yaw) is 1.59 ", "actor_description": " The most relevant actors are: A pedestrian with ID 24 is 24.4 meters away at (-14.9, -19.4). A vehicle with ID 25 is 30.6 meters away at (-13.2, -27.5). A unknown object with ID 13 is 33.4 meters away at (19.0, 27.5). A vehicle with ID 26 is 37.8 meters away at (-11.9, -35.9). A vehicle with ID 21 is 43.4 meters away at (-43.3, -2.0). A vehicle with ID 22 is 67.3 meters away at (-67.2, 4.1). A vehicle with ID 19 is 75.8 meters away at (-75.5, 6.3).", "velocity_description": "The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.05000179 -0.20990908] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-14.861845 -19.38339 ], 24.42519760131836 meters away.)"}
{"file_name": "images/scenario_316_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 3.8) m/s. Its current heading (yaw) is 1.36 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 29.1 meters away at (18.6, 22.3). A vehicle with ID 25 is 35.4 meters away at (-13.2, -32.9). A vehicle with ID 26 is 42.8 meters away at (-11.8, -41.1). A vehicle with ID 21 is 44.2 meters away at (-43.6, -7.5). A vehicle with ID 22 is 67.4 meters away at (-67.4, -1.3). A vehicle with ID 14 is 72.8 meters away at (-72.8, -0.5).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [18.612558 22.319416], 29.061721801757812 meters away.)"}
{"file_name": "images/scenario_316_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 2.0) m/s. Its current heading (yaw) is 0.38 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 20.5 meters away at (12.9, 16.0). A vehicle with ID 25 is 43.6 meters away at (-18.9, -39.3). A vehicle with ID 26 is 50.7 meters away at (-17.5, -47.6). A vehicle with ID 21 is 51.1 meters away at (-49.2, -13.8). A vehicle with ID 22 is 73.6 meters away at (-73.2, -7.7). A vehicle with ID 20 is 76.4 meters away at (-76.1, -7.3).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [12.862514 15.96357 ], 20.5007266998291 meters away.)"}
{"file_name": "images/scenario_317_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 3.4) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 52.3 meters away at (-50.8, 12.7). A vehicle with ID 12 is 65.0 meters away at (34.9, -54.9). A vehicle with ID 14 is 70.7 meters away at (23.9, -66.5). A unknown object with ID 13 is 70.8 meters away at (28.9, -64.7). A vehicle with ID 15 is 78.2 meters away at (36.9, -69.0).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.61902595  0.44050717] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.03620910644531, -120.0932388305664)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-50.77781   12.661942], 52.33269119262695 meters away.)"}
{"file_name": "images/scenario_317_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 3.1) m/s. Its current heading (yaw) is 2.65 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 34.7 meters away at (-30.0, -17.4). A vehicle with ID 10 is 39.0 meters away at (-38.5, 6.3). A pedestrian with ID 8 is 43.6 meters away at (-5.3, -43.2). A vehicle with ID 1 is 66.2 meters away at (-63.4, -19.1). A vehicle with ID 12 is 76.3 meters away at (46.1, -60.7). A vehicle with ID 14 is 81.4 meters away at (36.3, -72.9).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.00667521 0.01146182] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.5871406 2.9241977] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.42143473  0.23031384] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.03620910644531, -120.0932388305664)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-30.013792 -17.442562], 34.71412658691406 meters away.)"}
{"file_name": "images/scenario_317_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.8) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 27.1 meters away at (-27.1, 0.5). A vehicle with ID 1 is 49.4 meters away at (-44.5, -21.5).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.774631   0.67378825] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.03620910644531, -120.0932388305664)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-27.091465   0.4972  ], 27.096025466918945 meters away.)"}
{"file_name": "images/scenario_317_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 1.1) m/s. Its current heading (yaw) is 2.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 18.8 meters away at (-18.4, -3.7). A vehicle with ID 1 is 38.3 meters away at (-27.8, -26.4). A pedestrian with ID 3 is 51.6 meters away at (14.2, -49.6).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.029969  -1.1241916] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.68917865  0.06252572] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.03620910644531, -120.0932388305664)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-18.387268   -3.7358837], 18.76295280456543 meters away.)"}
{"file_name": "images/scenario_318_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, -5.0) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 29.9 meters away at (-23.5, -18.5). A vehicle with ID 9 is 31.3 meters away at (24.6, 19.3). A vehicle with ID 34 is 37.5 meters away at (-29.5, -23.1). A vehicle with ID 37 is 44.3 meters away at (-34.2, -28.2). A vehicle with ID 33 is 48.2 meters away at (-39.1, -28.2). A vehicle with ID 35 is 54.4 meters away at (44.9, 30.8). A vehicle with ID 32 is 63.3 meters away at (50.0, 38.8). A vehicle with ID 3 is 72.8 meters away at (-49.9, -53.0). A vehicle with ID 36 is 73.1 meters away at (59.7, 42.3). A vehicle with ID 2 is 76.0 meters away at (-54.2, -53.3).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.1992307 -5.5514383] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [7.0420074 5.522235 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-8.195357  -6.2480173] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [7.726857 6.276724] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-57.841522 -60.974796]\n [-63.586983 -54.42589 ]\n [-59.593155 -59.09624 ]\n [-56.332794 -46.527046]\n [-54.414005 -47.911278]]", "nav_goal": "(-225.88961791992188, -29.799903869628906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-23.522541 -18.476011], 29.91108512878418 meters away.)"}
{"file_name": "images/scenario_318_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -3.0) m/s. Its current heading (yaw) is -2.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 15.6 meters away at (-11.7, -10.3). A unknown object with ID 25 is 15.6 meters away at (-5.4, -14.7). A vehicle with ID 34 is 23.1 meters away at (-17.6, -15.0). A vehicle with ID 9 is 28.2 meters away at (22.7, 16.7). A vehicle with ID 37 is 30.1 meters away at (-22.4, -20.1). A vehicle with ID 33 is 33.8 meters away at (-27.2, -20.1). A vehicle with ID 32 is 57.0 meters away at (45.5, 34.4). A vehicle with ID 3 is 58.5 meters away at (-37.8, -44.6). A vehicle with ID 2 is 61.9 meters away at (-42.3, -45.1). A vehicle with ID 27 is 69.6 meters away at (-47.1, -51.2).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.4084554 -5.1278353] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-8.225773 -6.371291] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-57.841522 -60.974796]\n [-63.586983 -54.42589 ]\n [-71.20682  -47.595573]\n [-59.593155 -59.09624 ]\n [-56.332794 -46.527046]\n [-72.58643  -49.308197]\n [-71.02198  -47.580788]\n [-70.945305 -47.651997]\n [-54.414005 -47.911278]]", "nav_goal": "(-225.88961791992188, -29.799903869628906)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-11.690872 -10.31329 ], 15.589754104614258 meters away.)"}
{"file_name": "images/scenario_318_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -3.1) m/s. Its current heading (yaw) is -2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 4.8 meters away at (-1.5, -4.6). A vehicle with ID 34 is 11.8 meters away at (-7.4, -9.2). A vehicle with ID 37 is 20.6 meters away at (-13.4, -15.7). A vehicle with ID 33 is 23.8 meters away at (-18.2, -15.4). A vehicle with ID 9 is 25.2 meters away at (21.5, 13.2). A vehicle with ID 1 is 46.2 meters away at (-42.6, -17.7). A vehicle with ID 3 is 47.3 meters away at (-27.4, -38.6). A vehicle with ID 32 is 48.1 meters away at (39.6, 27.3). A vehicle with ID 2 is 50.7 meters away at (-32.0, -39.2). A vehicle with ID 5 is 62.1 meters away at (50.4, 36.2).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.31749395 -0.29102206] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.501826 -2.139251] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-1.6580276 -1.4284927] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.342889 -4.2087  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.228753   -0.73452586] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-7.6645656 -6.147821 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.7408257 -6.0227323] m/s.", "light_description": "There are active red lights at the following coordinates: [[-57.841522 -60.974796]\n [-63.586983 -54.42589 ]\n [-71.20682  -47.595573]\n [-59.593155 -59.09624 ]\n [-56.332794 -46.527046]\n [-72.58643  -49.308197]\n [-71.02198  -47.580788]\n [-70.945305 -47.651997]\n [-54.414005 -47.911278]]", "nav_goal": "(-225.88961791992188, -29.799903869628906)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.4509811 -4.5695667], 4.7944016456604 meters away.)"}
{"file_name": "images/scenario_318_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -3.7) m/s. Its current heading (yaw) is -2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 5.4 meters away at (-1.4, -5.2). A vehicle with ID 15 is 6.8 meters away at (6.6, 1.4). A vehicle with ID 37 is 17.4 meters away at (-6.6, -16.1). A vehicle with ID 33 is 19.5 meters away at (-15.2, -12.2). A vehicle with ID 9 is 23.1 meters away at (19.5, 12.4). A unknown object with ID 19 is 30.8 meters away at (-30.3, -5.5). A vehicle with ID 1 is 34.9 meters away at (-33.0, -11.2). A vehicle with ID 3 is 36.6 meters away at (-18.5, -31.5). A vehicle with ID 2 is 39.7 meters away at (-23.2, -32.2). A vehicle with ID 32 is 41.5 meters away at (34.6, 23.0).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [-3.0305343 -2.9438777] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.1777705 -1.0182545] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-0.01421828 -4.700944  ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.913699  -1.3140154] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.7304606 -3.469022 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-6.6383038 -5.211988 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-63.586983 -54.42589 ]\n [-71.20682  -47.595573]\n [-72.58643  -49.308197]\n [-71.02198  -47.580788]\n [-70.945305 -47.651997]]", "nav_goal": "(-225.88961791992188, -29.799903869628906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.3547096 -5.240906 ], 5.413162708282471 meters away.)"}
{"file_name": "images/scenario_319_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 79 is 9.5 meters away at (-3.1, -9.0). A cyclist with ID 72 is 10.0 meters away at (7.5, -6.6). A vehicle with ID 80 is 10.1 meters away at (2.3, -9.8). A vehicle with ID 84 is 11.0 meters away at (5.3, -9.6). A vehicle with ID 88 is 12.4 meters away at (7.9, -9.6). A vehicle with ID 77 is 14.8 meters away at (-11.3, -9.6). A vehicle with ID 96 is 16.2 meters away at (13.1, -9.5). A vehicle with ID 98 is 18.5 meters away at (15.8, -9.6). A vehicle with ID 78 is 19.3 meters away at (-16.8, -9.6). A vehicle with ID 101 is 20.7 meters away at (18.4, -9.5).", "velocity_description": "The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 72 is traveling at a (x, y) velocity of [0.15277188 0.14031374] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-9.638312339782715, -14.484624862670898)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.1029587 -9.016543 ], 9.535533905029297 meters away.)"}
{"file_name": "images/scenario_319_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, 0.1) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 115 is 9.0 meters away at (-8.1, 4.1). A vehicle with ID 98 is 9.7 meters away at (-0.2, -9.7). A vehicle with ID 101 is 9.8 meters away at (2.4, -9.5). A vehicle with ID 96 is 10.0 meters away at (-2.9, -9.6). A cyclist with ID 72 is 10.8 meters away at (-8.5, -6.7). A vehicle with ID 108 is 11.3 meters away at (5.1, -10.1). A vehicle with ID 88 is 12.6 meters away at (-8.1, -9.7). A vehicle with ID 84 is 14.3 meters away at (-10.6, -9.6). A vehicle with ID 80 is 16.9 meters away at (-13.7, -9.9). A vehicle with ID 62 is 17.2 meters away at (6.4, -16.0).", "velocity_description": "The vehicle with ID 115 is traveling at a (x, y) velocity of [-7.0111985   0.32892042] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 72 is traveling at a (x, y) velocity of [-0.00107288  0.04160854] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.0286552  -0.13648982] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-9.638312339782715, -14.484624862670898)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.079294   4.0728745], 9.047833442687988 meters away.)"}
{"file_name": "images/scenario_319_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, 0.0) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 119 is 11.7 meters away at (9.4, -7.0). A vehicle with ID 108 is 15.5 meters away at (-11.7, -10.2). A vehicle with ID 101 is 17.4 meters away at (-14.5, -9.6). A vehicle with ID 98 is 19.7 meters away at (-17.1, -9.8). A vehicle with ID 59 is 21.7 meters away at (-1.3, -21.7). A vehicle with ID 96 is 22.0 meters away at (-19.8, -9.6). A vehicle with ID 110 is 25.3 meters away at (-11.3, -22.6). A vehicle with ID 88 is 26.9 meters away at (-25.0, -9.8). A vehicle with ID 109 is 28.7 meters away at (-17.0, -23.1). A vehicle with ID 84 is 29.3 meters away at (-27.6, -9.8).", "velocity_description": "The pedestrian with ID 119 is traveling at a (x, y) velocity of [-1.1698434   0.03300252] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-9.638312339782715, -14.484624862670898)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 9.409908  -6.9809017], 11.71662712097168 meters away.)"}
{"file_name": "images/scenario_319_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.9, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 119 is 12.7 meters away at (-10.5, -7.1). A vehicle with ID 41 is 16.3 meters away at (12.7, -10.3). A vehicle with ID 38 is 18.8 meters away at (15.8, -10.1). A vehicle with ID 35 is 20.9 meters away at (18.3, -10.0). A vehicle with ID 55 is 21.6 meters away at (3.0, -21.3). A vehicle with ID 32 is 23.5 meters away at (21.2, -10.3). A vehicle with ID 28 is 26.2 meters away at (24.0, -10.4). A vehicle with ID 25 is 28.8 meters away at (26.8, -10.5). A vehicle with ID 66 is 29.9 meters away at (18.6, -23.4). A vehicle with ID 108 is 31.0 meters away at (-29.2, -10.2).", "velocity_description": "The pedestrian with ID 119 is traveling at a (x, y) velocity of [-1.040158    0.04075232] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-9.638312339782715, -14.484624862670898)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-10.47604    -7.1274624], 12.670758247375488 meters away.)"}
{"file_name": "images/scenario_320_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 8.7 meters away at (-3.2, -8.1). A vehicle with ID 21 is 21.3 meters away at (-0.2, 21.3). A vehicle with ID 20 is 36.4 meters away at (20.8, -29.9). A vehicle with ID 22 is 43.3 meters away at (40.2, 15.9). A vehicle with ID 32 is 55.2 meters away at (18.1, 52.1). A unknown object with ID 23 is 57.2 meters away at (33.7, 46.1). A vehicle with ID 31 is 62.9 meters away at (-19.0, -59.9). A pedestrian with ID 27 is 67.2 meters away at (20.8, 63.9). A vehicle with ID 30 is 76.1 meters away at (38.9, 65.4). A vehicle with ID 1 is 76.6 meters away at (-9.1, -76.0).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.01059736 0.01177084] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-9.040942   2.9606636] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(159.87188720703125, -35.99767303466797)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.1802874 -8.100752 ], 8.702667236328125 meters away.)"}
{"file_name": "images/scenario_320_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 8.7 meters away at (-3.2, -8.1). A vehicle with ID 21 is 21.3 meters away at (0.0, 21.3). A vehicle with ID 20 is 36.4 meters away at (20.8, -29.9). A vehicle with ID 22 is 43.3 meters away at (40.2, 16.0). A vehicle with ID 32 is 55.2 meters away at (18.1, 52.1). A unknown object with ID 23 is 57.2 meters away at (33.7, 46.2). A vehicle with ID 31 is 62.9 meters away at (-19.0, -59.9). A vehicle with ID 7 is 74.6 meters away at (-22.2, -71.2). A vehicle with ID 1 is 74.8 meters away at (-26.3, -70.1). A vehicle with ID 30 is 76.1 meters away at (38.9, 65.4).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-9.006534   3.1315222] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-7.277401   2.2359807] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(159.87188720703125, -35.99767303466797)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.1703413 -8.056474 ], 8.657818794250488 meters away.)"}
{"file_name": "images/scenario_320_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 8.6 meters away at (-3.2, -8.0). A vehicle with ID 21 is 21.4 meters away at (0.0, 21.4). A vehicle with ID 20 is 36.4 meters away at (20.8, -29.9). A vehicle with ID 22 is 43.3 meters away at (40.2, 16.1). A vehicle with ID 32 is 55.2 meters away at (18.1, 52.1). A unknown object with ID 23 is 57.2 meters away at (33.7, 46.2). A vehicle with ID 31 is 62.8 meters away at (-19.0, -59.9). A vehicle with ID 5 is 74.1 meters away at (-22.0, -70.8). A pedestrian with ID 26 is 75.2 meters away at (22.3, 71.8). A vehicle with ID 30 is 76.1 meters away at (38.9, 65.4).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.17511    3.1558828] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.5157528 -1.3106462] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(159.87188720703125, -35.99767303466797)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.1610966 -8.0301075], 8.629899024963379 meters away.)"}
{"file_name": "images/scenario_320_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 8.6 meters away at (-3.1, -8.0). A vehicle with ID 21 is 21.3 meters away at (-0.1, 21.3). A vehicle with ID 20 is 36.4 meters away at (20.8, -29.9). A vehicle with ID 22 is 43.3 meters away at (40.2, 16.1). A vehicle with ID 32 is 55.2 meters away at (18.1, 52.2). A unknown object with ID 23 is 57.2 meters away at (33.7, 46.2). A vehicle with ID 31 is 62.8 meters away at (-18.9, -59.9). A pedestrian with ID 26 is 72.5 meters away at (21.3, 69.3). A vehicle with ID 8 is 74.7 meters away at (-24.8, -70.4). A vehicle with ID 30 is 76.1 meters away at (38.9, 65.4).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.58030844 -1.2630804 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-9.158766   3.2819757] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(159.87188720703125, -35.99767303466797)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.149592 -8.012571], 8.609368324279785 meters away.)"}
{"file_name": "images/scenario_321_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.7) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 10.8 meters away at (-9.0, 5.8). A unknown object with ID 57 is 12.2 meters away at (-0.8, -12.2). A unknown object with ID 73 is 14.6 meters away at (8.9, 11.6). A pedestrian with ID 74 is 15.6 meters away at (5.8, 14.5). A unknown object with ID 42 is 16.3 meters away at (10.6, 12.4). A vehicle with ID 76 is 16.4 meters away at (-7.8, -14.4). A unknown object with ID 87 is 26.6 meters away at (19.6, 18.0). A unknown object with ID 48 is 26.8 meters away at (-7.9, 25.6). A unknown object with ID 15 is 28.1 meters away at (-9.2, 26.6). A vehicle with ID 89 is 28.5 meters away at (21.7, 18.5).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [ 0.5953438 -0.4202984] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.1037749  0.0511248] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.07773208618164, -47.599369049072266)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.03633    5.8238115], 10.750444412231445 meters away.)"}
{"file_name": "images/scenario_321_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.4) m/s. Its current heading (yaw) is -1.05 ", "actor_description": " The most relevant actors are: A unknown object with ID 57 is 9.4 meters away at (-4.6, -8.3). A vehicle with ID 4 is 13.1 meters away at (-10.3, 8.0). A unknown object with ID 73 is 16.4 meters away at (5.0, 15.6). A unknown object with ID 42 is 17.8 meters away at (6.6, 16.6). A pedestrian with ID 74 is 18.7 meters away at (1.7, 18.7). A unknown object with ID 91 is 25.2 meters away at (25.1, 2.2). A unknown object with ID 87 is 27.1 meters away at (15.5, 22.2). A vehicle with ID 89 is 28.7 meters away at (17.7, 22.6). A vehicle with ID 85 is 28.9 meters away at (2.1, -28.8). A unknown object with ID 48 is 32.4 meters away at (-12.3, 30.0).", "velocity_description": "The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 1.8329858 -1.1998327] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.05649925  0.04423067] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.5845377  7.1516275] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.07773208618164, -47.599369049072266)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.5630403 -8.251917 ], 9.429499626159668 meters away.)"}
{"file_name": "images/scenario_321_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -5.1) m/s. Its current heading (yaw) is -1.78 ", "actor_description": " The most relevant actors are: A unknown object with ID 57 is 5.8 meters away at (-5.7, 0.7). A unknown object with ID 16 is 6.4 meters away at (-6.2, -1.5). A vehicle with ID 85 is 8.6 meters away at (6.0, -6.2). A vehicle with ID 11 is 13.4 meters away at (-13.3, -1.6). A vehicle with ID 4 is 15.5 meters away at (-6.8, 13.9). A unknown object with ID 73 is 24.9 meters away at (3.9, 24.6). A unknown object with ID 42 is 26.0 meters away at (5.5, 25.4). A unknown object with ID 100 is 30.7 meters away at (30.7, 1.2). A vehicle with ID 5 is 31.9 meters away at (-21.2, 23.9). A unknown object with ID 87 is 34.3 meters away at (14.4, 31.1).", "velocity_description": "The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [6.3413715 6.2670627] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 1.3621738 -0.9039126] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 2.0422828 -1.1990513] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.07773208618164, -47.599369049072266)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-5.724019   0.6955061], 5.76611852645874 meters away.)"}
{"file_name": "images/scenario_321_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -4.2) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A unknown object with ID 57 is 10.3 meters away at (-1.4, 10.2). A vehicle with ID 11 is 11.9 meters away at (-9.0, 7.8). A vehicle with ID 8 is 13.5 meters away at (-13.5, 0.0). A vehicle with ID 53 is 15.5 meters away at (-15.3, -2.4). A vehicle with ID 38 is 18.0 meters away at (-17.3, -5.0). A vehicle with ID 4 is 21.9 meters away at (-0.4, 21.9). A vehicle with ID 85 is 28.4 meters away at (25.6, 12.3). A vehicle with ID 5 is 32.8 meters away at (-12.1, 30.5). A unknown object with ID 73 is 35.0 meters away at (8.4, 34.0). A vehicle with ID 110 is 35.9 meters away at (11.3, -34.1).", "velocity_description": "The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 1.4357972 -1.3392179] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [7.565236  2.4459522] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 2.1805    -1.4152293] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.07773208618164, -47.599369049072266)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.3955868 10.170436 ], 10.265740394592285 meters away.)"}
{"file_name": "images/scenario_322_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -3.2) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 10.4 meters away at (-10.0, -2.9). A unknown object with ID 22 is 11.4 meters away at (-11.3, -1.7). A unknown object with ID 29 is 11.6 meters away at (-8.5, -7.9). A unknown object with ID 26 is 11.8 meters away at (-11.1, -4.0). A unknown object with ID 28 is 13.0 meters away at (-12.0, -5.0). A unknown object with ID 25 is 13.1 meters away at (-12.7, -3.0). A unknown object with ID 27 is 13.9 meters away at (-13.3, -4.0). A unknown object with ID 21 is 15.5 meters away at (-15.4, 1.6). A vehicle with ID 17 is 19.3 meters away at (15.4, -11.7). A vehicle with ID 16 is 26.4 meters away at (20.7, -16.4).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(46.17448043823242, -46.322147369384766)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-9.981054  -2.9204092], 10.399530410766602 meters away.)"}
{"file_name": "images/scenario_322_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -3.5) m/s. Its current heading (yaw) is -0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 10.6 meters away at (9.3, -5.1). A unknown object with ID 29 is 14.6 meters away at (-14.6, -1.4). A unknown object with ID 23 is 16.5 meters away at (-16.1, 3.6). A unknown object with ID 26 is 17.3 meters away at (-17.2, 2.4). A vehicle with ID 16 is 17.6 meters away at (14.6, -9.8). A unknown object with ID 22 is 18.1 meters away at (-17.4, 4.8). A unknown object with ID 28 is 18.2 meters away at (-18.1, 1.6). A unknown object with ID 25 is 19.2 meters away at (-18.9, 3.6). A unknown object with ID 27 is 19.6 meters away at (-19.4, 2.6). A unknown object with ID 21 is 23.0 meters away at (-21.5, 8.2).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(46.17448043823242, -46.322147369384766)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 9.289492 -5.148876], 10.620997428894043 meters away.)"}
{"file_name": "images/scenario_322_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -3.3) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 3.1 meters away at (2.6, 1.7). A vehicle with ID 16 is 8.3 meters away at (7.8, -2.9). A vehicle with ID 24 is 16.9 meters away at (9.2, -14.2). A unknown object with ID 23 is 25.3 meters away at (-22.9, 10.7). A unknown object with ID 26 is 26.0 meters away at (-24.2, 9.5). A unknown object with ID 28 is 26.5 meters away at (-25.0, 8.7). A unknown object with ID 22 is 27.0 meters away at (-24.2, 12.0). A unknown object with ID 25 is 27.8 meters away at (-25.7, 10.7). A unknown object with ID 27 is 28.0 meters away at (-26.2, 9.7). A pedestrian with ID 19 is 28.5 meters away at (15.8, -23.7).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00017245 -0.01678715] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(46.17448043823242, -46.322147369384766)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.5972176 1.6723061], 3.089036464691162 meters away.)"}
{"file_name": "images/scenario_322_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -2.9) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 3.3 meters away at (0.8, 3.2). A vehicle with ID 24 is 8.3 meters away at (2.2, -8.1). A vehicle with ID 17 is 9.1 meters away at (-4.4, 7.9). A unknown object with ID 3 is 15.3 meters away at (6.4, -13.9). A pedestrian with ID 19 is 19.6 meters away at (8.7, -17.5). A pedestrian with ID 20 is 20.4 meters away at (8.7, -18.4). A vehicle with ID 18 is 20.4 meters away at (17.3, -10.8). A vehicle with ID 2 is 26.8 meters away at (22.2, -15.0). A unknown object with ID 23 is 34.4 meters away at (-30.0, 17.0). A unknown object with ID 26 is 35.0 meters away at (-31.2, 15.8).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01536783 0.01075609] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.01447122 0.00740623] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(46.17448043823242, -46.322147369384766)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.8188133 3.2399063], 3.341773271560669 meters away.)"}
{"file_name": "images/scenario_323_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 11.1 meters away at (-7.7, 8.0). A vehicle with ID 19 is 18.7 meters away at (-15.1, 11.0). A pedestrian with ID 6 is 42.6 meters away at (-24.3, 34.9). A vehicle with ID 22 is 45.0 meters away at (-11.6, -43.5). A vehicle with ID 21 is 45.3 meters away at (-40.0, 21.3).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00772783 -0.00140712] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [7.90637  9.328675] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.946287  -3.794903 ]\n [ 5.2100797 -6.7732215]\n [ 8.875499  -3.8924863]\n [ 7.5594487 -5.5260925]\n [ 8.6982355 -4.418189 ]]", "nav_goal": "(-135.16818237304688, 29.946043014526367)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.745696  8.014856], 11.146018981933594 meters away.)"}
{"file_name": "images/scenario_323_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 11.0 meters away at (-7.7, 7.9). A vehicle with ID 19 is 18.8 meters away at (-15.2, 11.0). A vehicle with ID 22 is 28.4 meters away at (1.4, -28.3). A pedestrian with ID 6 is 42.6 meters away at (-24.3, 34.9). A vehicle with ID 21 is 45.3 meters away at (-40.0, 21.3).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [4.7408075 5.511037 ] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00025987 -0.00110754] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  8.946287   -3.794903 ]\n [  5.2100797  -6.7732215]\n [ 16.724747  -10.634131 ]\n [  8.875499   -3.8924863]\n [  7.5594487  -5.5260925]\n [ 17.833025  -12.340244 ]\n [  8.6982355  -4.418189 ]]", "nav_goal": "(-135.16818237304688, 29.946043014526367)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.676905  7.898399], 11.014516830444336 meters away.)"}
{"file_name": "images/scenario_323_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 11.0 meters away at (-7.7, 7.9). A vehicle with ID 19 is 18.8 meters away at (-15.2, 11.1). A vehicle with ID 22 is 22.7 meters away at (7.3, -21.4). A pedestrian with ID 6 is 42.6 meters away at (-24.4, 35.0). A vehicle with ID 21 is 45.4 meters away at (-40.1, 21.3). A unknown object with ID 9 is 64.7 meters away at (59.1, -26.3). A pedestrian with ID 15 is 66.0 meters away at (65.7, -6.2).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [1.4028624 1.7205248] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.03444498  0.04255982] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00043322  0.00027071] m/s.", "light_description": "There are active red lights at the following coordinates: [[  8.946287   -3.794903 ]\n [  5.2100797  -6.7732215]\n [ 16.724747  -10.634131 ]\n [  8.875499   -3.8924863]\n [  7.5594487  -5.5260925]\n [ 17.833025  -12.340244 ]\n [  8.6982355  -4.418189 ]]", "nav_goal": "(-135.16818237304688, 29.946043014526367)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.6694613  7.9374638], 11.037389755249023 meters away.)"}
{"file_name": "images/scenario_323_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -2.0) m/s. Its current heading (yaw) is -0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 13.3 meters away at (-9.3, 9.6). A vehicle with ID 22 is 19.5 meters away at (6.6, -18.4). A vehicle with ID 19 is 21.4 meters away at (-17.1, 12.9). A vehicle with ID 21 is 47.9 meters away at (-42.1, 23.0). A unknown object with ID 9 is 62.2 meters away at (57.2, -24.4). A pedestrian with ID 12 is 67.1 meters away at (45.6, 49.3).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.4530329 -0.4143343] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.73286295 1.1868485 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[  8.946287   -3.794903 ]\n [ 16.724747  -10.634131 ]\n [  8.875499   -3.8924863]\n [ 17.833025  -12.340244 ]\n [  8.6982355  -4.418189 ]]", "nav_goal": "(-135.16818237304688, 29.946043014526367)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-9.252048  9.584732], 13.321691513061523 meters away.)"}
{"file_name": "images/scenario_324_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.5) m/s. Its current heading (yaw) is -1.23 ", "actor_description": " The most relevant actors are: A pedestrian with ID 39 is 4.6 meters away at (-0.5, 4.6). A vehicle with ID 40 is 12.8 meters away at (-5.0, 11.8). A vehicle with ID 42 is 14.4 meters away at (-7.9, 12.0). A vehicle with ID 44 is 17.7 meters away at (-16.8, -5.4). A vehicle with ID 43 is 18.3 meters away at (-9.9, 15.4). A vehicle with ID 45 is 19.9 meters away at (-5.2, 19.2). A vehicle with ID 41 is 22.6 meters away at (14.1, -17.7). A vehicle with ID 46 is 24.7 meters away at (-6.9, 23.7). A cyclist with ID 47 is 25.3 meters away at (-25.2, 2.0). A vehicle with ID 50 is 29.6 meters away at (-28.6, 7.6).", "velocity_description": "The pedestrian with ID 39 is traveling at a (x, y) velocity of [-2.7661428  0.9956168] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-0.4221583   0.79503435] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [13.651871  -7.9398103] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 0.8335335 -1.2081321] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 0.6622659 -0.8307244] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.435609  -5.386641]\n [-12.250622  -1.979518]\n [-14.599631   1.795029]\n [-28.632854 -13.847424]\n [-34.22475   -4.724489]\n [-30.471352  14.676757]\n [-24.887783 -14.731149]\n [-31.393833  -8.299655]\n [-28.67916  -14.093098]\n [-31.447395  12.151429]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-0.47313598  4.624976  ], 4.64911413192749 meters away.)"}
{"file_name": "images/scenario_324_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -3.1) m/s. Its current heading (yaw) is -0.94 ", "actor_description": " The most relevant actors are: A pedestrian with ID 39 is 14.2 meters away at (-8.2, 11.5). A vehicle with ID 40 is 18.3 meters away at (-7.6, 16.7). A vehicle with ID 44 is 19.4 meters away at (-19.4, -0.4). A vehicle with ID 42 is 19.8 meters away at (-10.4, 16.8). A vehicle with ID 43 is 23.8 meters away at (-12.5, 20.3). A vehicle with ID 45 is 25.2 meters away at (-7.7, 24.0). A cyclist with ID 47 is 25.9 meters away at (-25.6, 3.7). A cyclist with ID 52 is 28.9 meters away at (-28.8, 2.4). A vehicle with ID 46 is 29.8 meters away at (-9.5, 28.3). A vehicle with ID 50 is 30.9 meters away at (-29.3, 9.8).", "velocity_description": "The pedestrian with ID 39 is traveling at a (x, y) velocity of [-2.7805095  1.1569971] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 1.0368843 -1.8193848] m/s.The cyclist with ID 52 is traveling at a (x, y) velocity of [ 1.5760626 -3.0428207] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 1.3044488 -1.9185264] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.435609  -5.386641]\n [-12.250622  -1.979518]\n [-14.599631   1.795029]\n [-28.632854 -13.847424]\n [-34.22475   -4.724489]\n [-24.887783 -14.731149]\n [-31.393833  -8.299655]\n [-28.67916  -14.093098]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-8.207826 11.546224], 14.16628646850586 meters away.)"}
{"file_name": "images/scenario_324_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -3.7) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 27.8 meters away at (-27.0, 6.7). A vehicle with ID 40 is 28.2 meters away at (-15.2, 23.8). A pedestrian with ID 39 is 29.5 meters away at (-20.6, 21.1). A vehicle with ID 42 is 30.0 meters away at (-18.1, 23.9). A cyclist with ID 47 is 31.4 meters away at (-30.8, 6.0). A cyclist with ID 52 is 32.9 meters away at (-32.9, -1.1). A vehicle with ID 43 is 34.0 meters away at (-20.1, 27.4). A vehicle with ID 1 is 34.1 meters away at (-28.0, 19.5). A vehicle with ID 45 is 34.8 meters away at (-15.4, 31.2). A vehicle with ID 50 is 35.9 meters away at (-34.0, 11.7).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-2.446333   1.3614335] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 1.3272239 -2.5378475] m/s.The cyclist with ID 52 is traveling at a (x, y) velocity of [ 1.2948272 -6.6310153] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.764279 -7.022942] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 1.465512  -2.9941719] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.435609   -5.386641 ]\n [-12.250622   -1.979518 ]\n [-14.599631    1.795029 ]\n [-33.258297   10.027783 ]\n [-28.632854  -13.847424 ]\n [-34.22475    -4.724489 ]\n [-34.170284    7.2612443]\n [-24.887783  -14.731149 ]\n [-31.393833   -8.299655 ]\n [-28.67916   -14.093098 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-27.007032   6.65907 ], 27.81587791442871 meters away.)"}
{"file_name": "images/scenario_324_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -4.3) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 11.4 meters away at (-3.7, -10.8). A vehicle with ID 16 is 20.5 meters away at (-4.6, -20.0). A vehicle with ID 1 is 27.8 meters away at (-23.4, 15.0). A cyclist with ID 47 is 41.1 meters away at (-40.5, 7.1). A vehicle with ID 40 is 42.4 meters away at (-28.1, 31.7). A vehicle with ID 44 is 42.5 meters away at (-39.9, 14.7). A vehicle with ID 42 is 44.5 meters away at (-31.1, 31.9). A vehicle with ID 50 is 45.7 meters away at (-43.9, 12.8). A cyclist with ID 52 is 46.0 meters away at (-44.9, -9.9). A vehicle with ID 45 is 48.4 meters away at (-28.3, 39.3).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [-10.202639    5.4021816] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.810175   2.2788475] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.492891  -5.5585485] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 1.4567002 -4.460593 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 1.4424446 -3.9679995] m/s.The cyclist with ID 52 is traveling at a (x, y) velocity of [ -0.3278958 -10.461203 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.435609  -5.386641]\n [-12.250622  -1.979518]\n [-14.599631   1.795029]\n [-28.632854 -13.847424]\n [-34.22475   -4.724489]\n [-24.887783 -14.731149]\n [-31.393833  -8.299655]\n [-28.67916  -14.093098]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -3.7377777 -10.796715 ], 11.42541217803955 meters away.)"}
{"file_name": "images/scenario_325_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -3.3) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 89 is 8.2 meters away at (8.1, -0.7). A vehicle with ID 86 is 12.1 meters away at (12.1, 0.0). A pedestrian with ID 90 is 12.2 meters away at (11.8, 2.8). A pedestrian with ID 91 is 12.7 meters away at (12.3, 3.4). A vehicle with ID 80 is 13.0 meters away at (-8.8, -9.5). A vehicle with ID 92 is 17.0 meters away at (3.8, 16.6). A vehicle with ID 82 is 18.0 meters away at (0.8, 18.0). A vehicle with ID 85 is 18.3 meters away at (-10.9, -14.7). A vehicle with ID 79 is 20.1 meters away at (-15.3, 13.0). A unknown object with ID 43 is 20.7 meters away at (19.7, -6.4).", "velocity_description": "The vehicle with ID 89 is traveling at a (x, y) velocity of [-1.2539108  1.0179062] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.9921831  0.7268028] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.9965381  0.7021716] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [-1.2375228 -2.9215884] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(211.78961181640625, 69.0672378540039)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.133055   -0.65674925], 8.159527778625488 meters away.)"}
{"file_name": "images/scenario_325_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -5.2) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A unknown object with ID 43 is 6.9 meters away at (6.6, 2.2). A vehicle with ID 86 is 8.6 meters away at (-0.9, 8.6). A vehicle with ID 76 is 10.1 meters away at (10.1, -0.7). A vehicle with ID 89 is 11.9 meters away at (-7.1, 9.5). A vehicle with ID 94 is 12.6 meters away at (-4.2, -11.9). A vehicle with ID 98 is 12.7 meters away at (-1.0, -12.7). A pedestrian with ID 90 is 13.2 meters away at (-3.2, 12.8). A pedestrian with ID 91 is 13.7 meters away at (-2.7, 13.4). A vehicle with ID 77 is 15.6 meters away at (14.9, -4.7). A vehicle with ID 37 is 19.2 meters away at (12.6, -14.5).", "velocity_description": "The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [-1.3864921   0.95566154] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-1.0224855   0.67250013] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.0153775  0.7116325] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(211.78961181640625, 69.0672378540039)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [6.580023 2.207487], 6.940439701080322 meters away.)"}
{"file_name": "images/scenario_325_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -5.9) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A cyclist with ID 69 is 2.6 meters away at (1.2, 2.4). A vehicle with ID 37 is 3.4 meters away at (-1.0, -3.3). A vehicle with ID 73 is 5.7 meters away at (4.8, 3.0). A vehicle with ID 77 is 6.6 meters away at (1.2, 6.5). A vehicle with ID 30 is 7.5 meters away at (3.3, -6.7). A vehicle with ID 75 is 9.4 meters away at (9.3, -0.5). A vehicle with ID 76 is 11.0 meters away at (-3.5, 10.4). A vehicle with ID 27 is 12.8 meters away at (7.5, -10.4). A vehicle with ID 98 is 14.7 meters away at (-14.6, -1.5). A unknown object with ID 43 is 15.2 meters away at (-7.1, 13.4).", "velocity_description": "The cyclist with ID 69 is traveling at a (x, y) velocity of [-6.9673944  5.9361033] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(211.78961181640625, 69.0672378540039)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [1.1511269 2.3619652], 2.6275410652160645 meters away.)"}
{"file_name": "images/scenario_325_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -5.6) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 3.2 meters away at (-1.6, -2.8). A vehicle with ID 27 is 6.2 meters away at (-6.1, 1.1). A vehicle with ID 72 is 6.4 meters away at (6.0, 2.2). A vehicle with ID 19 is 7.6 meters away at (3.1, -7.0). A vehicle with ID 74 is 11.0 meters away at (10.9, -1.8). A vehicle with ID 30 is 11.3 meters away at (-10.2, 4.7). A vehicle with ID 75 is 11.7 meters away at (-4.2, 10.9). A vehicle with ID 16 is 12.4 meters away at (7.1, -10.1). A vehicle with ID 73 is 16.9 meters away at (-8.8, 14.5). A vehicle with ID 37 is 17.0 meters away at (-14.8, 8.3).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(211.78961181640625, 69.0672378540039)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.6137199 -2.7719154], 3.207429885864258 meters away.)"}
{"file_name": "images/scenario_326_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.8) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 30.7 meters away at (21.5, -21.9). A pedestrian with ID 11 is 48.3 meters away at (-45.3, 16.6).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-3.8881733  2.8647463] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0324575   0.47889537] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 21.477505 -21.912615], 30.68299102783203 meters away.)"}
{"file_name": "images/scenario_326_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.9) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 17.0 meters away at (10.4, -13.5). A vehicle with ID 8 is 38.3 meters away at (27.3, -26.9). A pedestrian with ID 11 is 53.2 meters away at (-49.6, 19.3).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.2042136  4.041901 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.769736  2.910863] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0386877  0.609702 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 10.357785 -13.478975], 16.999013900756836 meters away.)"}
{"file_name": "images/scenario_326_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.7) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 3.9 meters away at (-2.8, -2.6). A unknown object with ID 1 is 14.0 meters away at (-9.1, -10.7). A vehicle with ID 8 is 26.1 meters away at (17.5, -19.3). A pedestrian with ID 11 is 58.1 meters away at (-53.8, 22.1).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.1471477  5.225926 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.30974    3.1930096] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.9121949   0.69624615] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.8345714 -2.6195736], 3.8596582412719727 meters away.)"}
{"file_name": "images/scenario_326_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 13.0 meters away at (6.8, -11.1). A vehicle with ID 9 is 19.9 meters away at (-17.3, 9.8). A pedestrian with ID 10 is 61.0 meters away at (-58.3, 18.2). A pedestrian with ID 11 is 62.1 meters away at (-57.2, 24.3).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.2387786  4.000217 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.037167  6.142452] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.0563204  -0.02469082] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0468013   0.52279496] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  6.7753067 -11.143406 ], 13.041482925415039 meters away.)"}
{"file_name": "images/scenario_327_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -2.2) m/s. Its current heading (yaw) is -1.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 17.7 meters away at (-13.7, -11.3). A pedestrian with ID 49 is 18.1 meters away at (16.6, -7.3). A pedestrian with ID 50 is 18.1 meters away at (16.1, -8.4). A vehicle with ID 51 is 19.9 meters away at (-17.3, -9.9). A vehicle with ID 46 is 21.4 meters away at (3.9, 21.0). A vehicle with ID 52 is 25.1 meters away at (21.1, -13.6). A vehicle with ID 54 is 25.9 meters away at (-24.5, -8.2). A vehicle with ID 55 is 26.0 meters away at (14.1, -21.9). A vehicle with ID 5 is 28.8 meters away at (-6.3, -28.2). A vehicle with ID 53 is 28.9 meters away at (6.0, 28.3).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.3949053  0.3146814] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.4306567  0.5828065] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.7258806 -9.294786 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(54.99927520751953, -215.36599731445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-13.673241 -11.309057], 17.744077682495117 meters away.)"}
{"file_name": "images/scenario_327_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -4.5) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 12.3 meters away at (-11.4, -4.6). A vehicle with ID 51 is 15.3 meters away at (-15.0, -3.2). A pedestrian with ID 50 is 15.4 meters away at (15.3, -0.9). A pedestrian with ID 49 is 16.0 meters away at (16.0, 0.5). A vehicle with ID 34 is 20.4 meters away at (-17.4, 10.6). A vehicle with ID 43 is 21.2 meters away at (19.2, -8.9). A vehicle with ID 55 is 22.2 meters away at (16.3, -15.1). A vehicle with ID 54 is 22.4 meters away at (-22.3, -1.3). A vehicle with ID 52 is 24.4 meters away at (23.4, -6.9). A vehicle with ID 42 is 25.8 meters away at (-25.8, -0.3).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.5638386   0.37488624] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.5359614   0.40689206] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-4.151993  1.249511] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(54.99927520751953, -215.36599731445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.431853   -4.5754395], 12.313485145568848 meters away.)"}
{"file_name": "images/scenario_327_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.6) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 10.2 meters away at (-8.0, 6.4). A vehicle with ID 51 is 14.0 meters away at (-11.6, 7.8). A vehicle with ID 43 is 18.6 meters away at (18.3, 3.6). A pedestrian with ID 50 is 19.8 meters away at (16.1, 11.6). A vehicle with ID 55 is 20.1 meters away at (19.7, -4.1). A pedestrian with ID 49 is 20.6 meters away at (16.5, 12.4). A vehicle with ID 54 is 21.2 meters away at (-18.9, 9.6). A vehicle with ID 42 is 24.7 meters away at (-22.4, 10.5). A vehicle with ID 34 is 25.8 meters away at (-14.0, 21.7). A vehicle with ID 52 is 27.1 meters away at (26.8, 4.2).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-0.9950383  0.297602 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.4323692  0.7449632] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.4821075  0.5705186] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -34.497837 -102.29741 ]\n [ -34.694828 -102.25588 ]]", "nav_goal": "(54.99927520751953, -215.36599731445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.0018425  6.394557 ], 10.243038177490234 meters away.)"}
{"file_name": "images/scenario_327_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -8.3) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 21.8 meters away at (-3.4, 21.5). A vehicle with ID 51 is 24.0 meters away at (-6.6, 23.1). A vehicle with ID 11 is 28.3 meters away at (-4.3, -28.0). A vehicle with ID 43 is 28.7 meters away at (21.2, 19.4). A pedestrian with ID 50 is 34.5 meters away at (18.8, 28.9). A pedestrian with ID 49 is 35.1 meters away at (19.4, 29.3). A vehicle with ID 52 is 36.9 meters away at (31.5, 19.4). A vehicle with ID 34 is 37.9 meters away at (-9.1, 36.8). A vehicle with ID 59 is 39.8 meters away at (39.3, 6.6). A vehicle with ID 61 is 44.0 meters away at (43.7, 5.2).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 3.1696098 10.292779 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-2.1392093  0.7083827] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.1827495  0.9030889] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.0124562  1.1120816] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-0.322311    0.08000346] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -34.497837 -102.29741 ]\n [ -34.694828 -102.25588 ]]", "nav_goal": "(54.99927520751953, -215.36599731445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.3887663 21.494053 ], 21.759550094604492 meters away.)"}
{"file_name": "images/scenario_328_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -2.6) m/s. Its current heading (yaw) is -2.19 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 7.0 meters away at (-3.0, -6.4). A vehicle with ID 3 is 9.8 meters away at (4.4, 8.7). A pedestrian with ID 29 is 17.9 meters away at (-17.7, -2.8). A pedestrian with ID 31 is 18.0 meters away at (-17.7, 3.5). A pedestrian with ID 30 is 19.0 meters away at (-18.6, -4.0). A pedestrian with ID 32 is 20.4 meters away at (-19.9, -4.6). A vehicle with ID 34 is 22.3 meters away at (10.2, -19.8). A pedestrian with ID 36 is 23.1 meters away at (-22.0, -7.0). A cyclist with ID 33 is 23.3 meters away at (-22.7, 5.4). A vehicle with ID 35 is 23.9 meters away at (6.9, -22.9).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [-2.882325 -2.117358] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.0477102 -2.718686 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.54531467 -2.2026703 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.5657423  0.98836464] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.49170488 -1.4162544 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.41607994 -1.4251848 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.5987933 1.4172813] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [ 0.01561464 -0.02059829] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.964544   -3.3027565]\n [ -3.9052908 -20.401093 ]\n [-15.561375   -6.8127084]\n [ -5.258037  -23.612127 ]]", "nav_goal": "(-241.0886993408203, 136.89620971679688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-2.9636014 -6.381704 ], 7.036268711090088 meters away.)"}
{"file_name": "images/scenario_328_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -1.4) m/s. Its current heading (yaw) is -2.60 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 6.2 meters away at (-4.4, -4.3). A vehicle with ID 3 is 9.7 meters away at (6.4, 7.3). A pedestrian with ID 29 is 14.9 meters away at (-14.6, -3.2). A pedestrian with ID 30 is 15.2 meters away at (-15.0, -2.3). A pedestrian with ID 31 is 15.6 meters away at (-12.1, 9.8). A pedestrian with ID 36 is 16.2 meters away at (-16.2, 0.2). A pedestrian with ID 32 is 16.6 meters away at (-16.4, -3.0). A cyclist with ID 33 is 20.6 meters away at (-18.2, 9.7). A vehicle with ID 34 is 21.3 meters away at (14.7, -15.5). A vehicle with ID 35 is 21.8 meters away at (11.4, -18.6).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [-3.1696408  -0.70772386] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.6653558 -2.9706535] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.9936762 -1.7942504] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.62970364 -1.3495817 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.4250284  0.91976535] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.50428873 1.3179041 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.6208861 -1.4630542] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-0.02529171  0.00356205] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.964544   -3.3027565]\n [ -3.9052908 -20.401093 ]\n [-15.561375   -6.8127084]\n [ -5.258037  -23.612127 ]]", "nav_goal": "(-241.0886993408203, 136.89620971679688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-4.4307413 -4.340374 ], 6.202444076538086 meters away.)"}
{"file_name": "images/scenario_328_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -0.7) m/s. Its current heading (yaw) is -2.86 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 7.0 meters away at (-6.7, -2.1). A vehicle with ID 3 is 7.8 meters away at (6.7, 4.0). A pedestrian with ID 36 is 11.9 meters away at (-10.9, 4.9). A pedestrian with ID 30 is 12.0 meters away at (-11.7, -2.6). A pedestrian with ID 32 is 13.7 meters away at (-13.1, -3.9). A pedestrian with ID 29 is 14.4 meters away at (-12.9, -6.2). A pedestrian with ID 31 is 15.9 meters away at (-7.6, 14.0). A pedestrian with ID 38 is 17.0 meters away at (-9.8, -13.9). A cyclist with ID 33 is 18.1 meters away at (-14.0, 11.5). A pedestrian with ID 37 is 19.2 meters away at (7.9, -17.4).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [-3.6650555  0.7700216] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.0500453 -1.9734626] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.6256687 1.4108266] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.46525517 -1.0459207 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.34823015 -1.3788037 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1796991 -2.320774 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.05263067 1.3852532 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.3833295 -0.5430418] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-0.00506131  0.00326869] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.46231812 1.6195116 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.964544   -3.3027565]\n [ -3.9052908 -20.401093 ]\n [-15.561375   -6.8127084]\n [ -5.258037  -23.612127 ]]", "nav_goal": "(-241.0886993408203, 136.89620971679688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-6.6749067 -2.1465654], 7.011570453643799 meters away.)"}
{"file_name": "images/scenario_328_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -0.1) m/s. Its current heading (yaw) is -3.11 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 7.9 meters away at (-6.8, -4.1). A vehicle with ID 3 is 8.5 meters away at (8.3, 2.0). A pedestrian with ID 36 is 9.4 meters away at (-3.6, 8.7). A pedestrian with ID 32 is 9.8 meters away at (-7.9, -5.7). A cyclist with ID 9 is 10.1 meters away at (-10.0, 1.5). A pedestrian with ID 29 is 12.5 meters away at (-8.0, -9.6). A pedestrian with ID 38 is 14.0 meters away at (-0.9, -13.9). A cyclist with ID 33 is 14.8 meters away at (-8.0, 12.5). A pedestrian with ID 31 is 17.7 meters away at (-2.3, 17.5). A pedestrian with ID 37 is 20.1 meters away at (15.0, -13.3).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.49683696 -1.2636993 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.8109374 -1.361698 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.6181014 1.3561482] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.3447093 -1.4010048] m/s.The cyclist with ID 9 is traveling at a (x, y) velocity of [-5.5420837  1.5276889] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.17506102 -1.7319404 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.3423721 -0.4856159] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [0.00012415 0.00472678] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.6599011  1.0911844] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.6251231 1.5250474] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.964544   -3.3027565]\n [ -2.6996257 -16.975782 ]\n [ -3.9052908 -20.401093 ]\n [ -2.690187  -16.948366 ]\n [-15.561375   -6.8127084]\n [ -5.258037  -23.612127 ]]", "nav_goal": "(-241.0886993408203, 136.89620971679688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.794153 -4.056263], 7.9128875732421875 meters away.)"}
{"file_name": "images/scenario_329_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 4.7 meters away at (-4.6, 1.1). A vehicle with ID 44 is 5.4 meters away at (1.8, 5.1). A vehicle with ID 11 is 6.9 meters away at (6.1, 3.1). A vehicle with ID 68 is 7.2 meters away at (-6.2, 3.6). A vehicle with ID 46 is 8.4 meters away at (1.2, 8.4). A vehicle with ID 10 is 11.0 meters away at (-10.5, -3.1). A vehicle with ID 53 is 13.7 meters away at (9.6, 9.7). A vehicle with ID 75 is 14.8 meters away at (7.4, 12.9). A vehicle with ID 55 is 16.2 meters away at (14.0, 8.1). A vehicle with ID 56 is 17.1 meters away at (-16.9, -2.5).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [1.06752    0.65894854] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0.4431455 0.291129 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [1.2037071  0.78519493] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0.73359454 0.46231833] m/s.", "light_description": "There are active red lights at the following coordinates: [[36.454838 17.650688]\n [18.415087 19.686907]\n [22.314047 10.696276]\n [21.29344  13.141069]\n [20.785727 16.701109]\n [21.936457 11.866077]\n [38.68316  20.230064]\n [17.15944  21.015442]]", "nav_goal": "(239.203857421875, -153.6382293701172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.614077  1.11683 ], 4.747316837310791 meters away.)"}
{"file_name": "images/scenario_329_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 4.7 meters away at (-4.6, 1.1). A vehicle with ID 44 is 6.3 meters away at (2.7, 5.7). A vehicle with ID 68 is 6.6 meters away at (-4.8, 4.5). A vehicle with ID 11 is 7.9 meters away at (7.0, 3.7). A vehicle with ID 46 is 9.4 meters away at (2.4, 9.1). A vehicle with ID 10 is 10.6 meters away at (-10.2, -2.9). A vehicle with ID 56 is 15.2 meters away at (-15.1, -1.4). A vehicle with ID 53 is 16.0 meters away at (11.6, 11.0). A vehicle with ID 75 is 16.8 meters away at (9.0, 14.2). A vehicle with ID 42 is 17.9 meters away at (-16.7, -6.5).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.4301041 0.8786048] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0.6656673  0.39074612] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [1.0339406  0.60602695] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [1.7885137 1.2171193] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0.8870371 0.5668329] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [2.588358  1.7044395] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [2.0603745 1.7766765] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[36.454838 17.650688]\n [38.68316  20.230064]]", "nav_goal": "(239.203857421875, -153.6382293701172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.6183624  1.108375 ], 4.749501705169678 meters away.)"}
{"file_name": "images/scenario_329_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 1.2) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 6.2 meters away at (-6.2, 0.2). A vehicle with ID 68 is 6.4 meters away at (-3.9, 5.1). A vehicle with ID 11 is 10.3 meters away at (9.0, 5.0). A vehicle with ID 44 is 10.6 meters away at (6.8, 8.1). A vehicle with ID 10 is 12.5 meters away at (-11.8, -3.9). A vehicle with ID 46 is 14.3 meters away at (6.8, 12.6). A vehicle with ID 56 is 14.7 meters away at (-14.6, -1.1). A vehicle with ID 42 is 19.8 meters away at (-18.3, -7.5). A unknown object with ID 4 is 21.4 meters away at (21.3, -2.2). A vehicle with ID 54 is 22.8 meters away at (-22.0, -6.0).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [1.2972363  0.84307325] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [2.5476465 1.6420743] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.709325  1.6909193] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [4.5708127 2.9051542] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [4.1147723 3.3981562] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [1.754026  1.0699099] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [1.4040183 0.8606593] m/s.", "light_description": "There are active red lights at the following coordinates: [[36.454838 17.650688]\n [33.462437 15.947621]\n [33.354446 15.872092]\n [33.70157  16.125937]\n [38.68316  20.230064]]", "nav_goal": "(239.203857421875, -153.6382293701172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.168222    0.15832591], 6.170253753662109 meters away.)"}
{"file_name": "images/scenario_329_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 2.0) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 5.6 meters away at (-5.5, 0.7). A vehicle with ID 68 is 7.0 meters away at (-1.7, 6.8). A vehicle with ID 11 is 10.9 meters away at (9.5, 5.3). A vehicle with ID 56 is 13.6 meters away at (-13.5, -0.5). A vehicle with ID 10 is 15.8 meters away at (-14.7, -5.7). A pedestrian with ID 47 is 16.2 meters away at (16.2, 0.2). A unknown object with ID 4 is 17.0 meters away at (16.1, -5.4). A pedestrian with ID 48 is 17.4 meters away at (17.4, 0.1). A vehicle with ID 44 is 18.2 meters away at (12.9, 12.8). A unknown object with ID 2 is 18.7 meters away at (17.9, -5.2).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [4.0771523 2.501966 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [4.489606  3.2354693] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.9620094 1.8601183] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [4.665222  2.8942876] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.6608741 1.6781892] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.65070456  0.85241646] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.58652323  0.9628752 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [6.374321  5.0852227] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[36.454838 17.650688]\n [33.462437 15.947621]\n [33.354446 15.872092]\n [33.70157  16.125937]\n [38.68316  20.230064]]", "nav_goal": "(239.203857421875, -153.6382293701172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.5470047   0.66321373], 5.586511611938477 meters away.)"}
{"file_name": "images/scenario_330_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 9.9) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 48.1 meters away at (-21.8, 42.9). A vehicle with ID 4 is 50.9 meters away at (-20.5, 46.6).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [3.5245974 6.001288 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [3.6966712 7.2015495] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-118.27794647216797, 277.4509582519531)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-21.792507  42.900986], 48.11868667602539 meters away.)"}
{"file_name": "images/scenario_330_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 9.7) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-118.27794647216797, 277.4509582519531)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_330_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 9.6) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-118.27794647216797, 277.4509582519531)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_330_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 9.9) m/s. Its current heading (yaw) is 1.97 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-118.27794647216797, 277.4509582519531)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_331_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.2) m/s. Its current heading (yaw) is 0.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 7.9 meters away at (-6.4, -4.6). A pedestrian with ID 17 is 12.9 meters away at (-10.9, 6.9). A vehicle with ID 22 is 14.9 meters away at (-13.2, -7.0). A unknown object with ID 9 is 15.8 meters away at (15.4, 3.7). A unknown object with ID 11 is 15.9 meters away at (14.8, 5.9). A unknown object with ID 10 is 16.0 meters away at (15.9, 1.3). A unknown object with ID 12 is 16.5 meters away at (14.2, 8.4). A vehicle with ID 21 is 19.0 meters away at (-19.0, 0.4). A vehicle with ID 24 is 21.0 meters away at (-19.2, -8.6). A vehicle with ID 16 is 22.7 meters away at (2.2, 22.6).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.01786627 -0.01670147] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-68.31639862060547, 277.2283630371094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.412184  -4.5612392], 7.868989944458008 meters away.)"}
{"file_name": "images/scenario_331_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 1.0) m/s. Its current heading (yaw) is 0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 11.0 meters away at (-9.6, -5.5). A unknown object with ID 9 is 12.5 meters away at (12.2, 2.6). A unknown object with ID 11 is 12.6 meters away at (11.6, 4.9). A unknown object with ID 10 is 12.8 meters away at (12.8, 0.3). A unknown object with ID 12 is 13.3 meters away at (11.1, 7.4). A pedestrian with ID 17 is 15.4 meters away at (-14.1, 6.0). A vehicle with ID 22 is 18.1 meters away at (-16.4, -7.9). A vehicle with ID 16 is 21.7 meters away at (-0.8, 21.7). A vehicle with ID 21 is 22.1 meters away at (-22.1, -0.4). A vehicle with ID 24 is 24.2 meters away at (-22.3, -9.5).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.061708    0.04285663] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-68.31639862060547, 277.2283630371094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.58062   -5.4978657], 11.04603099822998 meters away.)"}
{"file_name": "images/scenario_331_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.3) m/s. Its current heading (yaw) is 1.15 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 7.3 meters away at (6.9, -2.5). A unknown object with ID 10 is 8.8 meters away at (7.4, -4.8). A vehicle with ID 16 is 17.6 meters away at (-6.0, 16.6). A vehicle with ID 19 is 18.3 meters away at (-15.0, -10.5). A pedestrian with ID 17 is 19.6 meters away at (-19.5, 1.0). A vehicle with ID 15 is 23.8 meters away at (-7.4, 22.7). A vehicle with ID 22 is 25.3 meters away at (-21.7, -12.8). A vehicle with ID 21 is 28.0 meters away at (-27.5, -5.4). A vehicle with ID 14 is 29.5 meters away at (-8.7, 28.2). A vehicle with ID 24 is 31.2 meters away at (-27.7, -14.5).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00767885  0.00266084] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-68.31639862060547, 277.2283630371094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 6.860284 -2.505968], 7.303654670715332 meters away.)"}
{"file_name": "images/scenario_331_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 7.0) m/s. Its current heading (yaw) is 1.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 8.5 meters away at (-6.9, 5.0). A vehicle with ID 15 is 13.9 meters away at (-8.4, 11.1). A unknown object with ID 9 is 15.2 meters away at (5.9, -14.0). A unknown object with ID 10 is 17.6 meters away at (6.5, -16.3). A vehicle with ID 14 is 19.3 meters away at (-9.7, 16.6). A pedestrian with ID 17 is 22.5 meters away at (-19.9, -10.5). A vehicle with ID 19 is 27.2 meters away at (-15.9, -22.1). A vehicle with ID 21 is 33.1 meters away at (-28.5, -16.9). A vehicle with ID 22 is 33.3 meters away at (-22.7, -24.4). A vehicle with ID 24 is 38.7 meters away at (-28.6, -26.1).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.6463086  0.19311821] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-68.31639862060547, 277.2283630371094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.926292   4.9889393], 8.535984992980957 meters away.)"}
{"file_name": "images/scenario_332_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -7.9) m/s. Its current heading (yaw) is -1.28 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(49.4972038269043, 129.01393127441406)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_332_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -6.9) m/s. Its current heading (yaw) is -1.29 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(49.4972038269043, 129.01393127441406)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_332_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -3.6) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 40.5 meters away at (-21.7, 34.3). A unknown object with ID 8 is 43.5 meters away at (-22.5, 37.2). A unknown object with ID 2 is 58.0 meters away at (-26.8, 51.4). A unknown object with ID 9 is 60.9 meters away at (-27.6, 54.3).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(49.4972038269043, 129.01393127441406)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-21.668514  34.272488], 40.547847747802734 meters away.)"}
{"file_name": "images/scenario_332_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 1.4) m/s. Its current heading (yaw) is 0.26 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(49.4972038269043, 129.01393127441406)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_333_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 1.0) m/s. Its current heading (yaw) is 0.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 6.4 meters away at (3.2, -5.6). A vehicle with ID 102 is 10.9 meters away at (8.3, -7.1). A vehicle with ID 103 is 13.2 meters away at (10.9, -7.5). A vehicle with ID 104 is 15.3 meters away at (13.4, -7.4). A unknown object with ID 101 is 22.5 meters away at (-20.6, -9.1). A vehicle with ID 109 is 29.1 meters away at (-21.7, 19.4). A vehicle with ID 105 is 31.2 meters away at (-27.0, -15.5). A vehicle with ID 98 is 31.9 meters away at (31.0, -7.7). A pedestrian with ID 108 is 32.0 meters away at (-30.4, 10.0). A vehicle with ID 106 is 32.3 meters away at (-21.3, -24.3).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.02508283  0.01180026] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(229.76585388183594, 8.49996280670166)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 3.188087  -5.5513206], 6.401644706726074 meters away.)"}
{"file_name": "images/scenario_333_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -0.1) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 104 is 7.9 meters away at (1.3, -7.8). A vehicle with ID 103 is 7.9 meters away at (-1.3, -7.8). A vehicle with ID 102 is 8.2 meters away at (-3.8, -7.3). A vehicle with ID 98 is 20.4 meters away at (18.8, -8.1). A vehicle with ID 46 is 24.6 meters away at (23.5, -7.3). A vehicle with ID 45 is 27.8 meters away at (26.8, -7.5). A unknown object with ID 101 is 34.1 meters away at (-32.8, -9.2). A vehicle with ID 71 is 38.7 meters away at (14.5, -35.9). A vehicle with ID 109 is 38.8 meters away at (-33.7, 19.3). A vehicle with ID 106 is 41.5 meters away at (-33.7, -24.3).", "velocity_description": "The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(229.76585388183594, 8.49996280670166)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.2596397 -7.765804 ], 7.867299556732178 meters away.)"}
{"file_name": "images/scenario_333_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 98 is 8.8 meters away at (3.8, -7.9). A vehicle with ID 46 is 11.1 meters away at (8.4, -7.3). A vehicle with ID 45 is 14.0 meters away at (11.8, -7.5). A vehicle with ID 104 is 15.7 meters away at (-13.7, -7.7). A vehicle with ID 103 is 18.1 meters away at (-16.3, -7.7). A vehicle with ID 102 is 20.1 meters away at (-18.8, -6.9). A unknown object with ID 56 is 32.7 meters away at (28.2, 16.7). A unknown object with ID 87 is 35.8 meters away at (32.0, 16.0). A vehicle with ID 99 is 37.2 meters away at (29.9, -22.1). A vehicle with ID 97 is 39.3 meters away at (32.6, -21.8).", "velocity_description": "The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(229.76585388183594, 8.49996280670166)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.7732658 -7.936303 ], 8.787630081176758 meters away.)"}
{"file_name": "images/scenario_333_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.1, 0.2) m/s. Its current heading (yaw) is 0.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 9.3 meters away at (-5.2, -7.6). A vehicle with ID 46 is 11.4 meters away at (-8.7, -7.5). A vehicle with ID 98 is 15.5 meters away at (-13.3, -8.1). A unknown object with ID 56 is 19.9 meters away at (11.0, 16.6). A vehicle with ID 37 is 20.1 meters away at (15.2, -13.2). A unknown object with ID 87 is 21.8 meters away at (14.9, 15.9). A vehicle with ID 99 is 25.6 meters away at (12.8, -22.2). A vehicle with ID 97 is 26.8 meters away at (15.5, -21.9). A vehicle with ID 31 is 26.9 meters away at (25.1, -9.6). A vehicle with ID 38 is 28.9 meters away at (18.1, -22.5).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.1887735  2.1892095] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(229.76585388183594, 8.49996280670166)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.231285  -7.6487093], 9.266557693481445 meters away.)"}
{"file_name": "images/scenario_334_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.3) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 5.8 meters away at (5.2, 2.6). A vehicle with ID 22 is 6.8 meters away at (-3.2, -6.0). A vehicle with ID 24 is 9.3 meters away at (4.4, -8.2). A vehicle with ID 23 is 9.3 meters away at (8.7, -3.2). A vehicle with ID 25 is 9.5 meters away at (-9.2, 2.7). A vehicle with ID 28 is 10.1 meters away at (-9.3, -3.9). A vehicle with ID 26 is 10.8 meters away at (-2.9, -10.3). A vehicle with ID 29 is 14.4 meters away at (10.6, -9.8). A vehicle with ID 33 is 16.0 meters away at (-13.5, 8.6). A vehicle with ID 30 is 16.3 meters away at (16.3, -0.7).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-1.8848832   0.59315926] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.30394235  0.10897321] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-65.840614  13.799376]\n [ 39.532303 -23.841053]\n [ 52.2316   -15.829457]\n [-68.79965   15.953833]\n [ 41.11578  -21.091805]\n [-70.18417   16.198044]\n [ 51.03818  -17.786928]]", "nav_goal": "(2.522454261779785, -131.23516845703125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.1594143 2.6097593], 5.78190279006958 meters away.)"}
{"file_name": "images/scenario_334_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.1) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 6.5 meters away at (6.1, 2.3). A vehicle with ID 22 is 6.7 meters away at (-2.2, -6.3). A vehicle with ID 23 is 7.3 meters away at (6.8, -2.6). A vehicle with ID 25 is 9.1 meters away at (-8.7, 2.6). A vehicle with ID 28 is 9.2 meters away at (-8.2, -4.2). A vehicle with ID 24 is 10.0 meters away at (5.3, -8.5). A vehicle with ID 26 is 10.8 meters away at (-1.9, -10.7). A vehicle with ID 33 is 14.9 meters away at (-12.5, 8.2). A vehicle with ID 31 is 15.0 meters away at (14.3, -4.6). A vehicle with ID 29 is 15.4 meters away at (11.6, -10.2).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.74115     0.22101931] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.4451672   0.43480104] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 39.532303 -23.841053]\n [ 52.2316   -15.829457]\n [ 41.11578  -21.091805]\n [ 51.03818  -17.786928]]", "nav_goal": "(2.522454261779785, -131.23516845703125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [6.113756  2.2997806], 6.531998634338379 meters away.)"}
{"file_name": "images/scenario_334_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 6.6 meters away at (6.3, 2.2). A vehicle with ID 23 is 6.7 meters away at (6.2, -2.5). A vehicle with ID 22 is 6.8 meters away at (-2.1, -6.4). A vehicle with ID 25 is 9.1 meters away at (-8.7, 2.5). A vehicle with ID 28 is 9.2 meters away at (-8.1, -4.3). A vehicle with ID 24 is 10.2 meters away at (5.5, -8.6). A vehicle with ID 26 is 10.9 meters away at (-1.8, -10.7). A vehicle with ID 31 is 13.3 meters away at (12.6, -4.2). A vehicle with ID 33 is 14.8 meters away at (-12.3, 8.2). A vehicle with ID 39 is 15.2 meters away at (-15.1, -1.7).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 39.532303 -23.841053]\n [ 52.2316   -15.829457]\n [ 41.11578  -21.091805]\n [ 51.03818  -17.786928]]", "nav_goal": "(2.522454261779785, -131.23516845703125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [6.2516737 2.2000313], 6.627485275268555 meters away.)"}
{"file_name": "images/scenario_334_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 6.6 meters away at (6.2, 2.2). A vehicle with ID 23 is 6.7 meters away at (6.2, -2.5). A vehicle with ID 22 is 6.8 meters away at (-2.1, -6.4). A vehicle with ID 25 is 9.1 meters away at (-8.7, 2.5). A vehicle with ID 28 is 9.2 meters away at (-8.1, -4.3). A vehicle with ID 24 is 10.2 meters away at (5.5, -8.6). A vehicle with ID 26 is 10.9 meters away at (-1.8, -10.8). A vehicle with ID 31 is 13.2 meters away at (12.5, -4.2). A vehicle with ID 33 is 14.8 meters away at (-12.3, 8.2). A vehicle with ID 39 is 15.2 meters away at (-15.1, -1.8).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 39.532303 -23.841053]\n [ 52.2316   -15.829457]\n [ 41.11578  -21.091805]\n [ 51.03818  -17.786928]]", "nav_goal": "(2.522454261779785, -131.23516845703125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [6.244306  2.1912937], 6.617637634277344 meters away.)"}
{"file_name": "images/scenario_335_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -6.2) m/s. Its current heading (yaw) is -0.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 5.0 meters away at (4.7, -1.6). A vehicle with ID 13 is 7.6 meters away at (-1.3, 7.5). A unknown object with ID 12 is 14.9 meters away at (-10.0, 11.0). A vehicle with ID 14 is 23.5 meters away at (-11.6, 20.5). A vehicle with ID 16 is 23.8 meters away at (16.6, -17.0). A vehicle with ID 17 is 24.7 meters away at (-14.9, 19.7). A cyclist with ID 10 is 55.9 meters away at (38.3, -40.7). A vehicle with ID 3 is 58.9 meters away at (40.6, -42.7). A vehicle with ID 18 is 60.2 meters away at (-34.2, 49.5).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.312853  -3.1877234] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 1.605852  -2.2058713] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 1.7909358 -2.3498302] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 5.0218806 -6.887001 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.864565 -7.667162] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-0.04243632 -0.04011848] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.15895642 -1.2437154 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 6.1934905 -7.603313 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 39.614403 -46.819626]\n [ 40.814987 -45.673733]]", "nav_goal": "(47.88822937011719, -246.384521484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.7174273 -1.5734301], 4.972906589508057 meters away.)"}
{"file_name": "images/scenario_335_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -6.1) m/s. Its current heading (yaw) is -1.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 3.6 meters away at (3.6, 0.4). A vehicle with ID 13 is 13.3 meters away at (-4.7, 12.4). A vehicle with ID 17 is 21.7 meters away at (-12.8, 17.6). A vehicle with ID 16 is 29.3 meters away at (20.1, -21.2). A vehicle with ID 14 is 32.8 meters away at (-17.0, 28.1). A vehicle with ID 18 is 57.9 meters away at (-32.0, 48.3).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 4.7643237 -6.4222856] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 3.716236 -5.125858] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.9643545 -6.877847 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 6.8455267 -9.206249 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 1.9683411 -2.740306 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 4.504392  -5.8239956] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.88822937011719, -246.384521484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.5541     0.44305038], 3.581608772277832 meters away.)"}
{"file_name": "images/scenario_335_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -7.4) m/s. Its current heading (yaw) is -1.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 12.0 meters away at (11.9, -1.4). A vehicle with ID 13 is 13.5 meters away at (1.3, 13.5). A vehicle with ID 17 is 18.8 meters away at (-6.2, 17.7). A vehicle with ID 14 is 38.3 meters away at (-15.6, 35.0). A vehicle with ID 16 is 41.9 meters away at (31.7, -27.4). A vehicle with ID 18 is 58.2 meters away at (-27.8, 51.1).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.8093557 -9.131333 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 5.3639297 -7.338189 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.504285 -7.451559] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 3.1526518 -4.3353558] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [  7.6392016 -10.373932 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.6646008 -4.883966 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.88822937011719, -246.384521484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [11.919163  -1.3666534], 11.997257232666016 meters away.)"}
{"file_name": "images/scenario_335_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, -5.3) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 21.2 meters away at (16.2, 13.7). A vehicle with ID 13 is 25.1 meters away at (23.3, 9.4). A vehicle with ID 14 is 36.9 meters away at (2.7, 36.8). A vehicle with ID 15 is 37.9 meters away at (36.7, -9.2). A vehicle with ID 18 is 54.6 meters away at (-9.6, 53.7).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [ 6.842043  -9.1249695] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 6.942409 -9.474003] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 5.1999984 -6.789643 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [  8.009163 -11.01396 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 4.930505 -6.38242 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.88822937011719, -246.384521484375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.208012 13.673317], 21.205169677734375 meters away.)"}
{"file_name": "images/scenario_336_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.2) m/s. Its current heading (yaw) is 2.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 4.7 meters away at (1.7, 4.4). A vehicle with ID 50 is 8.6 meters away at (-7.6, 4.0). A vehicle with ID 18 is 8.6 meters away at (5.4, 6.6). A cyclist with ID 35 is 16.2 meters away at (-12.2, 10.8). A vehicle with ID 24 is 17.1 meters away at (3.1, 16.8). A cyclist with ID 27 is 20.0 meters away at (-19.9, -1.0). A pedestrian with ID 30 is 20.6 meters away at (-10.4, 17.8). A vehicle with ID 33 is 20.9 meters away at (-14.4, 15.1). A pedestrian with ID 31 is 22.2 meters away at (-11.5, 19.0). A pedestrian with ID 39 is 24.3 meters away at (-13.0, 20.5).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [ 8.943752  -3.8758543] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 7.7346125 -3.4053435] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [ 9.931185  -4.0521383] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 0.3539109 -2.0746603] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.02870074 -7.2728205 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.2798778  -0.61939484] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 5.5462694 -2.4008684] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1317004  -0.64205915] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.2466514   0.67498136] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.487925    5.902619 ]\n [-26.948814    4.480583 ]\n [-23.286842    3.1132107]\n [-13.53558     5.8025184]\n [-23.632538    3.293311 ]\n [-23.071077    2.9745438]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.6790617 4.366102 ], 4.677830219268799 meters away.)"}
{"file_name": "images/scenario_336_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 8.4 meters away at (-7.4, 3.9). A cyclist with ID 35 is 10.0 meters away at (9.9, 1.8). A vehicle with ID 33 is 10.1 meters away at (-2.0, 9.9). A vehicle with ID 24 is 14.7 meters away at (4.0, 14.1). A pedestrian with ID 30 is 18.3 meters away at (-7.6, 16.6). A pedestrian with ID 31 is 19.9 meters away at (-9.0, 17.7). A vehicle with ID 19 is 22.0 meters away at (21.6, -4.2). A vehicle with ID 18 is 22.1 meters away at (22.1, -0.7). A pedestrian with ID 29 is 23.6 meters away at (-12.9, 19.8). A pedestrian with ID 39 is 26.4 meters away at (-15.1, 21.6).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [10.713548 -4.422024] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 6.775206  -2.7921646] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 0.29222998 -1.077329  ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.3609537  -0.47283262] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3050097 -0.5904207] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [10.547845  -4.4803033] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 8.194465  -3.5917497] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.97075087 -0.38841566] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.1781509  0.5589922] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.487925    5.902619 ]\n [-26.948814    4.480583 ]\n [-23.286842    3.1132107]\n [-13.53558     5.8025184]\n [-23.632538    3.293311 ]\n [-23.071077    2.9745438]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.3907776  3.9316778], 8.371479988098145 meters away.)"}
{"file_name": "images/scenario_336_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 9.3 meters away at (-8.2, 4.4). A vehicle with ID 24 is 12.4 meters away at (5.0, 11.3). A vehicle with ID 33 is 13.0 meters away at (12.5, 3.7). A pedestrian with ID 30 is 16.3 meters away at (-4.8, 15.6). A pedestrian with ID 31 is 18.0 meters away at (-6.6, 16.7). A vehicle with ID 8 is 20.7 meters away at (15.7, -13.4). A pedestrian with ID 29 is 22.0 meters away at (-11.0, 19.0). A vehicle with ID 53 is 24.1 meters away at (3.1, 23.9). A vehicle with ID 44 is 26.4 meters away at (-24.0, 11.1). A vehicle with ID 36 is 27.4 meters away at (-25.7, -9.7).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.2470747   0.82583237] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 1.1505471 -2.3771455] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.538696 -3.116554] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.4434232  -0.45066428] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1388862  -0.51894486] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-12.02268     5.0322523] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.9757925 -0.425564 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-0.10288775 -1.5182316 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.487925    5.902619 ]\n [-26.948814    4.480583 ]\n [-23.286842    3.1132107]\n [-46.9034     12.953058 ]\n [-13.53558     5.8025184]\n [-23.632538    3.293311 ]\n [-23.071077    2.9745438]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.209855   4.4456463], 9.3362455368042 meters away.)"}
{"file_name": "images/scenario_336_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.4) m/s. Its current heading (yaw) is 2.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 7.9 meters away at (-6.9, -3.8). A vehicle with ID 24 is 11.9 meters away at (11.0, 4.4). A pedestrian with ID 30 is 14.5 meters away at (-1.2, 14.4). A vehicle with ID 50 is 15.6 meters away at (-12.3, 9.7). A pedestrian with ID 31 is 16.1 meters away at (-3.4, 15.7). A pedestrian with ID 29 is 20.1 meters away at (-8.6, 18.2). A vehicle with ID 53 is 23.0 meters away at (3.6, 22.7). A vehicle with ID 44 is 25.6 meters away at (-23.2, 10.7). A vehicle with ID 36 is 26.9 meters away at (-25.0, -9.9). A vehicle with ID 33 is 28.6 meters away at (28.4, -3.2).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-11.288485   4.837721] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 5.0153246 -3.9128685] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.7366014 -0.5420055] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-2.1420796  4.8629284] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.5827662  -0.46684688] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.124712   -0.43109852] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.35973042 -0.24305756] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.6460333 -3.3001006] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.948814    4.480583 ]\n [-23.286842    3.1132107]\n [-23.632538    3.293311 ]\n [-23.071077    2.9745438]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.923333  -3.7790422], 7.887566089630127 meters away.)"}
{"file_name": "images/scenario_337_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 5.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 31.6 meters away at (24.0, -20.6). A unknown object with ID 38 is 46.9 meters away at (-43.2, -18.3). A vehicle with ID 50 is 47.2 meters away at (33.0, -33.8). A unknown object with ID 49 is 47.5 meters away at (-40.8, -24.3). A unknown object with ID 46 is 50.1 meters away at (-41.9, -27.5). A unknown object with ID 18 is 55.5 meters away at (-46.4, -30.4). A vehicle with ID 52 is 65.8 meters away at (45.7, -47.3). A unknown object with ID 24 is 75.1 meters away at (-18.4, -72.8). A unknown object with ID 43 is 77.2 meters away at (-45.7, -62.1).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [-7.4958653  6.4049416] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [10.498904 -8.040587] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 8.504469  -7.3525667] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-165.95091247558594, 115.79524230957031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 23.988422 -20.622677], 31.634462356567383 meters away.)"}
{"file_name": "images/scenario_337_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 5.4) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 30.5 meters away at (23.2, -19.8). A unknown object with ID 49 is 44.9 meters away at (-27.6, -35.4). A unknown object with ID 45 is 46.7 meters away at (-27.9, -37.5). A unknown object with ID 32 is 56.5 meters away at (-52.1, 22.0). A vehicle with ID 4 is 57.5 meters away at (-53.3, 21.6). A vehicle with ID 2 is 70.7 meters away at (-51.9, 48.0). A vehicle with ID 3 is 73.3 meters away at (-55.8, 47.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.663066  5.641277] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-165.95091247558594, 115.79524230957031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 23.160265 -19.817913], 30.481922149658203 meters away.)"}
{"file_name": "images/scenario_337_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.0) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 29.6 meters away at (22.5, -19.3). A unknown object with ID 40 is 33.8 meters away at (9.9, -32.4). A vehicle with ID 4 is 42.6 meters away at (-41.1, 11.2). A vehicle with ID 34 is 43.5 meters away at (17.3, -39.9). A unknown object with ID 33 is 51.0 meters away at (-31.6, 40.1). A vehicle with ID 2 is 54.8 meters away at (-39.8, 37.7). A vehicle with ID 3 is 57.4 meters away at (-43.7, 37.2). A vehicle with ID 9 is 63.1 meters away at (-45.6, 43.6). A vehicle with ID 12 is 69.7 meters away at (-52.9, 45.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.9106984  4.9867263] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-100.15274    85.37385 ]\n [ -97.12154    88.631195]\n [ -95.24052    89.68603 ]]", "nav_goal": "(-165.95091247558594, 115.79524230957031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 22.502005 -19.268066], 29.624290466308594 meters away.)"}
{"file_name": "images/scenario_337_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 28.3 meters away at (21.4, -18.6). A vehicle with ID 4 is 30.0 meters away at (-30.0, 1.6). A vehicle with ID 2 is 40.3 meters away at (-28.8, 28.2). A vehicle with ID 3 is 42.7 meters away at (-32.6, 27.6). A unknown object with ID 19 is 46.7 meters away at (41.3, -21.6). A vehicle with ID 47 is 47.4 meters away at (22.8, -41.5). A vehicle with ID 9 is 48.5 meters away at (-34.6, 34.0). A unknown object with ID 31 is 51.6 meters away at (30.0, -42.0). A vehicle with ID 12 is 55.2 meters away at (-41.8, 36.0). A vehicle with ID 34 is 57.1 meters away at (28.6, -49.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.8606    5.009213] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-100.15274    85.37385 ]\n [ -97.12154    88.631195]\n [ -95.24052    89.68603 ]]", "nav_goal": "(-165.95091247558594, 115.79524230957031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 21.38186  -18.554083], 28.309680938720703 meters away.)"}
{"file_name": "images/scenario_338_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -3.0) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 78 is 8.6 meters away at (2.9, -8.1). A vehicle with ID 84 is 8.8 meters away at (8.8, -0.5). A pedestrian with ID 73 is 10.3 meters away at (-9.4, -4.3). A vehicle with ID 83 is 12.8 meters away at (12.8, -0.0). A vehicle with ID 77 is 13.3 meters away at (-8.4, -10.4). A vehicle with ID 82 is 13.7 meters away at (2.0, -13.6). A vehicle with ID 14 is 13.8 meters away at (-12.7, 5.3). A pedestrian with ID 75 is 14.3 meters away at (-2.2, 14.1). A vehicle with ID 85 is 15.8 meters away at (4.7, -15.1). A vehicle with ID 71 is 17.9 meters away at (17.5, -4.0).", "velocity_description": "The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-1.210343   0.9242316] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.11442578 -1.1273766 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 2.0433526  -0.82063353] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [1.0760273 0.7018233] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.7984619140625, 61.52478790283203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.9061394 -8.083343 ], 8.589881896972656 meters away.)"}
{"file_name": "images/scenario_338_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -4.6) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 6.4 meters away at (5.2, 3.8). A vehicle with ID 83 is 7.6 meters away at (0.6, 7.6). A unknown object with ID 58 is 8.2 meters away at (8.0, 1.8). A vehicle with ID 85 is 10.5 meters away at (-7.4, -7.4). A vehicle with ID 84 is 11.0 meters away at (-6.1, 9.2). A vehicle with ID 82 is 11.7 meters away at (-10.1, -5.9). A vehicle with ID 68 is 11.9 meters away at (11.8, -1.5). A vehicle with ID 90 is 14.3 meters away at (-0.2, -14.3). A unknown object with ID 50 is 15.3 meters away at (3.7, -14.8). A vehicle with ID 41 is 15.7 meters away at (10.2, -11.9).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-2.7079854  1.7904344] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.7984619140625, 61.52478790283203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.222843 3.764392], 6.4380693435668945 meters away.)"}
{"file_name": "images/scenario_338_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.6) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 3.6 meters away at (-3.3, -1.6). A vehicle with ID 69 is 5.7 meters away at (2.6, 5.1). A vehicle with ID 70 is 7.0 meters away at (6.8, 1.6). A vehicle with ID 68 is 9.0 meters away at (-1.8, 8.8). A unknown object with ID 56 is 9.6 meters away at (3.3, -9.0). A vehicle with ID 66 is 10.7 meters away at (10.6, -1.7). A unknown object with ID 58 is 13.5 meters away at (-5.7, 12.2). A vehicle with ID 90 is 14.3 meters away at (-13.7, -4.0). A vehicle with ID 40 is 15.4 meters away at (9.3, -12.3). A vehicle with ID 71 is 16.3 meters away at (-8.3, 14.0).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.7984619140625, 61.52478790283203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.296875  -1.5552979], 3.6453170776367188 meters away.)"}
{"file_name": "images/scenario_338_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -5.3) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 3.9 meters away at (-3.6, -1.6). A unknown object with ID 43 is 4.9 meters away at (-2.1, -4.5). A pedestrian with ID 54 is 8.6 meters away at (-3.7, -7.8). A vehicle with ID 66 is 9.3 meters away at (-2.3, 9.0). A unknown object with ID 56 is 9.8 meters away at (-9.7, 1.8). A vehicle with ID 19 is 10.5 meters away at (5.4, -9.0). A vehicle with ID 70 is 13.9 meters away at (-6.2, 12.4). A vehicle with ID 67 is 15.0 meters away at (14.2, -4.9). A vehicle with ID 41 is 18.8 meters away at (-16.3, 9.3). A vehicle with ID 69 is 18.9 meters away at (-10.4, 15.8).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.02351261 0.01692955] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.7984619140625, 61.52478790283203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.589344  -1.5880814], 3.9249703884124756 meters away.)"}
{"file_name": "images/scenario_339_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -5.8) m/s. Its current heading (yaw) is -1.65 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 13.3 meters away at (7.5, 11.0). A unknown object with ID 34 is 23.6 meters away at (-14.9, 18.3). A pedestrian with ID 35 is 29.8 meters away at (-21.1, -21.1). A vehicle with ID 36 is 36.1 meters away at (-1.5, 36.0). A unknown object with ID 38 is 43.6 meters away at (43.6, 0.8). A pedestrian with ID 33 is 68.0 meters away at (-29.7, -61.2).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.13564861 1.2641299 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.202374  1.3982996] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.9054071 -5.750854 ] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.3639541   0.13071448] m/s.", "light_description": "There are active red lights at the following coordinates: [[-0.44238093 18.303827  ]\n [-0.5709787  18.282614  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 7.473478 10.966666], 13.271044731140137 meters away.)"}
{"file_name": "images/scenario_339_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -6.0) m/s. Its current heading (yaw) is -1.69 ", "actor_description": " The most relevant actors are: A pedestrian with ID 35 is 20.7 meters away at (-19.6, -6.7). A pedestrian with ID 32 is 26.8 meters away at (8.7, 25.4). A unknown object with ID 34 is 33.2 meters away at (-13.9, 30.1). A vehicle with ID 36 is 40.4 meters away at (1.7, 40.4). A pedestrian with ID 33 is 57.0 meters away at (-28.6, -49.3).", "velocity_description": "The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.19671768 1.2281367 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.07779696 1.2483625 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.66566175 -1.796879  ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.03038409  0.00173166] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-19.641994  -6.688345], 20.74950408935547 meters away.)"}
{"file_name": "images/scenario_339_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -6.2) m/s. Its current heading (yaw) is -1.75 ", "actor_description": " The most relevant actors are: A pedestrian with ID 35 is 19.2 meters away at (-17.4, 7.9). A unknown object with ID 3 is 38.7 meters away at (-25.2, -29.5). A pedestrian with ID 32 is 41.8 meters away at (10.4, 40.4). A unknown object with ID 14 is 42.6 meters away at (-28.9, -31.2). A unknown object with ID 34 is 44.0 meters away at (-12.2, 42.2). A unknown object with ID 4 is 45.6 meters away at (-30.1, -34.2). A pedestrian with ID 33 is 45.9 meters away at (-26.9, -37.2). A vehicle with ID 36 is 51.4 meters away at (3.9, 51.3).", "velocity_description": "The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.11226088 1.3410476 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.03186189  1.5149189 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.00472981 -0.0061617 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-17.43933     7.9216537], 19.154184341430664 meters away.)"}
{"file_name": "images/scenario_339_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -5.9) m/s. Its current heading (yaw) is -1.82 ", "actor_description": " The most relevant actors are: A pedestrian with ID 35 is 27.1 meters away at (-14.6, 22.8). A unknown object with ID 3 is 28.2 meters away at (-22.4, -17.1). A unknown object with ID 29 is 30.3 meters away at (-25.3, -16.6). A unknown object with ID 14 is 32.4 meters away at (-26.2, -18.9). A pedestrian with ID 33 is 34.6 meters away at (-24.2, -24.8). A unknown object with ID 4 is 35.1 meters away at (-27.3, -22.0). A unknown object with ID 9 is 40.7 meters away at (-29.9, -27.7). A unknown object with ID 2 is 45.6 meters away at (-29.0, -35.2). A unknown object with ID 34 is 55.5 meters away at (-9.7, 54.6). A pedestrian with ID 32 is 57.5 meters away at (12.9, 56.0).", "velocity_description": "The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.2223523 1.183388 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.03223998 -0.02702023] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.01046898 1.4503245 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-14.624988  22.761026], 27.054658889770508 meters away.)"}
{"file_name": "images/scenario_340_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 2.5) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 34.4 meters away at (30.6, 15.9). A vehicle with ID 27 is 59.0 meters away at (-57.5, -13.0). A vehicle with ID 3 is 59.8 meters away at (-48.4, 35.1). A vehicle with ID 26 is 69.9 meters away at (-52.4, 46.3). A vehicle with ID 4 is 75.9 meters away at (-57.1, 50.0).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 4.144015  -3.2098503] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-187.78424072265625, -169.61703491210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [30.568903 15.86767 ], 34.44184494018555 meters away.)"}
{"file_name": "images/scenario_340_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 2.8) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 39.1 meters away at (37.7, 10.4). A vehicle with ID 3 is 43.4 meters away at (-35.5, 25.0). A unknown object with ID 19 is 48.3 meters away at (-48.2, -2.2). A vehicle with ID 27 is 56.0 meters away at (-52.2, -20.2). A vehicle with ID 26 is 60.9 meters away at (-45.1, 40.8). A vehicle with ID 4 is 66.8 meters away at (-49.9, 44.4).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 1.5711  -1.15166] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.45675614 -0.16080597] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-187.78424072265625, -169.61703491210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [37.729935 10.434412], 39.14619827270508 meters away.)"}
{"file_name": "images/scenario_340_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 2.1) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 34.0 meters away at (-28.0, 19.2). A unknown object with ID 19 is 42.6 meters away at (-42.0, -7.1). A vehicle with ID 25 is 44.3 meters away at (44.0, 5.6). A vehicle with ID 26 is 52.9 meters away at (-38.8, 35.9). A vehicle with ID 27 is 53.9 meters away at (-46.8, -26.6). A vehicle with ID 14 is 56.4 meters away at (-56.3, 4.3). A vehicle with ID 4 is 58.8 meters away at (-43.6, 39.4).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-187.78424072265625, -169.61703491210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-28.031736  19.163183], 33.95594024658203 meters away.)"}
{"file_name": "images/scenario_340_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.5) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 28.5 meters away at (-23.8, 15.7). A vehicle with ID 25 is 47.5 meters away at (47.4, 3.2). A vehicle with ID 26 is 48.7 meters away at (-35.6, 33.3). A unknown object with ID 20 is 51.6 meters away at (43.2, -28.2). A vehicle with ID 27 is 53.0 meters away at (-43.9, -29.7). A vehicle with ID 14 is 53.0 meters away at (-53.0, 1.7). A vehicle with ID 4 is 54.6 meters away at (-40.3, 36.9). A vehicle with ID 5 is 65.8 meters away at (-55.8, -35.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 1.6640451 -1.3326361] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-187.78424072265625, -169.61703491210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-23.757917  15.745319], 28.501819610595703 meters away.)"}
{"file_name": "images/scenario_341_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.0) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 9.6 meters away at (0.3, -9.6). A vehicle with ID 29 is 10.3 meters away at (3.0, -9.9). A vehicle with ID 33 is 10.7 meters away at (-5.0, -9.5). A vehicle with ID 35 is 13.9 meters away at (12.1, -6.8). A vehicle with ID 41 is 22.6 meters away at (2.5, -22.4). A vehicle with ID 45 is 23.4 meters away at (-5.5, -22.7). A vehicle with ID 47 is 23.9 meters away at (-8.1, -22.5). A pedestrian with ID 40 is 24.1 meters away at (-14.6, -19.2). A pedestrian with ID 39 is 24.2 meters away at (-15.4, -18.7). A vehicle with ID 36 is 24.4 meters away at (8.2, -23.0).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0.06016224 0.6575961 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.04475268 -0.01238595] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.0297266  0.00598588] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.25815678 -9.625475  ], 9.628935813903809 meters away.)"}
{"file_name": "images/scenario_341_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 9.6 meters away at (-0.3, -9.6). A vehicle with ID 29 is 10.2 meters away at (2.4, -9.9). A vehicle with ID 33 is 11.1 meters away at (-5.6, -9.5). A vehicle with ID 35 is 12.3 meters away at (11.6, -4.2). A vehicle with ID 41 is 22.5 meters away at (1.9, -22.4). A vehicle with ID 45 is 23.5 meters away at (-6.1, -22.7). A vehicle with ID 47 is 24.1 meters away at (-8.7, -22.5). A vehicle with ID 36 is 24.2 meters away at (7.5, -23.0). A pedestrian with ID 39 is 24.6 meters away at (-16.0, -18.7). A pedestrian with ID 40 is 24.9 meters away at (-15.4, -19.6).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.33344805  2.3885527 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.02292977 -0.01165717] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01909732 -0.00187015] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.3014431 -9.57941  ], 9.584151268005371 meters away.)"}
{"file_name": "images/scenario_341_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 8.5 meters away at (8.4, 1.2). A vehicle with ID 30 is 9.6 meters away at (-0.4, -9.6). A vehicle with ID 29 is 10.2 meters away at (2.4, -9.9). A vehicle with ID 33 is 11.1 meters away at (-5.7, -9.5). A vehicle with ID 41 is 22.5 meters away at (1.8, -22.4). A vehicle with ID 45 is 23.5 meters away at (-6.1, -22.6). A vehicle with ID 47 is 24.1 meters away at (-8.7, -22.4). A vehicle with ID 36 is 24.2 meters away at (7.4, -23.0). A pedestrian with ID 39 is 24.7 meters away at (-16.2, -18.6). A pedestrian with ID 40 is 24.9 meters away at (-15.4, -19.6).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [-3.4206743  2.363071 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01402522 -0.00925939] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00989278 -0.00012716] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [8.383368  1.2056358], 8.469616889953613 meters away.)"}
{"file_name": "images/scenario_341_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 0.0) m/s. Its current heading (yaw) is 0.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 4.2 meters away at (-2.4, 3.4). A vehicle with ID 30 is 9.7 meters away at (-1.2, -9.6). A vehicle with ID 29 is 10.0 meters away at (1.5, -9.9). A vehicle with ID 33 is 11.6 meters away at (-6.6, -9.5). A vehicle with ID 41 is 22.4 meters away at (1.0, -22.4). A vehicle with ID 45 is 23.8 meters away at (-7.0, -22.7). A vehicle with ID 36 is 23.9 meters away at (6.5, -23.0). A vehicle with ID 47 is 24.5 meters away at (-9.7, -22.5). A vehicle with ID 34 is 25.2 meters away at (17.1, 18.5). A pedestrian with ID 39 is 25.3 meters away at (-17.1, -18.6).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [-6.5094266   0.17123765] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.044822   -0.03444765] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.4187384  3.435911 ], 4.201878070831299 meters away.)"}
{"file_name": "images/scenario_342_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.4) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 14.2 meters away at (10.1, -10.0). A unknown object with ID 18 is 26.8 meters away at (25.4, 8.7). A unknown object with ID 19 is 28.1 meters away at (26.1, 10.5). A pedestrian with ID 23 is 36.6 meters away at (36.4, -4.0). A vehicle with ID 25 is 38.3 meters away at (33.7, 18.1). A vehicle with ID 13 is 45.6 meters away at (42.6, -16.3). A pedestrian with ID 15 is 45.6 meters away at (39.9, -22.1). A pedestrian with ID 16 is 46.1 meters away at (40.1, -22.9). A pedestrian with ID 17 is 46.3 meters away at (40.6, -22.2). A unknown object with ID 26 is 46.3 meters away at (-41.0, 21.4).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.1851079 -1.2655022] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.00369755 -0.00304205] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 3.6154792 -1.6592216] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.06061992 -1.3991871 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.05540541 -1.3847051 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.08883503 -1.379079  ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.502052  -4.960029 ]\n [12.684097  -4.518425 ]\n [13.040246  -1.8540239]\n [12.681283  -4.5260596]\n [12.616164  -4.689137 ]]", "nav_goal": "(9.398921012878418, -218.45574951171875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [10.095943 -9.95031 ], 14.175215721130371 meters away.)"}
{"file_name": "images/scenario_342_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 15.0 meters away at (9.0, -12.0). A unknown object with ID 18 is 26.2 meters away at (24.7, 8.8). A unknown object with ID 19 is 27.6 meters away at (25.5, 10.7). A pedestrian with ID 23 is 35.9 meters away at (35.7, -3.8). A pedestrian with ID 12 is 37.0 meters away at (33.9, 14.7). A vehicle with ID 25 is 37.8 meters away at (33.1, 18.4). A pedestrian with ID 27 is 46.2 meters away at (35.3, -29.8). A pedestrian with ID 15 is 46.8 meters away at (39.6, -25.0). A unknown object with ID 26 is 47.0 meters away at (-41.7, 21.7). A pedestrian with ID 17 is 47.5 meters away at (40.4, -25.0).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.316817  -1.0455824] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01698847  0.00148755] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.28175944 -0.24279901] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.0105388 -0.7855702] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.25292802 -1.2688442 ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.32023284 -1.2910086 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.502052  -4.960029 ]\n [12.684097  -4.518425 ]\n [13.040246  -1.8540239]\n [12.681283  -4.5260596]\n [12.616164  -4.689137 ]]", "nav_goal": "(9.398921012878418, -218.45574951171875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  8.997763  -11.9979315], 14.997002601623535 meters away.)"}
{"file_name": "images/scenario_342_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 16.6 meters away at (8.9, -14.0). A unknown object with ID 18 is 26.2 meters away at (24.6, 8.9). A unknown object with ID 19 is 27.6 meters away at (25.4, 10.7). A pedestrian with ID 12 is 35.7 meters away at (32.3, 15.4). A pedestrian with ID 23 is 35.8 meters away at (35.6, -3.8). A vehicle with ID 25 is 37.7 meters away at (33.0, 18.3). A pedestrian with ID 27 is 46.3 meters away at (34.0, -31.4). A unknown object with ID 26 is 47.1 meters away at (-41.7, 21.7). A pedestrian with ID 15 is 49.1 meters away at (40.6, -27.8). A pedestrian with ID 17 is 49.8 meters away at (41.4, -27.7).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.1885918 -0.8329565] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.207616   0.4297464] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.00245305  0.0001864 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.7590884 -0.7961937] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.6576739 -1.1628883] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.6685358 -1.2391785] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.502052  -4.960029 ]\n [12.684097  -4.518425 ]\n [13.040246  -1.8540239]\n [12.681283  -4.5260596]\n [12.616164  -4.689137 ]]", "nav_goal": "(9.398921012878418, -218.45574951171875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  8.933121 -14.03705 ], 16.638492584228516 meters away.)"}
{"file_name": "images/scenario_342_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 17.5 meters away at (9.2, -14.8). A unknown object with ID 18 is 26.2 meters away at (24.6, 8.9). A unknown object with ID 19 is 27.5 meters away at (25.4, 10.7). A pedestrian with ID 12 is 35.6 meters away at (31.5, 16.7). A pedestrian with ID 23 is 35.8 meters away at (35.6, -3.7). A vehicle with ID 25 is 37.8 meters away at (33.0, 18.4). A pedestrian with ID 27 is 46.3 meters away at (32.9, -32.5). A unknown object with ID 26 is 47.1 meters away at (-41.8, 21.7). A unknown object with ID 5 is 51.2 meters away at (-45.7, 23.2). A pedestrian with ID 15 is 51.9 meters away at (42.0, -30.4).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.16068497 -0.07328395] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.03420962  0.12309723] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.00069452 -0.00042669] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.46956667 -0.48072994] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.8684872 -1.0154321] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.502052  -4.960029 ]\n [12.684097  -4.518425 ]\n [13.040246  -1.8540239]\n [12.681283  -4.5260596]\n [12.616164  -4.689137 ]]", "nav_goal": "(9.398921012878418, -218.45574951171875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  9.228042 -14.837593], 17.473148345947266 meters away.)"}
{"file_name": "images/scenario_343_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.6 meters away at (-0.7, 6.5). A unknown object with ID 21 is 9.3 meters away at (-9.1, 2.1). A unknown object with ID 26 is 13.8 meters away at (-13.6, -1.7). A unknown object with ID 23 is 15.1 meters away at (14.4, 4.7). A unknown object with ID 29 is 17.0 meters away at (4.8, -16.3). A unknown object with ID 27 is 19.7 meters away at (4.1, 19.3). A vehicle with ID 31 is 27.0 meters away at (-24.7, -10.8). A unknown object with ID 39 is 28.4 meters away at (11.4, -26.1). A unknown object with ID 41 is 30.7 meters away at (15.9, -26.2). A vehicle with ID 20 is 30.9 meters away at (20.6, 23.0).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.44295517 -0.3243107 ] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [6.0354385 9.209053 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.1788958311080933, 193.31419372558594)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.7349291  6.5089087], 6.550268173217773 meters away.)"}
{"file_name": "images/scenario_343_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.8 meters away at (-0.5, 6.8). A unknown object with ID 21 is 9.2 meters away at (-8.9, 2.3). A unknown object with ID 26 is 13.5 meters away at (-13.5, -1.4). A unknown object with ID 23 is 15.4 meters away at (14.6, 5.0). A unknown object with ID 29 is 16.7 meters away at (5.0, -16.0). A unknown object with ID 27 is 20.1 meters away at (4.3, 19.6). A unknown object with ID 39 is 28.3 meters away at (11.6, -25.8). A unknown object with ID 41 is 30.5 meters away at (16.1, -25.9). A vehicle with ID 36 is 32.1 meters away at (-31.5, -5.8). A unknown object with ID 43 is 32.5 meters away at (19.7, -25.9).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.1788958311080933, 193.31419372558594)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.5434284  6.7937937], 6.815493106842041 meters away.)"}
{"file_name": "images/scenario_343_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.9 meters away at (-0.5, 6.9). A unknown object with ID 21 is 9.2 meters away at (-8.8, 2.4). A unknown object with ID 26 is 13.5 meters away at (-13.4, -1.3). A unknown object with ID 23 is 15.5 meters away at (14.6, 5.1). A unknown object with ID 29 is 16.7 meters away at (5.1, -15.9). A unknown object with ID 27 is 20.1 meters away at (4.3, 19.7). A vehicle with ID 18 is 26.0 meters away at (-23.6, -11.0). A vehicle with ID 40 is 26.5 meters away at (-12.5, -23.4). A unknown object with ID 39 is 28.2 meters away at (11.6, -25.7). A unknown object with ID 41 is 30.5 meters away at (16.1, -25.9).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.60051864 -0.42218304] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0.584754  5.5150332] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.1788958311080933, 193.31419372558594)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.5111983  6.871272 ], 6.890261173248291 meters away.)"}
{"file_name": "images/scenario_343_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.9 meters away at (-0.5, 6.9). A unknown object with ID 21 is 9.2 meters away at (-8.8, 2.5). A unknown object with ID 26 is 13.4 meters away at (-13.4, -1.3). A unknown object with ID 23 is 15.5 meters away at (14.7, 5.2). A unknown object with ID 29 is 16.6 meters away at (5.1, -15.8). A vehicle with ID 40 is 19.9 meters away at (-15.5, -12.5). A unknown object with ID 27 is 20.2 meters away at (4.3, 19.7). A vehicle with ID 18 is 25.0 meters away at (-21.8, -12.2). A unknown object with ID 39 is 28.2 meters away at (11.7, -25.6). A vehicle with ID 36 is 29.7 meters away at (-28.8, -7.6).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-3.5417871  4.913422 ] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 1.8474194 -1.1651306] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 2.0512495 -1.3041425] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.1788958311080933, 193.31419372558594)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.4827292  6.906339 ], 6.923189163208008 meters away.)"}
{"file_name": "images/scenario_344_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 5.9) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.4 meters away at (2.8, -2.1). A vehicle with ID 28 is 6.5 meters away at (-5.8, 2.9). A vehicle with ID 29 is 8.0 meters away at (-7.6, -2.4). A vehicle with ID 31 is 10.1 meters away at (0.4, -10.1). A vehicle with ID 30 is 15.6 meters away at (-1.5, -15.5). A vehicle with ID 27 is 16.1 meters away at (-1.6, 16.1). A vehicle with ID 34 is 19.1 meters away at (-8.7, -17.0). A vehicle with ID 15 is 19.7 meters away at (19.7, 0.1). A vehicle with ID 32 is 20.3 meters away at (-2.7, -20.1). A vehicle with ID 26 is 22.1 meters away at (0.5, 22.0).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.915854  -28.415907 ]\n [ -9.986126  -29.227818 ]\n [ -7.0270853 -31.382275 ]\n [-11.370646  -28.983606 ]\n [ -9.124116  -17.244884 ]\n [ -9.321105  -17.203362 ]]", "nav_goal": "(153.42791748046875, 159.699951171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.7558193 -2.0668974], 3.444793939590454 meters away.)"}
{"file_name": "images/scenario_344_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 5.6) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 6.9 meters away at (-5.3, 4.4). A vehicle with ID 26 is 10.9 meters away at (-3.3, 10.4). A vehicle with ID 28 is 12.9 meters away at (-9.5, -8.7). A vehicle with ID 23 is 13.7 meters away at (-1.0, -13.7). A vehicle with ID 29 is 18.1 meters away at (-11.3, -14.1). A vehicle with ID 24 is 19.4 meters away at (9.3, 17.0). A vehicle with ID 15 is 19.6 meters away at (15.9, -11.5). A vehicle with ID 31 is 22.2 meters away at (-3.5, -21.9). A vehicle with ID 30 is 27.8 meters away at (-5.2, -27.3). A vehicle with ID 34 is 31.3 meters away at (-12.4, -28.8).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.986126  -29.227818 ]\n [ -7.0270853 -31.382275 ]\n [-11.370646  -28.983606 ]\n [ -9.124116  -17.244884 ]\n [ -9.321105  -17.203362 ]]", "nav_goal": "(153.42791748046875, 159.699951171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.3071404  4.3942814], 6.890243053436279 meters away.)"}
{"file_name": "images/scenario_344_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.4) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 6.8 meters away at (-6.8, -0.6). A vehicle with ID 24 is 8.3 meters away at (5.8, 6.0). A vehicle with ID 27 is 10.9 meters away at (-8.8, -6.5). A vehicle with ID 28 is 23.7 meters away at (-13.0, -19.8). A vehicle with ID 23 is 25.1 meters away at (-4.5, -24.7). A vehicle with ID 29 is 29.2 meters away at (-14.8, -25.2). A pedestrian with ID 39 is 32.3 meters away at (16.0, 28.0). A pedestrian with ID 42 is 32.3 meters away at (15.3, 28.5). A vehicle with ID 31 is 33.6 meters away at (-7.1, -32.9). A vehicle with ID 30 is 39.3 meters away at (-8.7, -38.3).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.41955116 1.4201337 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.36219084 1.3848475 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.915854 -28.415907]\n [ -9.124116 -17.244884]\n [ -9.321105 -17.203362]]", "nav_goal": "(153.42791748046875, 159.699951171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.7543583  -0.61930466], 6.78269100189209 meters away.)"}
{"file_name": "images/scenario_344_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 4.8) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.8 meters away at (2.6, -4.0). A vehicle with ID 26 is 14.6 meters away at (-10.0, -10.7). A vehicle with ID 27 is 20.6 meters away at (-12.0, -16.7). A pedestrian with ID 42 is 24.7 meters away at (12.7, 21.2). A pedestrian with ID 39 is 24.7 meters away at (13.5, 20.7). A vehicle with ID 3 is 27.8 meters away at (-5.8, 27.2). A vehicle with ID 28 is 34.0 meters away at (-16.3, -29.9). A vehicle with ID 23 is 35.7 meters away at (-7.7, -34.8). A vehicle with ID 29 is 39.7 meters away at (-18.0, -35.3). A vehicle with ID 7 is 43.6 meters away at (-11.4, 42.1).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.40113991 1.3854488 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.43886513 1.3623625 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.124116 -17.244884]\n [ -9.321105 -17.203362]]", "nav_goal": "(153.42791748046875, 159.699951171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.5591402 -4.023102 ], 4.768075942993164 meters away.)"}
{"file_name": "images/scenario_345_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -2.9) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 4.9 meters away at (-4.9, -0.6). A vehicle with ID 13 is 9.7 meters away at (-6.3, -7.4). A vehicle with ID 70 is 10.7 meters away at (-9.1, -5.6). A unknown object with ID 53 is 11.4 meters away at (5.7, -9.8). A vehicle with ID 10 is 11.9 meters away at (7.4, 9.3). A unknown object with ID 65 is 14.1 meters away at (12.6, 6.3). A vehicle with ID 66 is 14.2 meters away at (-3.3, 13.8). A vehicle with ID 68 is 17.3 meters away at (15.3, 8.0). A unknown object with ID 71 is 20.0 meters away at (16.7, 11.1). A vehicle with ID 19 is 20.1 meters away at (-14.0, -14.4).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-2.5861077 -3.0392473] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.4265542 -1.664232 ] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.8251195 -1.61338  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.98741  -30.316626]\n [-19.180561 -23.565115]\n [-29.039928 -32.935375]\n [-17.5999   -29.545908]\n [-20.567398 -21.852407]\n [-15.017193 -27.513933]\n [-19.249191 -23.200903]]", "nav_goal": "(24.300193786621094, 246.0101318359375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.8914957  -0.57876563], 4.92561674118042 meters away.)"}
{"file_name": "images/scenario_345_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -3.3) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 4.2 meters away at (-4.1, 0.6). A vehicle with ID 64 is 5.5 meters away at (0.0, 5.5). A vehicle with ID 13 is 10.6 meters away at (-7.5, -7.5). A unknown object with ID 53 is 11.3 meters away at (10.8, -3.6). A vehicle with ID 10 is 12.5 meters away at (7.8, 9.8). A vehicle with ID 19 is 19.8 meters away at (-17.7, -8.9). A vehicle with ID 66 is 20.2 meters away at (1.8, 20.1). A unknown object with ID 65 is 21.5 meters away at (17.6, 12.4). A vehicle with ID 68 is 25.0 meters away at (20.4, 14.4). A unknown object with ID 71 is 27.7 meters away at (21.7, 17.3).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.7782714 -2.6640246] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.62396   -3.3223782] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.7973666  0.9755253] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.98741  -30.316626]\n [-19.180561 -23.565115]\n [-29.039928 -32.935375]\n [-17.5999   -29.545908]\n [-20.567398 -21.852407]\n [-15.017193 -27.513933]\n [-19.249191 -23.200903]]", "nav_goal": "(24.300193786621094, 246.0101318359375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.1215453   0.55566216], 4.1588335037231445 meters away.)"}
{"file_name": "images/scenario_345_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -3.1) m/s. Its current heading (yaw) is -2.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 6.9 meters away at (1.5, 6.7). A pedestrian with ID 54 is 8.8 meters away at (-7.4, 4.7). A vehicle with ID 13 is 11.3 meters away at (-10.7, -3.7). A vehicle with ID 10 is 13.2 meters away at (8.6, 9.9). A vehicle with ID 64 is 13.2 meters away at (5.8, 11.9). A vehicle with ID 19 is 21.6 meters away at (-21.6, 1.6). A vehicle with ID 86 is 22.7 meters away at (6.4, -21.8). A vehicle with ID 12 is 23.1 meters away at (14.7, 17.8). A vehicle with ID 48 is 25.7 meters away at (-3.3, -25.5). A vehicle with ID 11 is 26.2 meters away at (-24.9, -7.9).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01583855 -0.00279451] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-5.1419115  0.5266256] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.7267141 -3.0460553] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.5640035  2.956103 ] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-2.5943093 -3.1589246] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 5.710013  -4.3573675] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.98741  -30.316626]\n [-19.180561 -23.565115]\n [-29.039928 -32.935375]\n [-17.5999   -29.545908]\n [-20.567398 -21.852407]\n [-15.017193 -27.513933]\n [-19.249191 -23.200903]]", "nav_goal": "(24.300193786621094, 246.0101318359375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.4602566 6.740157 ], 6.896525859832764 meters away.)"}
{"file_name": "images/scenario_345_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -0.8) m/s. Its current heading (yaw) is -2.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 9.3 meters away at (1.6, -9.2). A vehicle with ID 10 is 13.4 meters away at (10.6, 8.2). A vehicle with ID 13 is 13.7 meters away at (-12.9, 4.6). A vehicle with ID 70 is 14.6 meters away at (9.1, 11.4). A vehicle with ID 11 is 17.5 meters away at (-17.2, -3.4). A vehicle with ID 64 is 21.4 meters away at (13.4, 16.6). A vehicle with ID 86 is 22.2 meters away at (14.1, -17.1). A vehicle with ID 12 is 23.3 meters away at (17.0, 15.9). A vehicle with ID 7 is 24.8 meters away at (-19.2, 15.8). A pedestrian with ID 24 is 25.7 meters away at (22.0, -13.2).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [4.9425654 6.1331744] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.0152466 -3.10342  ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-4.584475   2.8409445] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-2.8615556 -3.3952298] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-2.373467   1.8920652] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.98741  -30.316626]\n [-19.180561 -23.565115]\n [-29.039928 -32.935375]\n [-17.5999   -29.545908]\n [-15.017193 -27.513933]\n [-19.249191 -23.200903]]", "nav_goal": "(24.300193786621094, 246.0101318359375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.5961552 -9.172297 ], 9.310141563415527 meters away.)"}
{"file_name": "images/scenario_346_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -3.5) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A unknown object with ID 67 is 3.5 meters away at (-2.7, 2.3). A unknown object with ID 70 is 5.4 meters away at (-5.4, -0.7). A pedestrian with ID 65 is 7.3 meters away at (-6.8, 2.7). A pedestrian with ID 64 is 8.1 meters away at (-7.2, 3.8). A unknown object with ID 52 is 9.2 meters away at (-7.7, -5.0). A unknown object with ID 77 is 9.6 meters away at (-8.5, -4.3). A unknown object with ID 73 is 10.0 meters away at (3.2, -9.4). A vehicle with ID 60 is 10.3 meters away at (3.5, 9.6). A vehicle with ID 62 is 12.0 meters away at (11.3, 3.8). A pedestrian with ID 63 is 12.5 meters away at (12.2, 2.7).", "velocity_description": "The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.7326268  0.67977005] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.86390567 0.75434136] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.05171854 -0.00878308] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.73007202148438, -226.98321533203125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.709906  2.286942], 3.545940637588501 meters away.)"}
{"file_name": "images/scenario_346_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.2) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A unknown object with ID 52 is 2.8 meters away at (-1.2, 2.5). A unknown object with ID 77 is 3.7 meters away at (-2.0, 3.2). A vehicle with ID 53 is 4.4 meters away at (-4.4, -0.0). A vehicle with ID 58 is 6.4 meters away at (3.8, -5.2). A unknown object with ID 40 is 6.5 meters away at (1.9, 6.3). A unknown object with ID 70 is 7.0 meters away at (1.1, 6.9). A unknown object with ID 50 is 8.5 meters away at (8.2, -2.2). A vehicle with ID 55 is 8.6 meters away at (-7.8, -3.6). A unknown object with ID 73 is 10.0 meters away at (9.8, -1.8). A vehicle with ID 57 is 10.5 meters away at (-0.5, -10.5).", "velocity_description": "The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.73007202148438, -226.98321533203125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.2082596  2.545971 ], 2.8181304931640625 meters away.)"}
{"file_name": "images/scenario_346_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.3) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 3.8 meters away at (-3.7, 1.1). A vehicle with ID 55 is 4.8 meters away at (-0.5, 4.8). A unknown object with ID 85 is 5.6 meters away at (3.6, -4.3). A vehicle with ID 57 is 7.2 meters away at (6.9, -2.0). A vehicle with ID 54 is 8.0 meters away at (-7.2, -3.4). A vehicle with ID 53 is 8.8 meters away at (2.8, 8.3). A vehicle with ID 58 is 11.6 meters away at (11.1, 3.2). A unknown object with ID 52 is 12.7 meters away at (6.1, 11.1). A unknown object with ID 40 is 17.5 meters away at (9.3, 14.8). A unknown object with ID 70 is 17.7 meters away at (8.5, 15.5).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.73007202148438, -226.98321533203125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6588688  1.0667152], 3.8111941814422607 meters away.)"}
{"file_name": "images/scenario_346_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -3.8) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 4.6 meters away at (-0.3, 4.6). A unknown object with ID 39 is 5.8 meters away at (5.3, -2.5). A vehicle with ID 56 is 9.8 meters away at (3.3, 9.2). A unknown object with ID 85 is 11.3 meters away at (10.6, 3.9). A vehicle with ID 55 is 14.6 meters away at (6.6, 13.0). A pedestrian with ID 81 is 15.1 meters away at (-14.6, -3.7). A vehicle with ID 57 is 15.2 meters away at (13.9, 6.1). A vehicle with ID 53 is 19.3 meters away at (9.9, 16.5). A vehicle with ID 4 is 19.9 meters away at (13.3, 14.8). A vehicle with ID 58 is 21.5 meters away at (18.2, 11.5).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.9593635 0.6611565] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.2426314 -3.7459066] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.73007202148438, -226.98321533203125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.34038353  4.587799  ], 4.600409030914307 meters away.)"}
{"file_name": "images/scenario_347_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -4.6) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 9.9 meters away at (-1.5, -9.8). A vehicle with ID 32 is 10.3 meters away at (9.9, 2.7). A pedestrian with ID 37 is 16.2 meters away at (3.9, -15.8). A pedestrian with ID 34 is 17.7 meters away at (0.7, 17.7). A pedestrian with ID 35 is 18.2 meters away at (1.4, 18.2). A vehicle with ID 38 is 21.4 meters away at (-3.0, -21.2). A vehicle with ID 31 is 21.9 meters away at (-10.3, -19.4). A unknown object with ID 50 is 23.6 meters away at (-18.6, -14.5). A pedestrian with ID 48 is 25.5 meters away at (-19.2, -16.9). A vehicle with ID 47 is 35.5 meters away at (-16.1, -31.6).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [3.5833042 6.780728 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.7344564 -1.3160292] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00644527 -0.0023868 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.01235819 0.00371428] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.5792419 -2.962244 ] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.6088239 -1.0509518] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.368694 -62.486332]\n [-37.55913  -59.04586 ]\n [ 20.101273  28.80242 ]\n [-30.275614 -50.470684]\n [-26.928574 -53.488136]\n [-38.082657 -59.99586 ]\n [-25.142101 -77.98557 ]\n [-26.599764 -53.600513]\n [-26.758314 -53.547928]\n [-28.209465 -75.12022 ]\n [ 20.570911  28.490316]\n [-39.937428 -61.92704 ]]", "nav_goal": "(-217.27297973632812, 90.71247100830078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.4599047 -9.830749 ], 9.938558578491211 meters away.)"}
{"file_name": "images/scenario_347_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -3.3) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A pedestrian with ID 37 is 12.7 meters away at (6.4, -11.0). A vehicle with ID 38 is 13.5 meters away at (1.1, -13.4). A vehicle with ID 55 is 15.0 meters away at (9.9, 11.2). A vehicle with ID 32 is 17.4 meters away at (14.0, 10.4). A vehicle with ID 31 is 17.6 meters away at (-8.4, -15.5). A pedestrian with ID 48 is 19.9 meters away at (-16.6, -11.0). A pedestrian with ID 34 is 26.0 meters away at (4.7, 25.5). A pedestrian with ID 35 is 26.5 meters away at (5.5, 25.9). A vehicle with ID 47 is 26.8 meters away at (-12.1, -23.9). A pedestrian with ID 39 is 31.0 meters away at (-2.6, -30.9).", "velocity_description": "The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.65656   -1.4825667] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [3.4301083 6.121555 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-0.49522778 -1.0067993 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.814477   -0.91814697] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00045582  0.00577371] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00273027 -0.00654778] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.4952791 -1.2635733] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.368694 -62.486332]\n [-37.55913  -59.04586 ]\n [ 20.101273  28.80242 ]\n [-30.275614 -50.470684]\n [-26.928574 -53.488136]\n [-38.082657 -59.99586 ]\n [-25.142101 -77.98557 ]\n [-26.599764 -53.600513]\n [-26.758314 -53.547928]\n [-28.209465 -75.12022 ]\n [ 20.570911  28.490316]\n [-39.937428 -61.92704 ]]", "nav_goal": "(-217.27297973632812, 90.71247100830078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  6.3704243 -10.973068 ], 12.688204765319824 meters away.)"}
{"file_name": "images/scenario_347_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -2.1) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 8.3 meters away at (4.5, -7.0). A pedestrian with ID 37 is 11.4 meters away at (7.7, -8.4). A vehicle with ID 31 is 11.9 meters away at (-5.7, -10.4). A pedestrian with ID 48 is 16.8 meters away at (-15.1, -7.4). A vehicle with ID 47 is 20.5 meters away at (-9.2, -18.3). A vehicle with ID 32 is 23.2 meters away at (16.9, 15.9). A pedestrian with ID 39 is 28.3 meters away at (-1.1, -28.3). A unknown object with ID 53 is 30.1 meters away at (-23.9, -18.3). A unknown object with ID 15 is 31.4 meters away at (-26.5, -16.7). A pedestrian with ID 34 is 31.9 meters away at (7.6, 31.0).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0.5044829 0.906351 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.7129192 -1.3068676] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.62021786 -0.98626393] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.6957717 -1.4657909] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.00420452 -0.00546209] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.368694 -62.486332]\n [-37.55913  -59.04586 ]\n [ 20.101273  28.80242 ]\n [-30.275614 -50.470684]\n [-26.928574 -53.488136]\n [-38.082657 -59.99586 ]\n [-25.142101 -77.98557 ]\n [-26.599764 -53.600513]\n [-26.758314 -53.547928]\n [-28.209465 -75.12022 ]\n [ 20.570911  28.490316]\n [-39.937428 -61.92704 ]]", "nav_goal": "(-217.27297973632812, 90.71247100830078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.464294 -7.034466], 8.331483840942383 meters away.)"}
{"file_name": "images/scenario_347_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 7.7 meters away at (7.6, -1.1). A vehicle with ID 31 is 8.6 meters away at (-4.2, -7.5). A pedestrian with ID 37 is 11.4 meters away at (7.7, -8.5). A pedestrian with ID 48 is 17.1 meters away at (-16.2, -5.4). A vehicle with ID 47 is 17.2 meters away at (-7.6, -15.4). A pedestrian with ID 17 is 19.0 meters away at (6.2, -17.9). A vehicle with ID 32 is 26.4 meters away at (18.4, 18.9). A vehicle with ID 3 is 26.5 meters away at (18.5, 19.0). A unknown object with ID 53 is 27.2 meters away at (-22.4, -15.5). A pedestrian with ID 39 is 28.3 meters away at (-0.6, -28.3).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0.9250492 1.7020757] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.8004677 -1.4059513] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.2321576 -0.5745226] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00168078 -0.00540118] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.42127576 -1.4548362 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.368694 -62.486332]\n [-37.55913  -59.04586 ]\n [ 20.101273  28.80242 ]\n [-30.275614 -50.470684]\n [-26.928574 -53.488136]\n [-38.082657 -59.99586 ]\n [-25.142101 -77.98557 ]\n [-26.599764 -53.600513]\n [-26.758314 -53.547928]\n [-28.209465 -75.12022 ]\n [ 20.570911  28.490316]\n [-39.937428 -61.92704 ]]", "nav_goal": "(-217.27297973632812, 90.71247100830078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.621643  -1.1192818], 7.703391075134277 meters away.)"}
{"file_name": "images/scenario_348_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 8.9 meters away at (7.4, 4.9). A vehicle with ID 12 is 12.8 meters away at (-12.4, -3.4). A vehicle with ID 19 is 30.5 meters away at (30.0, 5.7). A vehicle with ID 6 is 31.5 meters away at (14.1, 28.2). A vehicle with ID 17 is 35.4 meters away at (35.3, -1.8). A vehicle with ID 3 is 39.3 meters away at (6.8, 38.7). A vehicle with ID 9 is 39.8 meters away at (39.8, 2.1). A vehicle with ID 16 is 40.3 meters away at (38.8, -10.8). A vehicle with ID 31 is 45.9 meters away at (-2.1, 45.8). A vehicle with ID 23 is 50.5 meters away at (47.3, -17.7).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-8.663647 -6.207052] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.4199123 -7.732391 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.3747716 -7.7810173] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.541614  -7.7888336] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.668052 -7.915469] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-11.482913  16.032385] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.544793 -9.904596] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 6.6420765 -8.984697 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 5.8492646 -7.808629 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.133367 25.197575]\n [14.580866 12.12383 ]]", "nav_goal": "(-145.9691162109375, 235.744384765625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [7.4125485 4.8931637], 8.881943702697754 meters away.)"}
{"file_name": "images/scenario_348_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 8.9 meters away at (7.4, 4.9). A vehicle with ID 6 is 27.9 meters away at (24.9, 12.8). A vehicle with ID 3 is 29.2 meters away at (17.7, 23.2). A vehicle with ID 31 is 30.0 meters away at (8.9, 28.6). A vehicle with ID 12 is 34.2 meters away at (-29.3, -17.8). A vehicle with ID 9 is 38.1 meters away at (17.3, 33.9). A vehicle with ID 30 is 39.2 meters away at (7.0, 38.6). A vehicle with ID 19 is 42.0 meters away at (40.9, -9.6). A vehicle with ID 4 is 42.4 meters away at (42.4, -2.2). A vehicle with ID 17 is 49.9 meters away at (46.7, -17.7).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.4484057 -7.7109337] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.459563  -7.7350035] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 2.9216192 -8.338858 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-7.421294 -8.452749] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-11.321415  15.927778] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 4.934995  -7.0130787] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.4663057 -7.6483045] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-10.641922  14.688765] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.8000693 -7.9671874] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.580866 12.12383 ]]", "nav_goal": "(-145.9691162109375, 235.744384765625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [7.4258885 4.883401 ], 8.887711524963379 meters away.)"}
{"file_name": "images/scenario_348_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 8.9 meters away at (7.4, 4.9). A vehicle with ID 31 is 15.1 meters away at (7.6, 13.1). A vehicle with ID 30 is 29.6 meters away at (16.9, 24.3). A vehicle with ID 3 is 29.7 meters away at (28.6, 7.9). A vehicle with ID 4 is 34.7 meters away at (21.5, 27.2). A vehicle with ID 6 is 35.8 meters away at (35.7, -2.4). A vehicle with ID 29 is 39.0 meters away at (6.9, 38.4). A vehicle with ID 12 is 54.9 meters away at (-39.6, -38.1). A vehicle with ID 19 is 57.3 meters away at (51.8, -24.6).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-4.0394645 -6.7905645] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 5.1474724 -7.326755 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.3204885 -7.582414 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-10.341     14.652998] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.490744 -7.492552] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 5.1759305 -7.422901 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ -3.018429 -11.519637] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.61575   -7.5037794] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.580866 12.12383 ]]", "nav_goal": "(-145.9691162109375, 235.744384765625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [7.405113 4.890656], 8.874357223510742 meters away.)"}
{"file_name": "images/scenario_348_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 4.8 meters away at (-4.5, 1.8). A vehicle with ID 15 is 8.9 meters away at (7.4, 4.9). A vehicle with ID 29 is 29.1 meters away at (17.4, 23.3). A vehicle with ID 30 is 29.2 meters away at (27.8, 9.0). A vehicle with ID 3 is 39.6 meters away at (39.0, -6.6). A vehicle with ID 26 is 41.0 meters away at (5.2, 40.6). A vehicle with ID 13 is 46.0 meters away at (-2.4, 45.9). A vehicle with ID 6 is 50.0 meters away at (46.8, -17.6). A vehicle with ID 11 is 53.1 meters away at (51.2, -13.9). A vehicle with ID 12 is 75.6 meters away at (-42.3, -62.7).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [-7.670119 -5.618839] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 5.385108  -7.7111473] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 5.674629 -7.891625] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.2750344 -7.1904736] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 5.4150553 -7.500373 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 6.221704 -8.600914] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.8966236 -7.846436 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.963912 12.877959] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [  0.12681292 -13.007842  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.133367 25.197575]\n [14.580866 12.12383 ]]", "nav_goal": "(-145.9691162109375, 235.744384765625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.487138   1.7684317], 4.823044300079346 meters away.)"}
{"file_name": "images/scenario_349_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -6.4) m/s. Its current heading (yaw) is -1.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 15.2 meters away at (-3.0, 14.9). A pedestrian with ID 45 is 25.3 meters away at (-9.3, 23.6). A unknown object with ID 31 is 31.8 meters away at (-2.6, 31.6). A vehicle with ID 21 is 31.9 meters away at (15.9, -27.7). A vehicle with ID 44 is 32.0 meters away at (1.2, 32.0). A vehicle with ID 19 is 36.0 meters away at (-1.0, -36.0). A pedestrian with ID 50 is 37.3 meters away at (-2.0, 37.2). A pedestrian with ID 47 is 37.4 meters away at (-4.5, 37.2). A pedestrian with ID 27 is 37.5 meters away at (-5.5, 37.1). A pedestrian with ID 48 is 38.5 meters away at (-4.1, 38.2).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [2.2666702 8.3286915] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.3062604 1.5268635] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [3.0472562 8.4077215] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.7080859 -6.208244 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.00390635 -0.01736232] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.42696202 1.0615045 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.36768442 1.085622  ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.37644956 1.010289  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.0196302 14.934195 ], 15.236414909362793 meters away.)"}
{"file_name": "images/scenario_349_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -6.5) m/s. Its current heading (yaw) is -1.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 36.4 meters away at (2.2, -36.3). A pedestrian with ID 45 is 39.8 meters away at (-7.2, 39.1). A vehicle with ID 46 is 45.1 meters away at (3.5, 44.9). A unknown object with ID 33 is 47.6 meters away at (-0.9, 47.6). A pedestrian with ID 50 is 49.8 meters away at (-0.7, 49.7). A pedestrian with ID 47 is 51.8 meters away at (-2.2, 51.8). A pedestrian with ID 27 is 52.0 meters away at (-3.3, 51.9). A pedestrian with ID 48 is 53.0 meters away at (-1.9, 53.0). A pedestrian with ID 49 is 53.2 meters away at (-2.6, 53.1). A pedestrian with ID 51 is 55.2 meters away at (-0.8, 55.2).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [ 1.4139838 -6.968369 ] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.4660388 1.4292681] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [2.993345 8.653881] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.00668133 0.00150211] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.5144606 1.1357745] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.48642462 1.1878182 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.46519825 1.1481695 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.3842224 1.1722442] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [0.4961893 1.123863 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  2.2309265 -36.31285  ], 36.381317138671875 meters away.)"}
{"file_name": "images/scenario_349_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -7.3) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 11.7 meters away at (11.7, -0.3). A unknown object with ID 43 is 14.3 meters away at (14.3, -0.5). A unknown object with ID 35 is 15.8 meters away at (15.7, -0.9). A unknown object with ID 40 is 16.1 meters away at (16.1, -1.1). A unknown object with ID 30 is 16.7 meters away at (16.2, -4.0). A unknown object with ID 42 is 17.6 meters away at (16.9, -5.0). A vehicle with ID 19 is 37.6 meters away at (6.1, -37.1). A pedestrian with ID 45 is 56.0 meters away at (-5.7, 55.7). A pedestrian with ID 26 is 62.8 meters away at (-1.2, 62.8). A pedestrian with ID 50 is 63.4 meters away at (-0.2, 63.4).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 2.1304057 -7.281786 ] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.6724157 1.4498994] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.34873387 -0.01921453] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.14752921 0.00271354] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [11.7081585  -0.32032013], 11.712539672851562 meters away.)"}
{"file_name": "images/scenario_349_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -7.5) m/s. Its current heading (yaw) is -1.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 18.0 meters away at (10.9, 14.3). A unknown object with ID 43 is 19.5 meters away at (13.5, 14.1). A unknown object with ID 23 is 34.9 meters away at (-6.7, -34.3). A vehicle with ID 19 is 38.6 meters away at (10.1, -37.3). A unknown object with ID 3 is 49.4 meters away at (2.0, -49.3). A unknown object with ID 2 is 51.1 meters away at (3.2, -51.0). A unknown object with ID 4 is 54.7 meters away at (5.3, -54.5). A unknown object with ID 6 is 56.7 meters away at (5.8, -56.4). A pedestrian with ID 38 is 58.8 meters away at (6.1, -58.5). A unknown object with ID 25 is 59.0 meters away at (5.5, -58.8).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 2.8866444 -7.612771 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.02679271 -0.02200863] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [10.927146 14.328415], 18.01959991455078 meters away.)"}
{"file_name": "images/scenario_350_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 13.0 meters away at (-4.9, -12.0). A unknown object with ID 29 is 18.5 meters away at (16.2, -9.0). A unknown object with ID 27 is 21.5 meters away at (18.6, 10.9). A vehicle with ID 23 is 24.2 meters away at (0.6, 24.2). A vehicle with ID 21 is 30.0 meters away at (-5.5, 29.5). A vehicle with ID 24 is 46.1 meters away at (-19.7, 41.7).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.18954086303711, 184.08251953125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -4.88181  -12.010426], 12.964659690856934 meters away.)"}
{"file_name": "images/scenario_350_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 1.2) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 14.7 meters away at (-5.8, -13.5). A unknown object with ID 29 is 18.4 meters away at (15.2, -10.4). A unknown object with ID 27 is 19.8 meters away at (17.4, 9.5). A vehicle with ID 23 is 22.8 meters away at (-0.5, 22.7). A vehicle with ID 21 is 28.8 meters away at (-6.6, 28.0). A vehicle with ID 24 is 45.1 meters away at (-20.7, 40.1). A vehicle with ID 2 is 52.6 meters away at (-26.8, 45.2).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.18954086303711, 184.08251953125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -5.841767 -13.4799  ], 14.691287994384766 meters away.)"}
{"file_name": "images/scenario_350_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 2.6) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A unknown object with ID 27 is 16.2 meters away at (15.2, 5.6). A vehicle with ID 25 is 19.1 meters away at (-8.3, -17.2). A unknown object with ID 29 is 19.2 meters away at (12.8, -14.3). A vehicle with ID 23 is 19.2 meters away at (-2.7, 19.0). A vehicle with ID 21 is 25.8 meters away at (-8.7, 24.3). A vehicle with ID 24 is 42.9 meters away at (-22.6, 36.4). A vehicle with ID 2 is 50.5 meters away at (-28.7, 41.6). A vehicle with ID 6 is 57.6 meters away at (-34.3, 46.3).", "velocity_description": "The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.18954086303711, 184.08251953125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [15.181817   5.5844545], 16.176332473754883 meters away.)"}
{"file_name": "images/scenario_350_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 3.6) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 12.9 meters away at (-2.7, 12.6). A unknown object with ID 27 is 15.1 meters away at (15.1, -0.9). A vehicle with ID 21 is 19.9 meters away at (-8.7, 17.9). A unknown object with ID 29 is 24.3 meters away at (12.8, -20.7). A vehicle with ID 25 is 25.1 meters away at (-8.4, -23.6). A vehicle with ID 24 is 37.7 meters away at (-22.7, 30.1). A vehicle with ID 2 is 45.4 meters away at (-28.7, 35.2). A unknown object with ID 3 is 51.9 meters away at (-40.7, 32.2). A vehicle with ID 6 is 52.7 meters away at (-34.4, 40.0).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.18954086303711, 184.08251953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.7451138 12.613112 ], 12.908379554748535 meters away.)"}
{"file_name": "images/scenario_351_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 8.0) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 26.2 meters away at (8.8, -24.6). A vehicle with ID 1 is 33.1 meters away at (22.2, 24.5). A vehicle with ID 28 is 42.6 meters away at (33.7, 26.1). A unknown object with ID 29 is 44.9 meters away at (8.7, 44.0). A unknown object with ID 30 is 46.3 meters away at (7.5, 45.7). A unknown object with ID 31 is 48.2 meters away at (7.5, 47.6). A vehicle with ID 26 is 48.8 meters away at (-32.2, -36.7). A unknown object with ID 32 is 50.2 meters away at (7.5, 49.6). A vehicle with ID 27 is 52.3 meters away at (-44.4, -27.5).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  8.823033 -24.62434 ], 26.15729331970215 meters away.)"}
{"file_name": "images/scenario_351_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 8.8) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 8.9 meters away at (8.9, 0.3). A vehicle with ID 1 is 24.1 meters away at (23.0, 7.3). A unknown object with ID 29 is 28.5 meters away at (9.5, 26.8). A unknown object with ID 30 is 29.7 meters away at (8.4, 28.5). A unknown object with ID 31 is 31.6 meters away at (8.4, 30.4). A unknown object with ID 32 is 33.4 meters away at (8.4, 32.4). A vehicle with ID 28 is 35.6 meters away at (34.4, 9.0). A unknown object with ID 8 is 48.9 meters away at (-29.0, -39.4). A vehicle with ID 26 is 62.3 meters away at (-31.5, -53.8). A vehicle with ID 27 is 62.5 meters away at (-43.7, -44.7).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [8.883876   0.29221153], 8.888680458068848 meters away.)"}
{"file_name": "images/scenario_351_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 9.1) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 13.5 meters away at (10.5, 8.6). A unknown object with ID 30 is 13.8 meters away at (9.4, 10.2). A unknown object with ID 31 is 15.4 meters away at (9.4, 12.2). A unknown object with ID 32 is 16.9 meters away at (9.4, 14.1). A unknown object with ID 6 is 18.7 meters away at (9.4, 16.2). A vehicle with ID 1 is 26.3 meters away at (23.9, -10.9). A vehicle with ID 28 is 36.6 meters away at (35.4, -9.3).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [10.481742  8.566845], 13.537272453308105 meters away.)"}
{"file_name": "images/scenario_351_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 8.4) m/s. Its current heading (yaw) is 1.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 7.4 meters away at (5.5, -4.9). A unknown object with ID 9 is 10.1 meters away at (10.1, 0.1). A unknown object with ID 6 is 10.2 meters away at (10.1, -1.3). A unknown object with ID 13 is 10.2 meters away at (10.1, 1.6). A unknown object with ID 5 is 10.6 meters away at (10.1, 3.0). A unknown object with ID 32 is 10.6 meters away at (10.1, -3.4). A unknown object with ID 3 is 11.2 meters away at (10.1, 4.7). A unknown object with ID 31 is 11.4 meters away at (10.1, -5.3). A unknown object with ID 30 is 12.4 meters away at (10.1, -7.3). A unknown object with ID 10 is 13.0 meters away at (11.3, 6.5).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 5.518779 -4.864006], 7.356321811676025 meters away.)"}
{"file_name": "images/scenario_352_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.4) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 17.9 meters away at (1.5, -17.8). A vehicle with ID 26 is 19.2 meters away at (11.8, -15.1). A vehicle with ID 27 is 22.9 meters away at (-18.5, 13.4). A vehicle with ID 23 is 28.0 meters away at (6.7, -27.2). A unknown object with ID 34 is 35.8 meters away at (35.1, 6.8). A unknown object with ID 8 is 36.1 meters away at (35.2, 7.9). A unknown object with ID 35 is 36.1 meters away at (34.9, 9.5). A pedestrian with ID 36 is 44.0 meters away at (39.6, -19.2). A vehicle with ID 25 is 45.6 meters away at (-7.7, -44.9). A vehicle with ID 37 is 51.5 meters away at (48.3, -17.9).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.8773864  -0.12943117] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-20.246362686157227, -238.4282684326172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  1.5102049 -17.794996 ], 17.858964920043945 meters away.)"}
{"file_name": "images/scenario_352_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -2.2) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 15.0 meters away at (7.9, -12.7). A vehicle with ID 22 is 15.7 meters away at (-2.4, -15.5). A vehicle with ID 23 is 25.1 meters away at (2.8, -24.9). A vehicle with ID 27 is 27.5 meters away at (-22.6, 15.6). A unknown object with ID 12 is 28.9 meters away at (21.9, 18.9). A unknown object with ID 34 is 32.5 meters away at (31.1, 9.4). A pedestrian with ID 36 is 41.6 meters away at (37.8, -17.2). A vehicle with ID 25 is 44.2 meters away at (-11.5, -42.7). A vehicle with ID 37 is 46.7 meters away at (44.1, -15.5). A vehicle with ID 42 is 47.7 meters away at (47.3, -6.3).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.056814   -0.41883934] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-20.246362686157227, -238.4282684326172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  7.9188375 -12.740136 ], 15.000635147094727 meters away.)"}
{"file_name": "images/scenario_352_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -3.7) m/s. Its current heading (yaw) is -1.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 6.5 meters away at (5.4, -3.6). A vehicle with ID 22 is 11.4 meters away at (-6.1, -9.7). A vehicle with ID 23 is 19.1 meters away at (-0.9, -19.1). A unknown object with ID 21 is 26.6 meters away at (16.3, 21.0). A unknown object with ID 12 is 30.8 meters away at (18.3, 24.9). A unknown object with ID 34 is 31.4 meters away at (27.3, 15.4). A unknown object with ID 7 is 32.5 meters away at (27.1, 17.9). A vehicle with ID 27 is 33.9 meters away at (-26.3, 21.5). A pedestrian with ID 36 is 38.1 meters away at (36.2, -12.0). A vehicle with ID 25 is 39.9 meters away at (-15.2, -36.8).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0.36450306 3.130189  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.9645179  -0.43668973] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-20.246362686157227, -238.4282684326172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.439428  -3.6384354], 6.544126033782959 meters away.)"}
{"file_name": "images/scenario_352_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.7) m/s. Its current heading (yaw) is -2.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 5.8 meters away at (-5.4, -2.0). A vehicle with ID 23 is 11.4 meters away at (-0.2, -11.4). A vehicle with ID 26 is 13.3 meters away at (3.1, 12.9). A vehicle with ID 25 is 32.6 meters away at (-14.6, -29.2). A unknown object with ID 21 is 33.3 meters away at (17.1, 28.6). A unknown object with ID 34 is 36.5 meters away at (28.3, 23.1). A vehicle with ID 27 is 38.8 meters away at (-25.6, 29.2). A pedestrian with ID 36 is 39.1 meters away at (38.8, -5.1). A vehicle with ID 32 is 39.2 meters away at (-18.7, -34.5). A vehicle with ID 37 is 41.0 meters away at (41.0, -1.9).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.271954  4.60806 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.9457386  -0.43857273] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-20.246362686157227, -238.4282684326172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.4457755 -2.020071 ], 5.8083696365356445 meters away.)"}
{"file_name": "images/scenario_353_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 6.4) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 24.8 meters away at (3.5, 24.6). A vehicle with ID 27 is 41.6 meters away at (-10.1, -40.4). A vehicle with ID 28 is 45.6 meters away at (-42.6, -16.4). A unknown object with ID 33 is 52.6 meters away at (-49.8, -16.9). A vehicle with ID 26 is 54.0 meters away at (32.2, 43.3). A unknown object with ID 34 is 54.5 meters away at (-52.1, -15.9). A unknown object with ID 9 is 59.7 meters away at (-58.2, -13.4). A pedestrian with ID 36 is 65.1 meters away at (22.5, 61.0). A pedestrian with ID 20 is 76.5 meters away at (-20.7, -73.6). A vehicle with ID 12 is 78.7 meters away at (-77.6, 13.4).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.7485963 -6.49607  ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-9.454547  4.444005] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-1.180526   1.0901843] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.44792107 -1.14882   ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 7.142219  -3.2763329] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 3.4686732 24.566097 ], 24.809772491455078 meters away.)"}
{"file_name": "images/scenario_353_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.4) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 10.8 meters away at (-2.6, 10.5). A unknown object with ID 6 is 11.0 meters away at (-2.2, 10.8). A vehicle with ID 26 is 39.7 meters away at (26.6, 29.4). A pedestrian with ID 36 is 51.7 meters away at (15.0, 49.5). A cyclist with ID 8 is 68.6 meters away at (35.5, 58.7). A vehicle with ID 12 is 70.3 meters away at (-70.0, -6.3). A vehicle with ID 27 is 71.6 meters away at (-20.7, -68.5).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.98230684  1.0820363 ] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [-2.4526868 -5.589474 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.131106  -2.6063175] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-3.344944  -7.8705063] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-2.5633535 10.500744 ], 10.809088706970215 meters away.)"}
{"file_name": "images/scenario_353_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 7.8) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 9.2 meters away at (-8.0, -4.4). A unknown object with ID 13 is 9.6 meters away at (-8.4, -4.7). A vehicle with ID 26 is 25.2 meters away at (20.8, 14.3). A pedestrian with ID 36 is 36.8 meters away at (6.8, 36.1). A cyclist with ID 8 is 40.7 meters away at (24.8, 32.3). A vehicle with ID 12 is 68.5 meters away at (-62.9, -27.2).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-1.2688597  0.5995435] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [-2.273887 -5.607233] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.051952  -2.5651727] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-8.03059   -4.4446487], 9.178523063659668 meters away.)"}
{"file_name": "images/scenario_353_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 7.4) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 15.2 meters away at (15.2, -0.6). A cyclist with ID 8 is 15.9 meters away at (14.5, 6.4). A unknown object with ID 6 is 23.7 meters away at (-13.6, -19.5). A unknown object with ID 13 is 24.2 meters away at (-13.9, -19.7). A unknown object with ID 14 is 24.3 meters away at (-15.1, -19.1). A unknown object with ID 17 is 27.5 meters away at (25.3, 10.8). A unknown object with ID 11 is 43.5 meters away at (-22.8, -37.1). A vehicle with ID 12 is 74.5 meters away at (-57.9, -46.9).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [-2.3315217 -5.371442 ] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.993838  -1.9769326] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [15.157955  -0.6083298], 15.170157432556152 meters away.)"}
{"file_name": "images/scenario_354_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 2.9) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 5.2 meters away at (-5.0, -1.3). A pedestrian with ID 29 is 6.8 meters away at (-6.6, 1.2). A vehicle with ID 30 is 9.7 meters away at (5.2, 8.2). A vehicle with ID 31 is 10.7 meters away at (9.7, 4.5). A cyclist with ID 33 is 12.7 meters away at (1.1, 12.7). A unknown object with ID 32 is 14.6 meters away at (14.4, 2.3). A vehicle with ID 27 is 18.5 meters away at (-5.6, 17.6). A vehicle with ID 26 is 25.3 meters away at (-11.5, 22.5). A vehicle with ID 25 is 31.1 meters away at (-16.0, 26.6). A vehicle with ID 23 is 38.6 meters away at (-21.7, 31.9).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.6083151  -0.48938182] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00053249 -0.01545457] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [ 0.00544549 -0.02071234] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-4.9889665 -1.3090422], 5.157846450805664 meters away.)"}
{"file_name": "images/scenario_354_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 3.0) m/s. Its current heading (yaw) is 2.30 ", "actor_description": " The most relevant actors are: A pedestrian with ID 29 is 6.9 meters away at (-3.6, -5.9). A cyclist with ID 33 is 7.2 meters away at (3.9, 6.1). A vehicle with ID 30 is 7.9 meters away at (7.7, 1.8). A pedestrian with ID 28 is 8.8 meters away at (-0.7, -8.8). A vehicle with ID 27 is 11.6 meters away at (-3.0, 11.2). A vehicle with ID 31 is 12.5 meters away at (12.3, -2.0). A vehicle with ID 26 is 18.2 meters away at (-8.7, 16.0). A vehicle with ID 25 is 24.2 meters away at (-13.3, 20.3). A vehicle with ID 23 is 31.8 meters away at (-19.0, 25.5). A vehicle with ID 16 is 32.9 meters away at (14.1, -29.8).", "velocity_description": "The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.52960265 -0.6309417 ] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [ 0.0873898  -0.04574301] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.90018   -0.6476507] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-3.56909   -5.8612943], 6.8624467849731445 meters away.)"}
{"file_name": "images/scenario_354_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 2.7) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 6.4 meters away at (3.2, 5.6). A vehicle with ID 26 is 10.3 meters away at (-2.1, 10.0). A cyclist with ID 33 is 10.4 meters away at (10.4, 0.5). A pedestrian with ID 11 is 10.5 meters away at (10.5, 0.4). A pedestrian with ID 29 is 13.5 meters away at (3.8, -12.9). A vehicle with ID 30 is 14.4 meters away at (13.9, -3.8). A vehicle with ID 25 is 16.2 meters away at (-7.1, 14.6). A pedestrian with ID 28 is 16.9 meters away at (7.1, -15.3). A vehicle with ID 31 is 20.0 meters away at (18.5, -7.6). A vehicle with ID 23 is 23.7 meters away at (-12.8, 19.9).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [0.04873965 0.0271237 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01064056 -0.006863  ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.6943287  -0.57040966] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.86760396 -0.17157158] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.2443972 5.5536385], 6.431874752044678 meters away.)"}
{"file_name": "images/scenario_354_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 3.1) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 6.6 meters away at (5.1, 4.2). A vehicle with ID 25 is 9.0 meters away at (-0.1, 9.0). A vehicle with ID 27 is 10.2 meters away at (10.2, 0.1). A vehicle with ID 23 is 15.4 meters away at (-5.9, 14.3). A pedestrian with ID 11 is 18.3 meters away at (17.6, -5.1). A vehicle with ID 30 is 22.8 meters away at (20.8, -9.3). A pedestrian with ID 29 is 23.5 meters away at (12.5, -19.9). A unknown object with ID 8 is 24.7 meters away at (-20.5, 13.8). A pedestrian with ID 28 is 26.2 meters away at (15.5, -21.2). A vehicle with ID 24 is 27.8 meters away at (-15.8, 22.9).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.02330422 -0.01245267] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.8619025  -0.66365784] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.7170435  -0.16546084] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.121542 4.222719], 6.637887477874756 meters away.)"}
{"file_name": "images/scenario_355_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -1.6) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 87 is 2.1 meters away at (-0.3, -2.1). A pedestrian with ID 86 is 6.4 meters away at (-6.4, 0.9). A unknown object with ID 88 is 6.7 meters away at (0.4, 6.7). A vehicle with ID 91 is 8.7 meters away at (3.2, 8.1). A unknown object with ID 90 is 11.6 meters away at (-10.3, 5.3). A unknown object with ID 92 is 12.4 meters away at (-5.8, 11.0). A unknown object with ID 84 is 15.1 meters away at (13.7, -6.3). A pedestrian with ID 85 is 15.1 meters away at (14.5, -4.3). A pedestrian with ID 93 is 16.1 meters away at (-14.9, 6.0). A vehicle with ID 57 is 16.3 meters away at (16.1, -2.3).", "velocity_description": "The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.0445367   0.95913553] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.02586801 -0.00064738] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [ 0.00343776 -0.00515384] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(223.85691833496094, -52.44723129272461)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.2948656 -2.0761445], 2.0969791412353516 meters away.)"}
{"file_name": "images/scenario_355_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -2.7) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A unknown object with ID 87 is 6.7 meters away at (-6.3, 2.2). A unknown object with ID 84 is 8.0 meters away at (7.7, -2.0). A pedestrian with ID 85 is 8.5 meters away at (8.5, 0.0). A unknown object with ID 101 is 10.1 meters away at (5.9, -8.1). A unknown object with ID 88 is 12.3 meters away at (-5.5, 11.0). A pedestrian with ID 86 is 16.0 meters away at (-14.3, 7.2). A unknown object with ID 105 is 17.4 meters away at (11.6, -13.0). A unknown object with ID 90 is 18.9 meters away at (-16.3, 9.6). A unknown object with ID 92 is 19.3 meters away at (-11.8, 15.3). A vehicle with ID 37 is 19.5 meters away at (-8.8, -17.4).", "velocity_description": "The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.00400468 -0.00575265] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.0181385  1.1078885] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(223.85691833496094, -52.44723129272461)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-6.266311   2.2303982], 6.651415824890137 meters away.)"}
{"file_name": "images/scenario_355_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -3.2) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A unknown object with ID 101 is 2.8 meters away at (-1.9, -2.1). A unknown object with ID 84 is 4.0 meters away at (-0.0, 4.0). A pedestrian with ID 85 is 6.1 meters away at (0.7, 6.0). A unknown object with ID 105 is 7.9 meters away at (3.8, -6.9). A unknown object with ID 82 is 10.4 meters away at (9.7, -3.8). A unknown object with ID 81 is 14.6 meters away at (13.0, -6.6). A pedestrian with ID 69 is 16.1 meters away at (1.1, 16.1). A unknown object with ID 87 is 16.3 meters away at (-14.0, 8.3). A vehicle with ID 14 is 17.9 meters away at (17.2, -5.0). A unknown object with ID 80 is 18.8 meters away at (16.3, -9.4).", "velocity_description": "The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.03448167 0.00064837] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.01350974 -0.05066359] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(223.85691833496094, -52.44723129272461)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.8549633 -2.093007 ], 2.796706438064575 meters away.)"}
{"file_name": "images/scenario_355_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -2.9) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A unknown object with ID 82 is 3.2 meters away at (2.3, 2.3). A unknown object with ID 105 is 3.7 meters away at (-3.6, -0.9). A unknown object with ID 81 is 5.6 meters away at (5.6, -0.6). A unknown object with ID 80 is 9.4 meters away at (8.8, -3.3). A vehicle with ID 14 is 9.9 meters away at (9.8, 1.1). A unknown object with ID 101 is 10.1 meters away at (-9.3, 3.9). A unknown object with ID 22 is 10.1 meters away at (5.3, -8.6). A unknown object with ID 79 is 12.5 meters away at (11.3, -5.4). A unknown object with ID 84 is 12.6 meters away at (-7.5, 10.1). A pedestrian with ID 85 is 13.8 meters away at (-6.7, 12.1).", "velocity_description": "The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.0036616  -0.00604699] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(223.85691833496094, -52.44723129272461)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [2.2538624 2.260357 ], 3.1920382976531982 meters away.)"}
{"file_name": "images/scenario_356_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 5.6) m/s. Its current heading (yaw) is 1.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 10.4 meters away at (-1.1, -10.4). A unknown object with ID 28 is 11.8 meters away at (5.4, 10.5). A vehicle with ID 33 is 12.9 meters away at (12.3, 3.9). A unknown object with ID 30 is 13.7 meters away at (6.1, 12.2). A vehicle with ID 8 is 13.9 meters away at (-3.9, 13.4). A pedestrian with ID 31 is 16.5 meters away at (-6.2, 15.3). A vehicle with ID 26 is 19.4 meters away at (16.9, -9.7). A vehicle with ID 32 is 38.3 meters away at (-10.6, -36.8). A vehicle with ID 7 is 38.5 meters away at (-3.0, 38.4). A vehicle with ID 27 is 46.3 meters away at (3.6, -46.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0.51448345 5.382793  ] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 0.01914571 -5.540104  ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.03396764  0.04989274] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.9834454 -3.5640779] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-2.9129882 -9.156109 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[13.473251  4.162009]]", "nav_goal": "(-24.08462905883789, 292.7737121582031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -1.0597064 -10.391893 ], 10.445785522460938 meters away.)"}
{"file_name": "images/scenario_356_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 6.2) m/s. Its current heading (yaw) is 1.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 4.7 meters away at (-4.4, 1.6). A unknown object with ID 28 is 5.1 meters away at (4.9, -1.2). A unknown object with ID 30 is 5.7 meters away at (5.6, 0.5). A vehicle with ID 1 is 11.7 meters away at (-0.7, -11.7). A vehicle with ID 33 is 22.6 meters away at (13.6, -18.0). A vehicle with ID 7 is 26.7 meters away at (-3.5, 26.5). A vehicle with ID 26 is 35.9 meters away at (23.6, -27.0). A vehicle with ID 32 is 49.8 meters away at (-11.1, -48.6). A unknown object with ID 17 is 62.5 meters away at (44.1, -44.3). A pedestrian with ID 18 is 63.7 meters away at (44.3, -45.7).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.30008218 5.59371   ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 1.9463638 -4.4128146] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 3.9451492 -2.0903745] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.02054677 0.02356997] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-24.08462905883789, 292.7737121582031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.360258   1.6463547], 4.660722255706787 meters away.)"}
{"file_name": "images/scenario_356_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 6.8) m/s. Its current heading (yaw) is 1.58 ", "actor_description": " The most relevant actors are: A pedestrian with ID 14 is 11.6 meters away at (-6.7, -9.4). A vehicle with ID 8 is 12.1 meters away at (-4.4, -11.3). A pedestrian with ID 20 is 12.7 meters away at (-3.9, -12.1). A vehicle with ID 1 is 13.0 meters away at (-0.3, -13.0). A unknown object with ID 30 is 13.6 meters away at (5.6, -12.4). A vehicle with ID 7 is 14.6 meters away at (-3.6, 14.2). A unknown object with ID 28 is 14.8 meters away at (4.8, -14.0). A vehicle with ID 33 is 42.6 meters away at (19.3, -37.9). A vehicle with ID 26 is 53.3 meters away at (31.8, -42.7). A vehicle with ID 32 is 62.6 meters away at (-11.1, -61.6).", "velocity_description": "The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.01680001 -0.00069264] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.15999852 6.2242002 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.00772715  0.84237474] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 3.6009674 -2.3788197] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.2644157 -0.8887959] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-24.08462905883789, 292.7737121582031)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-6.6894903 -9.431036 ], 11.562600135803223 meters away.)"}
{"file_name": "images/scenario_356_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 5.7) m/s. Its current heading (yaw) is 1.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 5.1 meters away at (-3.6, 3.6). A vehicle with ID 1 is 12.9 meters away at (-0.1, -12.9). A pedestrian with ID 14 is 22.8 meters away at (-6.7, -21.8). A vehicle with ID 8 is 24.1 meters away at (-4.4, -23.7). A unknown object with ID 30 is 25.3 meters away at (5.5, -24.6). A unknown object with ID 28 is 26.8 meters away at (4.8, -26.4). A vehicle with ID 33 is 59.5 meters away at (26.4, -53.3). A vehicle with ID 3 is 72.0 meters away at (13.2, 70.8).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.1339821 5.8039618] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.02450457 0.00280451] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 3.433459  -0.9506948] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ -0.13621238 -10.22531   ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-24.08462905883789, 292.7737121582031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6430209  3.5929947], 5.116757869720459 meters away.)"}
{"file_name": "images/scenario_357_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -4.4) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 61 is 3.8 meters away at (-3.5, 1.4). A unknown object with ID 18 is 5.8 meters away at (-5.4, -2.3). A unknown object with ID 66 is 6.3 meters away at (-6.1, -1.6). A vehicle with ID 50 is 7.3 meters away at (1.1, 7.2). A vehicle with ID 55 is 9.7 meters away at (9.5, 1.7). A unknown object with ID 48 is 10.3 meters away at (-8.3, -6.1). A unknown object with ID 67 is 10.5 meters away at (2.7, -10.2). A unknown object with ID 70 is 10.7 meters away at (-9.2, -5.4). A unknown object with ID 36 is 12.6 meters away at (-8.4, 9.4). A vehicle with ID 54 is 12.9 meters away at (5.0, 11.9).", "velocity_description": "The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.64198303222656, -229.75363159179688)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-3.4981332  1.3923473], 3.765045404434204 meters away.)"}
{"file_name": "images/scenario_357_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -4.8) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A unknown object with ID 48 is 3.5 meters away at (-0.5, 3.5). A vehicle with ID 46 is 3.9 meters away at (-3.7, 1.1). A unknown object with ID 70 is 4.4 meters away at (-1.4, 4.2). A vehicle with ID 52 is 6.2 meters away at (4.3, -4.5). A unknown object with ID 18 is 7.6 meters away at (2.5, 7.2). A unknown object with ID 66 is 8.1 meters away at (1.7, 7.9). A vehicle with ID 47 is 9.2 meters away at (-8.1, -4.3). A vehicle with ID 53 is 9.8 meters away at (0.2, -9.8). A unknown object with ID 67 is 10.6 meters away at (10.6, -0.6). A unknown object with ID 61 is 11.8 meters away at (4.3, 11.0).", "velocity_description": "The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.64198303222656, -229.75363159179688)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.5123539  3.489544 ], 3.526956796646118 meters away.)"}
{"file_name": "images/scenario_357_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.6) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 4.8 meters away at (-4.8, -0.3). A vehicle with ID 47 is 5.1 meters away at (-0.3, 5.1). A unknown object with ID 51 is 5.6 meters away at (5.0, -2.5). A vehicle with ID 53 is 8.1 meters away at (8.1, -0.3). A unknown object with ID 43 is 9.0 meters away at (-0.2, -9.0). A vehicle with ID 46 is 11.1 meters away at (4.0, 10.4). A vehicle with ID 52 is 13.1 meters away at (12.1, 4.9). A unknown object with ID 48 is 14.9 meters away at (7.2, 13.0). A unknown object with ID 70 is 15.1 meters away at (6.5, 13.6). A pedestrian with ID 19 is 16.9 meters away at (-4.3, -16.4).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00177553  0.00058096] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.64198303222656, -229.75363159179688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.8188953 -0.2837658], 4.827242851257324 meters away.)"}
{"file_name": "images/scenario_357_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -3.9) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 43 is 7.2 meters away at (7.2, -0.1). A pedestrian with ID 19 is 8.3 meters away at (3.3, -7.6). A vehicle with ID 49 is 8.9 meters away at (2.6, 8.5). A unknown object with ID 51 is 14.0 meters away at (12.5, 6.4). A vehicle with ID 47 is 15.7 meters away at (7.2, 13.9). A vehicle with ID 53 is 17.7 meters away at (15.5, 8.5). A vehicle with ID 46 is 22.5 meters away at (11.6, 19.3). A vehicle with ID 52 is 24.0 meters away at (19.6, 13.9). A unknown object with ID 48 is 26.3 meters away at (14.7, 21.9). A vehicle with ID 2 is 30.7 meters away at (0.8, -30.6).", "velocity_description": "The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01478349  0.01624279] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.64198303222656, -229.75363159179688)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 7.2294273  -0.08779907], 7.2299604415893555 meters away.)"}
{"file_name": "images/scenario_358_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 1.1) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 9.8 meters away at (9.1, -3.6). A pedestrian with ID 31 is 11.8 meters away at (10.8, 4.9). A vehicle with ID 29 is 20.3 meters away at (18.8, -7.8). A unknown object with ID 37 is 20.8 meters away at (-12.2, -16.8). A unknown object with ID 40 is 22.1 meters away at (-11.1, -19.1). A unknown object with ID 41 is 22.5 meters away at (-14.0, -17.6). A unknown object with ID 42 is 23.9 meters away at (-11.5, -20.9). A unknown object with ID 44 is 24.5 meters away at (-14.9, -19.5). A unknown object with ID 47 is 26.1 meters away at (-12.3, -23.0). A unknown object with ID 43 is 27.2 meters away at (21.3, -16.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9799731 -0.7247539] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-1.1480683  0.5203984] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.08297  -3.579879], 9.762985229492188 meters away.)"}
{"file_name": "images/scenario_358_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 3.1) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 13.6 meters away at (12.0, -6.4). A pedestrian with ID 31 is 18.1 meters away at (18.1, -0.7). A unknown object with ID 37 is 21.9 meters away at (-6.6, -20.9). A unknown object with ID 41 is 23.1 meters away at (-8.3, -21.6). A unknown object with ID 40 is 23.7 meters away at (-5.4, -23.1). A vehicle with ID 29 is 24.7 meters away at (22.2, -10.8). A unknown object with ID 44 is 24.9 meters away at (-8.9, -23.3). A unknown object with ID 14 is 27.1 meters away at (-9.8, -25.3). A unknown object with ID 48 is 29.0 meters away at (-8.9, -27.6). A pedestrian with ID 38 is 30.5 meters away at (13.0, 27.6).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.1468487  0.9238864] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.87030727 -0.8198363 ] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-1.0305115   0.46859694] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.6201187 -1.4224399] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [12.014827  -6.4379387], 13.630961418151855 meters away.)"}
{"file_name": "images/scenario_358_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.7) m/s. Its current heading (yaw) is 1.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 15.7 meters away at (9.9, -12.1). A pedestrian with ID 38 is 22.6 meters away at (14.9, 17.0). A pedestrian with ID 31 is 25.1 meters away at (22.4, -11.2). A vehicle with ID 29 is 27.9 meters away at (21.9, -17.3). A unknown object with ID 37 is 29.0 meters away at (-3.5, -28.8). A unknown object with ID 41 is 30.1 meters away at (-5.4, -29.6). A pedestrian with ID 32 is 30.8 meters away at (11.1, 28.7). A unknown object with ID 40 is 30.9 meters away at (-2.5, -30.8). A unknown object with ID 18 is 31.7 meters away at (20.6, 24.1). A pedestrian with ID 33 is 31.9 meters away at (11.7, 29.7).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.7756407  1.2860435] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.58395994 -1.3504039 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.65698844 -1.4413406 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-2.9138563  1.1476135] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.69314915 -1.0897431 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.6732804 -1.2035459] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  9.942192 -12.091014], 15.653746604919434 meters away.)"}
{"file_name": "images/scenario_358_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 4.6) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 12.8 meters away at (12.0, 4.7). A vehicle with ID 5 is 18.5 meters away at (2.5, -18.3). A pedestrian with ID 32 is 19.9 meters away at (10.3, 17.0). A pedestrian with ID 33 is 21.0 meters away at (11.0, 17.8). A pedestrian with ID 34 is 22.3 meters away at (11.8, 18.9). A unknown object with ID 18 is 23.7 meters away at (18.8, 14.3). A vehicle with ID 29 is 27.5 meters away at (13.2, -24.1). A pedestrian with ID 31 is 32.1 meters away at (22.1, -23.3). A vehicle with ID 28 is 35.4 meters away at (6.7, 34.7). A vehicle with ID 30 is 38.3 meters away at (7.8, 37.5).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.5739777 -1.3904057] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.7925417  2.3792746] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.46964955 -1.1956931 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.56122375 -1.2105005 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.67690897 -1.1618463 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.3275216  1.431488 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.56162924 -1.3417172 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [11.951945  4.651724], 12.82526969909668 meters away.)"}
{"file_name": "images/scenario_359_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.7) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 5.0 meters away at (-5.0, 0.1). A vehicle with ID 75 is 5.8 meters away at (4.0, 4.2). A vehicle with ID 77 is 9.3 meters away at (-8.7, 3.3). A vehicle with ID 79 is 12.2 meters away at (-4.5, 11.3). A unknown object with ID 81 is 13.0 meters away at (0.9, 12.9). A vehicle with ID 82 is 13.0 meters away at (-2.2, -12.8). A unknown object with ID 80 is 13.1 meters away at (0.7, 13.0). A unknown object with ID 83 is 17.2 meters away at (-2.5, 17.1). A vehicle with ID 86 is 18.4 meters away at (-6.0, -17.4). A unknown object with ID 85 is 18.6 meters away at (-3.7, 18.2).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.1287956237793, 110.83222198486328)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.037612   0.1416546], 5.039603233337402 meters away.)"}
{"file_name": "images/scenario_359_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -0.3) m/s. Its current heading (yaw) is -0.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 6.7 meters away at (-1.4, 6.6). A vehicle with ID 73 is 10.9 meters away at (-10.6, 2.7). A vehicle with ID 82 is 12.9 meters away at (-7.7, -10.4). A vehicle with ID 77 is 15.4 meters away at (-14.3, 5.9). A unknown object with ID 80 is 16.1 meters away at (-4.6, 15.5). A vehicle with ID 79 is 17.0 meters away at (-9.8, 13.8). A vehicle with ID 72 is 17.7 meters away at (12.3, 12.7). A vehicle with ID 92 is 18.3 meters away at (-15.0, 10.5). A vehicle with ID 87 is 18.5 meters away at (16.1, -9.0). A vehicle with ID 86 is 19.0 meters away at (-11.7, -15.0).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 3.1040218 -2.623108 ] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.1287956237793, 110.83222198486328)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.4238081  6.562729 ], 6.715403079986572 meters away.)"}
{"file_name": "images/scenario_359_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 3.7) m/s. Its current heading (yaw) is 0.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 10.0 meters away at (3.8, 9.3). A vehicle with ID 75 is 10.3 meters away at (-9.8, 3.2). A vehicle with ID 87 is 14.5 meters away at (7.7, -12.2). A vehicle with ID 53 is 14.8 meters away at (5.4, -13.8). A vehicle with ID 31 is 15.9 meters away at (7.6, 13.9). A vehicle with ID 73 is 19.1 meters away at (-19.1, -0.9). A vehicle with ID 92 is 19.6 meters away at (-19.3, 3.4). A vehicle with ID 79 is 21.1 meters away at (-18.5, 10.3). A vehicle with ID 82 is 21.3 meters away at (-16.2, -13.9). A vehicle with ID 30 is 21.9 meters away at (11.6, 18.5).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-4.0116706  3.762794 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 1.5566012 -1.3552548] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.1287956237793, 110.83222198486328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.837473 9.273074], 10.035740852355957 meters away.)"}
{"file_name": "images/scenario_359_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.4) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 4.7 meters away at (-1.2, 4.5). A vehicle with ID 72 is 4.9 meters away at (-4.9, 0.0). A vehicle with ID 30 is 9.5 meters away at (2.7, 9.1). A vehicle with ID 16 is 15.6 meters away at (6.8, 14.0). A vehicle with ID 74 is 17.7 meters away at (16.2, 7.1). A vehicle with ID 98 is 19.4 meters away at (18.6, 5.5). A vehicle with ID 75 is 19.7 meters away at (-18.7, -6.3). A vehicle with ID 53 is 20.1 meters away at (-9.3, -17.8). A vehicle with ID 76 is 21.4 meters away at (21.1, 3.7). A vehicle with ID 87 is 21.7 meters away at (-1.1, -21.6).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-2.9948897  2.7405958] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[75.413574 70.46397 ]\n [77.996284 72.49594 ]]", "nav_goal": "(-59.1287956237793, 110.83222198486328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.2319965  4.4981127], 4.663778781890869 meters away.)"}
{"file_name": "images/scenario_360_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 3.0) m/s. Its current heading (yaw) is 2.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 17.5 meters away at (16.1, -7.0). A unknown object with ID 21 is 68.6 meters away at (-66.9, 15.3). A unknown object with ID 27 is 70.3 meters away at (-68.2, 17.3). A unknown object with ID 11 is 71.0 meters away at (-68.6, 18.3).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [-7.991808   4.1124206] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.069756  -6.9988217], 17.527708053588867 meters away.)"}
{"file_name": "images/scenario_360_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, 1.5) m/s. Its current heading (yaw) is 2.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 17.3 meters away at (16.6, -4.9). A unknown object with ID 8 is 50.6 meters away at (-50.5, -2.6). A unknown object with ID 21 is 51.4 meters away at (-50.3, 10.5). A unknown object with ID 12 is 52.2 meters away at (-51.0, 11.4). A unknown object with ID 26 is 53.0 meters away at (-52.9, -3.0). A unknown object with ID 27 is 53.0 meters away at (-51.6, 12.4). A unknown object with ID 11 is 53.7 meters away at (-52.0, 13.5). A unknown object with ID 29 is 54.1 meters away at (-54.0, -3.3). A unknown object with ID 13 is 54.4 meters away at (-52.4, 14.6). A unknown object with ID 14 is 60.6 meters away at (-60.2, -7.0).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [-8.144058   2.9218442] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.580885 -4.886399], 17.28590965270996 meters away.)"}
{"file_name": "images/scenario_360_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, -0.3) m/s. Its current heading (yaw) is -3.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 17.0 meters away at (17.0, -1.2). A unknown object with ID 23 is 43.1 meters away at (-42.5, -7.4). A unknown object with ID 14 is 44.1 meters away at (-43.3, -8.1). A unknown object with ID 16 is 45.1 meters away at (-44.1, -9.0). A pedestrian with ID 5 is 53.8 meters away at (-53.1, 8.6). A pedestrian with ID 15 is 55.1 meters away at (-54.5, 8.3).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [-8.150935   1.5563432] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.8540198 0.9822948] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.77086616 0.8716619 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.975937  -1.1972561], 17.018102645874023 meters away.)"}
{"file_name": "images/scenario_360_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, -0.4) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 17.4 meters away at (17.4, 1.0). A unknown object with ID 23 is 27.1 meters away at (-26.3, -6.6). A unknown object with ID 16 is 29.2 meters away at (-28.0, -8.3). A pedestrian with ID 5 is 37.7 meters away at (-35.8, 11.8). A pedestrian with ID 6 is 38.4 meters away at (-36.6, 11.8).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [-7.4855824  -0.06366814] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.464128  1.0230464] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.40083313 1.0122067 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [17.419258   1.0331411], 17.44986915588379 meters away.)"}
{"file_name": "images/scenario_361_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.8) m/s. Its current heading (yaw) is 2.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 5.7 meters away at (5.5, 1.5). A unknown object with ID 12 is 9.3 meters away at (-8.7, 3.4). A vehicle with ID 56 is 9.5 meters away at (-8.4, -4.4). A unknown object with ID 58 is 9.7 meters away at (-9.6, 1.3). A unknown object with ID 59 is 11.0 meters away at (-10.5, 3.3). A vehicle with ID 57 is 11.2 meters away at (-10.7, -3.3). A unknown object with ID 63 is 13.1 meters away at (-12.4, 4.3). A vehicle with ID 15 is 15.2 meters away at (-6.0, -14.0). A vehicle with ID 66 is 16.2 meters away at (13.9, 8.5). A unknown object with ID 60 is 17.9 meters away at (-1.8, -17.8).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [-6.265679e-05  5.643194e-03] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 0.6279137  -0.47188717] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-8.985006 13.004259]]", "nav_goal": "(-297.297119140625, 151.6470184326172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [5.520758  1.4850051], 5.71699333190918 meters away.)"}
{"file_name": "images/scenario_361_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 5.8 meters away at (5.7, 1.0). A unknown object with ID 12 is 8.9 meters away at (-8.4, 2.9). A unknown object with ID 58 is 9.5 meters away at (-9.4, 0.8). A vehicle with ID 56 is 9.5 meters away at (-8.1, -4.9). A vehicle with ID 80 is 11.0 meters away at (10.8, 1.8). A vehicle with ID 66 is 17.3 meters away at (16.5, 5.3). A unknown object with ID 65 is 20.5 meters away at (-0.4, -20.5). A unknown object with ID 69 is 23.3 meters away at (-1.3, -23.2). A vehicle with ID 74 is 24.8 meters away at (1.8, -24.7). A unknown object with ID 8 is 25.7 meters away at (-22.9, 11.6).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.00805386 -0.00844592] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [-11.169495    4.8252263] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 1.8458154 -2.8066478] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [1.4902415 5.716471 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-8.985006 13.004259]]", "nav_goal": "(-297.297119140625, 151.6470184326172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [5.744458  1.0469084], 5.839076519012451 meters away.)"}
{"file_name": "images/scenario_361_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 5.8 meters away at (5.8, 1.0). A unknown object with ID 12 is 8.8 meters away at (-8.3, 2.8). A unknown object with ID 58 is 9.4 meters away at (-9.4, 0.7). A vehicle with ID 56 is 9.5 meters away at (-8.1, -5.0). A vehicle with ID 48 is 11.1 meters away at (-10.4, -4.0). A vehicle with ID 74 is 15.0 meters away at (3.6, -14.6). A vehicle with ID 80 is 16.5 meters away at (-11.7, 11.6). A unknown object with ID 41 is 18.3 meters away at (-1.5, -18.3). A vehicle with ID 66 is 18.5 meters away at (18.0, -4.3). A pedestrian with ID 33 is 18.7 meters away at (-0.6, -18.7).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.00129145 -0.00572497] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0.2645584 3.9574285] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [-11.504778    5.0362134] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-1.1937304 -6.3619056] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00194913 -0.00184831] m/s.", "light_description": "There are active red lights at the following coordinates: [[-8.985006 13.004259]\n [21.757372 15.868152]\n [21.874458 16.089039]\n [21.977524 15.75702 ]]", "nav_goal": "(-297.297119140625, 151.6470184326172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [5.767901   0.95083094], 5.845746994018555 meters away.)"}
{"file_name": "images/scenario_361_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 1.5) m/s. Its current heading (yaw) is 2.07 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 6.2 meters away at (6.2, 0.0). A unknown object with ID 12 is 8.1 meters away at (-7.9, 1.9). A unknown object with ID 58 is 9.0 meters away at (-8.9, -0.2). A vehicle with ID 56 is 9.6 meters away at (-7.6, -5.8). A unknown object with ID 9 is 10.1 meters away at (-9.9, 1.9). A vehicle with ID 74 is 10.5 meters away at (3.8, -9.8). A vehicle with ID 48 is 11.0 meters away at (-9.9, -4.8). A pedestrian with ID 33 is 19.6 meters away at (-0.0, -19.6). A pedestrian with ID 37 is 21.1 meters away at (-0.7, -21.1). A vehicle with ID 82 is 21.3 meters away at (0.3, 21.3).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.02417334 -0.03398954] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-0.2625719  1.8807287] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.07372513 -0.04643554] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.02029637 -0.01471751] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 3.3881714 -1.559097 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[21.757372 15.868152]\n [21.874458 16.089039]\n [21.977524 15.75702 ]]", "nav_goal": "(-297.297119140625, 151.6470184326172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [6.2415247  0.01035023], 6.241533279418945 meters away.)"}
{"file_name": "images/scenario_362_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 13.3 meters away at (-9.5, -9.3). A vehicle with ID 21 is 15.1 meters away at (4.2, -14.5). A vehicle with ID 22 is 20.6 meters away at (-11.3, -17.2). A vehicle with ID 23 is 23.2 meters away at (-11.2, -20.3). A vehicle with ID 24 is 28.4 meters away at (-12.3, -25.6). A unknown object with ID 18 is 32.5 meters away at (29.5, -13.6). A vehicle with ID 25 is 33.5 meters away at (-12.8, -31.0). A vehicle with ID 26 is 38.0 meters away at (21.9, 31.0). A pedestrian with ID 27 is 41.4 meters away at (28.4, -30.0). A vehicle with ID 32 is 55.2 meters away at (54.8, 7.3).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.02723688 -0.0129196 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.81330871582031, 44.630733489990234)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.482086 -9.280593], 13.267982482910156 meters away.)"}
{"file_name": "images/scenario_362_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.3) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 12.9 meters away at (-7.8, -10.4). A vehicle with ID 21 is 16.6 meters away at (6.0, -15.5). A vehicle with ID 22 is 20.6 meters away at (-9.5, -18.3). A vehicle with ID 23 is 23.4 meters away at (-9.3, -21.4). A vehicle with ID 24 is 28.7 meters away at (-10.8, -26.6). A vehicle with ID 25 is 33.9 meters away at (-11.2, -32.0). A vehicle with ID 26 is 38.1 meters away at (23.6, 30.0). A pedestrian with ID 27 is 43.4 meters away at (30.2, -31.2). A vehicle with ID 15 is 43.7 meters away at (38.4, 20.9). A vehicle with ID 14 is 45.3 meters away at (40.8, 19.7).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.17353247 -0.13127752] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.81330871582031, 44.630733489990234)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -7.767222 -10.351737], 12.941722869873047 meters away.)"}
{"file_name": "images/scenario_362_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 3.2) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 14.9 meters away at (-0.3, -14.9). A vehicle with ID 22 is 22.9 meters away at (-2.1, -22.8). A vehicle with ID 21 is 24.3 meters away at (13.6, -20.1). A vehicle with ID 23 is 25.9 meters away at (-2.2, -25.8). A pedestrian with ID 19 is 28.3 meters away at (-17.2, -22.5). A vehicle with ID 24 is 31.2 meters away at (-3.3, -31.1). A vehicle with ID 25 is 36.7 meters away at (-3.9, -36.5). A vehicle with ID 26 is 40.2 meters away at (31.1, 25.4). A vehicle with ID 14 is 50.8 meters away at (48.5, 15.0). A vehicle with ID 32 is 64.1 meters away at (64.1, 1.6).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00049028 -0.00056877] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.81330871582031, 44.630733489990234)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -0.26625347 -14.889977  ], 14.89235782623291 meters away.)"}
{"file_name": "images/scenario_362_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 3.9) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 25.0 meters away at (11.8, -22.0). A vehicle with ID 22 is 31.5 meters away at (10.0, -29.9). A vehicle with ID 23 is 34.5 meters away at (10.0, -33.1). A vehicle with ID 21 is 37.5 meters away at (25.8, -27.2). A vehicle with ID 24 is 39.3 meters away at (8.8, -38.3). A vehicle with ID 25 is 44.5 meters away at (8.3, -43.7). A vehicle with ID 26 is 47.0 meters away at (43.3, 18.3). A vehicle with ID 32 is 76.5 meters away at (76.3, -5.6). A cyclist with ID 7 is 79.5 meters away at (61.1, -50.8). A vehicle with ID 34 is 81.8 meters away at (81.3, -8.7).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [0.01203856 0.03414768] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.81330871582031, 44.630733489990234)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 11.805911 -21.98845 ], 24.9573917388916 meters away.)"}
{"file_name": "images/scenario_363_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.6) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 3.0 meters away at (-2.7, 1.3). A vehicle with ID 21 is 7.3 meters away at (2.0, 7.0). A unknown object with ID 18 is 8.1 meters away at (-5.1, 6.3). A vehicle with ID 19 is 8.4 meters away at (5.4, 6.4). A vehicle with ID 22 is 22.7 meters away at (-22.1, 5.3). A pedestrian with ID 27 is 33.3 meters away at (25.8, 21.1). A vehicle with ID 30 is 34.4 meters away at (-24.9, -23.6). A vehicle with ID 31 is 36.3 meters away at (4.9, 36.0). A vehicle with ID 34 is 41.1 meters away at (-1.2, 41.1). A vehicle with ID 35 is 44.4 meters away at (-10.3, 43.1).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.07573237 -0.17921053] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.7381333  0.6648013] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.996055 13.979302]\n [18.548111 28.251663]\n [13.339051 16.22378 ]\n [17.161274 29.96437 ]\n [15.001565 12.943388]\n [10.861034 18.15948 ]\n [18.479479 28.615873]]", "nav_goal": "(196.3434600830078, 187.74273681640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.7042007  1.2691584], 2.9872169494628906 meters away.)"}
{"file_name": "images/scenario_363_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 3.1 meters away at (-2.9, 1.0). A vehicle with ID 21 is 6.9 meters away at (1.8, 6.7). A vehicle with ID 19 is 8.0 meters away at (5.2, 6.1). A unknown object with ID 18 is 8.0 meters away at (-5.4, 6.0). A vehicle with ID 22 is 22.9 meters away at (-22.3, 5.1). A pedestrian with ID 27 is 32.8 meters away at (25.4, 20.6). A vehicle with ID 30 is 34.8 meters away at (-25.2, -23.9). A vehicle with ID 31 is 36.0 meters away at (4.7, 35.7). A vehicle with ID 34 is 40.8 meters away at (-1.5, 40.8). A vehicle with ID 36 is 45.4 meters away at (22.8, 39.2).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00469919 -0.01359802] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.996055 13.979302]\n [18.548111 28.251663]\n [13.339051 16.22378 ]\n [17.161274 29.96437 ]\n [15.001565 12.943388]\n [10.861034 18.15948 ]\n [18.479479 28.615873]]", "nav_goal": "(196.3434600830078, 187.74273681640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.9411023  1.0014021], 3.106909990310669 meters away.)"}
{"file_name": "images/scenario_363_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 3.1 meters away at (-3.0, 1.0). A vehicle with ID 21 is 6.9 meters away at (1.7, 6.6). A vehicle with ID 19 is 7.9 meters away at (5.1, 6.1). A unknown object with ID 18 is 8.0 meters away at (-5.4, 6.0). A vehicle with ID 22 is 22.9 meters away at (-22.3, 5.1). A pedestrian with ID 27 is 31.6 meters away at (24.9, 19.5). A vehicle with ID 30 is 34.8 meters away at (-25.3, -24.0). A unknown object with ID 4 is 35.3 meters away at (28.9, -20.4). A vehicle with ID 31 is 36.0 meters away at (4.6, 35.7). A unknown object with ID 6 is 37.8 meters away at (34.4, -15.6).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.3958575  -0.93594956] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.996055 13.979302]\n [18.548111 28.251663]\n [13.339051 16.22378 ]\n [17.161274 29.96437 ]\n [15.001565 12.943388]\n [10.861034 18.15948 ]\n [18.479479 28.615873]]", "nav_goal": "(196.3434600830078, 187.74273681640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.959513   0.9747267], 3.115896224975586 meters away.)"}
{"file_name": "images/scenario_363_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 3.1 meters away at (-3.0, 1.0). A vehicle with ID 21 is 6.9 meters away at (1.7, 6.6). A vehicle with ID 19 is 7.9 meters away at (5.1, 6.1). A unknown object with ID 18 is 8.0 meters away at (-5.4, 5.9). A vehicle with ID 22 is 22.9 meters away at (-22.3, 5.1). A pedestrian with ID 27 is 28.7 meters away at (22.9, 17.3). A vehicle with ID 30 is 34.8 meters away at (-25.3, -24.0). A unknown object with ID 4 is 35.3 meters away at (28.6, -20.7). A vehicle with ID 31 is 36.0 meters away at (4.6, 35.7). A unknown object with ID 6 is 37.8 meters away at (34.5, -15.5).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.228745  -1.4747428] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.996055 13.979302]\n [18.548111 28.251663]\n [13.339051 16.22378 ]\n [17.161274 29.96437 ]\n [15.001565 12.943388]\n [10.861034 18.15948 ]\n [18.479479 28.615873]]", "nav_goal": "(196.3434600830078, 187.74273681640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.9822803  0.9547174], 3.1313705444335938 meters away.)"}
{"file_name": "images/scenario_364_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.6) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 8.3 meters away at (-8.3, 0.9). A vehicle with ID 52 is 18.7 meters away at (-10.0, -15.9). A vehicle with ID 44 is 18.9 meters away at (1.7, 18.9). A vehicle with ID 49 is 20.1 meters away at (-17.6, -9.6). A vehicle with ID 50 is 22.0 meters away at (-14.7, -16.4). A unknown object with ID 57 is 25.1 meters away at (24.8, 3.8). A vehicle with ID 60 is 25.7 meters away at (-14.4, -21.2). A unknown object with ID 59 is 26.2 meters away at (25.8, 5.0). A vehicle with ID 46 is 31.6 meters away at (-16.4, 27.0). A unknown object with ID 48 is 38.1 meters away at (-10.9, 36.5).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [3.4166598 3.8532934] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-8.291635   0.9385836], 8.344587326049805 meters away.)"}
{"file_name": "images/scenario_364_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 8.6 meters away at (-8.6, 0.5). A vehicle with ID 50 is 14.2 meters away at (-9.5, -10.6). A vehicle with ID 44 is 18.4 meters away at (2.0, 18.3). A vehicle with ID 52 is 19.3 meters away at (-10.3, -16.3). A vehicle with ID 49 is 20.5 meters away at (-17.9, -10.0). A unknown object with ID 57 is 24.7 meters away at (24.5, 3.4). A unknown object with ID 59 is 25.8 meters away at (25.4, 4.6). A vehicle with ID 60 is 26.2 meters away at (-14.7, -21.6). A unknown object with ID 27 is 30.5 meters away at (13.3, 27.4). A vehicle with ID 46 is 31.4 meters away at (-16.7, 26.6).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [1.88675  2.054022] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.8990932 -0.282891 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-8.602818   0.5417452], 8.619857788085938 meters away.)"}
{"file_name": "images/scenario_364_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.2) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 8.8 meters away at (-8.8, 0.3). A vehicle with ID 50 is 12.5 meters away at (-8.3, -9.3). A vehicle with ID 44 is 18.2 meters away at (3.7, 17.8). A vehicle with ID 52 is 19.6 meters away at (-10.5, -16.5). A vehicle with ID 49 is 20.8 meters away at (-18.1, -10.2). A unknown object with ID 57 is 24.5 meters away at (24.3, 3.2). A unknown object with ID 59 is 25.6 meters away at (25.3, 4.3). A unknown object with ID 3 is 26.1 meters away at (3.4, 25.9). A vehicle with ID 60 is 26.5 meters away at (-14.9, -21.9). A unknown object with ID 27 is 30.2 meters away at (13.2, 27.2).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 1.3909681  -0.10305367] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-8.783754   0.3211136], 8.78962230682373 meters away.)"}
{"file_name": "images/scenario_364_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 1.1) m/s. Its current heading (yaw) is 1.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 9.6 meters away at (-9.6, -0.6). A vehicle with ID 50 is 13.7 meters away at (-9.1, -10.2). A vehicle with ID 44 is 17.6 meters away at (5.2, 16.8). A vehicle with ID 52 is 20.9 meters away at (-11.4, -17.5). A vehicle with ID 49 is 22.0 meters away at (-19.0, -11.2). A unknown object with ID 57 is 23.6 meters away at (23.5, 2.1). A unknown object with ID 59 is 24.7 meters away at (24.4, 3.3). A unknown object with ID 3 is 25.1 meters away at (2.6, 24.9). A vehicle with ID 60 is 27.7 meters away at (-15.8, -22.8). A unknown object with ID 1 is 30.0 meters away at (-6.1, 29.4).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.2341862  0.21212068] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-9.583147   -0.64717484], 9.604974746704102 meters away.)"}
{"file_name": "images/scenario_365_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -11.1) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 40.8 meters away at (-16.3, 37.4). A vehicle with ID 6 is 46.3 meters away at (-18.2, 42.6).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.3918423  -0.09559277] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.55506896972656, -283.6701965332031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-16.310862  37.432953], 40.832218170166016 meters away.)"}
{"file_name": "images/scenario_365_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -11.1) m/s. Its current heading (yaw) is -1.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 63.9 meters away at (-23.8, 59.3). A vehicle with ID 6 is 69.4 meters away at (-25.4, 64.6).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.55506896972656, -283.6701965332031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-23.750977  59.328133], 63.90568161010742 meters away.)"}
{"file_name": "images/scenario_365_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -11.2) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(91.55506896972656, -283.6701965332031)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_365_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -11.1) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(91.55506896972656, -283.6701965332031)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_366_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -3.5) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 21.7 meters away at (-6.8, 20.6). A vehicle with ID 14 is 38.9 meters away at (-33.9, -19.2).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [2.8913145 3.754027 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(216.23666381835938, -179.91000366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-6.8314404 20.604284 ], 21.707260131835938 meters away.)"}
{"file_name": "images/scenario_366_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -2.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 28.0 meters away at (-26.1, -10.1). A unknown object with ID 9 is 64.8 meters away at (62.9, -15.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [2.7571263 1.4342362] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(216.23666381835938, -179.91000366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-26.111626 -10.145164], 28.013235092163086 meters away.)"}
{"file_name": "images/scenario_366_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 23.4 meters away at (-21.8, -8.3). A unknown object with ID 10 is 33.5 meters away at (3.2, 33.3). A unknown object with ID 6 is 39.9 meters away at (39.8, -2.0).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0.7413843  0.26325172] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(216.23666381835938, -179.91000366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-21.822903  -8.340278], 23.362348556518555 meters away.)"}
{"file_name": "images/scenario_366_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.4) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 22.4 meters away at (-21.0, -7.6). A pedestrian with ID 1 is 53.8 meters away at (-46.3, -27.4).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.60388845 1.3272783 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(216.23666381835938, -179.91000366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-21.046883  -7.639476], 22.390464782714844 meters away.)"}
{"file_name": "images/scenario_367_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 1.1) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 11.4 meters away at (-11.1, -2.7). A pedestrian with ID 26 is 12.9 meters away at (-4.6, -12.1). A vehicle with ID 56 is 13.4 meters away at (-5.8, -12.1). A pedestrian with ID 57 is 13.7 meters away at (-4.6, -12.9). A pedestrian with ID 39 is 15.3 meters away at (14.6, -4.5). A pedestrian with ID 59 is 16.4 meters away at (15.8, -4.2). A vehicle with ID 58 is 17.2 meters away at (-15.4, -7.7). A vehicle with ID 60 is 21.3 meters away at (-11.1, -18.2). A vehicle with ID 61 is 23.0 meters away at (-19.3, -12.5). A vehicle with ID 54 is 23.6 meters away at (-7.6, 22.4).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.00250361 0.00571497] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.01465798 -0.01110222] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.24055359 -0.12769328] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.06528492 -1.0222566 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-56.932915 -63.41548 ]\n [-57.28108  -63.25064 ]\n [-55.952774 -63.89574 ]\n [-58.418217 -62.251316]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-11.085694   -2.7351403], 11.418126106262207 meters away.)"}
{"file_name": "images/scenario_367_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 3.9) m/s. Its current heading (yaw) is 1.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 15.4 meters away at (-13.4, -7.7). A pedestrian with ID 26 is 18.5 meters away at (-7.0, -17.1). A vehicle with ID 56 is 18.9 meters away at (-8.2, -17.0). A pedestrian with ID 57 is 19.3 meters away at (-7.2, -17.9). A vehicle with ID 54 is 19.9 meters away at (-9.8, 17.4). A vehicle with ID 58 is 21.8 meters away at (-17.7, -12.6). A vehicle with ID 63 is 23.3 meters away at (22.9, -4.4). A unknown object with ID 22 is 25.3 meters away at (10.9, 22.9). A vehicle with ID 53 is 26.2 meters away at (-17.1, 19.9). A vehicle with ID 60 is 26.8 meters away at (-13.5, -23.2).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.01237833 -0.01966533] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.02448901 -0.0144856 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-13.363504   -7.6521697], 15.399316787719727 meters away.)"}
{"file_name": "images/scenario_367_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 4.2) m/s. Its current heading (yaw) is 2.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 10.6 meters away at (-6.3, 8.5). A vehicle with ID 53 is 17.5 meters away at (-13.5, 11.1). A vehicle with ID 55 is 19.3 meters away at (-9.9, -16.5). A unknown object with ID 22 is 20.1 meters away at (14.4, 14.0). A vehicle with ID 49 is 21.7 meters away at (-21.4, 3.3). A vehicle with ID 52 is 22.7 meters away at (-18.7, 12.9). A unknown object with ID 71 is 24.3 meters away at (16.6, 17.7). A vehicle with ID 58 is 25.7 meters away at (-14.2, -21.4). A vehicle with ID 56 is 26.3 meters away at (-4.6, -25.9). A pedestrian with ID 26 is 26.4 meters away at (-3.2, -26.2).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.03421519 0.01472975] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.276708  8.489648], 10.557991027832031 meters away.)"}
{"file_name": "images/scenario_367_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 2.7) m/s. Its current heading (yaw) is 2.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 4.8 meters away at (-2.2, 4.2). A vehicle with ID 54 is 5.2 meters away at (5.0, 1.7). A vehicle with ID 52 is 9.5 meters away at (-7.3, 6.0). A vehicle with ID 49 is 10.7 meters away at (-10.0, -3.6). A vehicle with ID 51 is 15.7 meters away at (-13.5, 8.0). A vehicle with ID 8 is 16.0 meters away at (-15.9, -1.6). A vehicle with ID 55 is 23.4 meters away at (1.6, -23.3). A vehicle with ID 50 is 24.2 meters away at (-21.6, 10.9). A vehicle with ID 1 is 27.7 meters away at (-27.6, 2.3). A vehicle with ID 58 is 28.4 meters away at (-2.7, -28.3).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.2287245  4.19956  ], 4.7543158531188965 meters away.)"}
{"file_name": "images/scenario_368_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -6.2) m/s. Its current heading (yaw) is -1.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 109 is 7.6 meters away at (-7.3, 2.0). A vehicle with ID 107 is 8.6 meters away at (-7.3, 4.6). A vehicle with ID 105 is 10.1 meters away at (-7.0, 7.3). A unknown object with ID 52 is 10.2 meters away at (-10.1, -0.9). A vehicle with ID 103 is 12.1 meters away at (-7.1, 9.8). A vehicle with ID 101 is 14.5 meters away at (-7.0, 12.8). A vehicle with ID 102 is 16.9 meters away at (-7.1, 15.4). A vehicle with ID 104 is 19.3 meters away at (-6.6, 18.1). A vehicle with ID 116 is 20.4 meters away at (-20.3, -1.3). A vehicle with ID 114 is 20.7 meters away at (-20.7, 1.4).", "velocity_description": "The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-277.4468994140625, -32.651214599609375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.290563   2.0142317], 7.563692092895508 meters away.)"}
{"file_name": "images/scenario_368_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -3.9) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 109 is 13.0 meters away at (-4.5, 12.2). A vehicle with ID 107 is 15.4 meters away at (-4.4, 14.7). A unknown object with ID 119 is 16.8 meters away at (15.6, -6.4). A vehicle with ID 105 is 17.9 meters away at (-4.2, 17.4). A vehicle with ID 116 is 19.6 meters away at (-17.5, 8.8). A vehicle with ID 103 is 20.4 meters away at (-4.3, 20.0). A unknown object with ID 83 is 20.6 meters away at (-5.4, -19.8). A vehicle with ID 114 is 21.3 meters away at (-17.9, 11.6). A unknown object with ID 124 is 21.7 meters away at (-8.7, -19.8). A vehicle with ID 113 is 23.1 meters away at (-17.9, 14.5).", "velocity_description": "The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-277.4468994140625, -32.651214599609375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.458081 12.197897], 12.987038612365723 meters away.)"}
{"file_name": "images/scenario_368_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -1.5) m/s. Its current heading (yaw) is -2.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 124 is 14.3 meters away at (-0.7, -14.2). A unknown object with ID 83 is 14.5 meters away at (2.7, -14.3). A unknown object with ID 58 is 14.7 meters away at (-3.4, -14.3). A unknown object with ID 94 is 15.2 meters away at (-5.4, -14.2). A unknown object with ID 69 is 16.1 meters away at (-7.5, -14.2). A vehicle with ID 116 is 17.0 meters away at (-9.2, 14.2). A unknown object with ID 68 is 17.4 meters away at (-9.2, -14.7). A vehicle with ID 109 is 18.1 meters away at (3.8, 17.7). A vehicle with ID 74 is 20.2 meters away at (-17.8, -9.7). A vehicle with ID 107 is 20.4 meters away at (3.8, 20.1).", "velocity_description": "The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-277.4468994140625, -32.651214599609375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -0.68696404 -14.247618  ], 14.264169692993164 meters away.)"}
{"file_name": "images/scenario_368_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, -0.6) m/s. Its current heading (yaw) is -3.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 9.4 meters away at (-5.4, -7.7). A vehicle with ID 33 is 11.0 meters away at (-8.5, -7.0). A unknown object with ID 68 is 13.3 meters away at (3.0, -12.9). A unknown object with ID 69 is 13.3 meters away at (5.1, -12.3). A unknown object with ID 94 is 14.2 meters away at (7.0, -12.3). A vehicle with ID 31 is 14.3 meters away at (-12.2, -7.4). A unknown object with ID 58 is 15.1 meters away at (8.7, -12.3). A unknown object with ID 124 is 17.0 meters away at (11.7, -12.3). A vehicle with ID 30 is 17.4 meters away at (-15.8, -7.4). A vehicle with ID 89 is 17.8 meters away at (-14.1, 10.9).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-277.4468994140625, -32.651214599609375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.378084  -7.7288017], 9.415846824645996 meters away.)"}
{"file_name": "images/scenario_369_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.1) m/s. Its current heading (yaw) is 2.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 8.6 meters away at (2.3, -8.3). A vehicle with ID 72 is 8.7 meters away at (8.0, 3.2). A vehicle with ID 57 is 9.8 meters away at (-8.7, -4.4). A unknown object with ID 56 is 9.8 meters away at (-9.2, 3.4). A unknown object with ID 58 is 10.2 meters away at (-10.1, 1.3). A unknown object with ID 59 is 10.9 meters away at (-9.4, 5.6). A unknown object with ID 61 is 11.5 meters away at (-9.9, 6.0). A unknown object with ID 63 is 11.5 meters away at (-11.0, 3.4). A unknown object with ID 65 is 12.2 meters away at (-10.4, 6.4). A unknown object with ID 12 is 13.1 meters away at (-11.2, 6.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-15.979452   6.939056] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-7.751947  9.514125]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 2.3160248 -8.303942 ], 8.620871543884277 meters away.)"}
{"file_name": "images/scenario_369_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 1.3) m/s. Its current heading (yaw) is 2.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 56 is 8.8 meters away at (-8.5, 2.3). A unknown object with ID 58 is 9.6 meters away at (-9.6, 0.1). A vehicle with ID 57 is 9.8 meters away at (-8.1, -5.5). A vehicle with ID 5 is 9.8 meters away at (2.9, -9.4). A unknown object with ID 59 is 9.9 meters away at (-8.8, 4.6). A unknown object with ID 63 is 10.7 meters away at (-10.5, 2.3). A unknown object with ID 61 is 10.8 meters away at (-9.5, 5.0). A unknown object with ID 65 is 11.3 meters away at (-10.0, 5.3). A unknown object with ID 12 is 12.1 meters away at (-10.7, 5.8). A unknown object with ID 66 is 19.4 meters away at (-1.5, -19.3).", "velocity_description": "The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-7.751947  9.514125]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.541151  2.287068], 8.842055320739746 meters away.)"}
{"file_name": "images/scenario_369_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 2.7) m/s. Its current heading (yaw) is 2.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 59 is 5.9 meters away at (-5.9, 0.4). A unknown object with ID 56 is 5.9 meters away at (-5.6, -1.8). A unknown object with ID 61 is 6.5 meters away at (-6.5, 0.8). A unknown object with ID 48 is 7.0 meters away at (-6.9, 1.1). A unknown object with ID 65 is 7.2 meters away at (-7.1, 1.2). A unknown object with ID 58 is 7.7 meters away at (-6.6, -4.0). A unknown object with ID 63 is 7.8 meters away at (-7.5, -1.8). A unknown object with ID 12 is 7.9 meters away at (-7.7, 1.7). A unknown object with ID 50 is 9.5 meters away at (-9.5, -0.7). A vehicle with ID 34 is 10.4 meters away at (5.2, 9.0).", "velocity_description": "The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.831563  -1.3453244] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.433919  9.551961]\n [14.227531 12.517507]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-5.856455   0.4367652], 5.8727192878723145 meters away.)"}
{"file_name": "images/scenario_369_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 2.8) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 4.1 meters away at (-0.8, -4.0). A unknown object with ID 65 is 4.5 meters away at (-0.0, -4.5). A unknown object with ID 48 is 4.7 meters away at (0.2, -4.7). A unknown object with ID 61 is 4.9 meters away at (0.4, -4.9). A unknown object with ID 59 is 5.3 meters away at (1.0, -5.2). A unknown object with ID 63 is 7.6 meters away at (-0.5, -7.5). A unknown object with ID 56 is 7.6 meters away at (1.4, -7.4). A unknown object with ID 11 is 8.7 meters away at (-8.7, -0.6). A unknown object with ID 58 is 9.7 meters away at (0.3, -9.6). A unknown object with ID 54 is 10.3 meters away at (-10.3, -0.0).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.433919  9.551961]\n [14.227531 12.517507]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.8237333 -4.027437 ], 4.110813617706299 meters away.)"}
{"file_name": "images/scenario_370_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 3.3) m/s. Its current heading (yaw) is 0.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 11.2 meters away at (-10.5, -3.9). A unknown object with ID 68 is 14.6 meters away at (-11.3, -9.2). A unknown object with ID 69 is 15.2 meters away at (-12.4, -8.7). A unknown object with ID 70 is 17.5 meters away at (-14.4, -9.8). A unknown object with ID 62 is 17.6 meters away at (-14.5, -9.9). A unknown object with ID 71 is 19.8 meters away at (-16.9, -10.4). A vehicle with ID 85 is 21.0 meters away at (15.6, 14.0). A pedestrian with ID 82 is 21.0 meters away at (19.7, 7.3). A unknown object with ID 72 is 21.8 meters away at (-19.0, -10.8). A unknown object with ID 74 is 22.7 meters away at (-20.3, -10.1).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [ 2.6710591  -0.22455315] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.9101878 -4.49711  ] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.5345944 -1.0916269] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(225.386962890625, -31.37710952758789)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.452819   -3.9112163], 11.160601615905762 meters away.)"}
{"file_name": "images/scenario_370_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 5.6) m/s. Its current heading (yaw) is 1.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 85 is 7.8 meters away at (6.7, -4.1). A unknown object with ID 67 is 16.4 meters away at (3.2, 16.1). A vehicle with ID 13 is 16.6 meters away at (-10.3, -13.0). A unknown object with ID 84 is 18.1 meters away at (2.9, 17.8). A unknown object with ID 16 is 18.8 meters away at (4.6, 18.2). A unknown object with ID 57 is 19.5 meters away at (1.6, 19.4). A unknown object with ID 15 is 20.8 meters away at (5.3, 20.1). A unknown object with ID 31 is 22.9 meters away at (6.1, 22.1). A unknown object with ID 68 is 24.6 meters away at (-16.3, -18.3). A unknown object with ID 55 is 25.0 meters away at (6.8, 24.0).", "velocity_description": "The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.9050204 -4.346065 ] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [2.9170434  0.56192106] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(225.386962890625, -31.37710952758789)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.662505  -4.1409283], 7.844505310058594 meters away.)"}
{"file_name": "images/scenario_370_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.2) m/s. Its current heading (yaw) is 1.16 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 6.4 meters away at (-0.9, 6.3). A unknown object with ID 84 is 6.6 meters away at (-2.6, 6.1). A unknown object with ID 15 is 8.3 meters away at (0.0, 8.3). A unknown object with ID 57 is 8.4 meters away at (-3.7, 7.5). A unknown object with ID 25 is 9.8 meters away at (-2.9, 9.3). A unknown object with ID 31 is 10.3 meters away at (0.8, 10.2). A unknown object with ID 46 is 11.6 meters away at (-2.0, 11.4). A unknown object with ID 55 is 12.3 meters away at (1.5, 12.2). A unknown object with ID 52 is 12.8 meters away at (-1.0, 12.8). A unknown object with ID 26 is 13.6 meters away at (-1.0, 13.6).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(225.386962890625, -31.37710952758789)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.8747406  6.348604 ], 6.408583641052246 meters away.)"}
{"file_name": "images/scenario_370_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 6.1) m/s. Its current heading (yaw) is 1.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 55 is 3.7 meters away at (-3.7, 0.3). A unknown object with ID 31 is 4.7 meters away at (-4.4, -1.7). A unknown object with ID 20 is 4.8 meters away at (-4.4, 2.0). A unknown object with ID 52 is 6.2 meters away at (-6.2, 0.7). A unknown object with ID 15 is 6.3 meters away at (-5.1, -3.7). A unknown object with ID 26 is 6.4 meters away at (-6.3, 1.4). A unknown object with ID 46 is 7.2 meters away at (-7.2, -0.6). A unknown object with ID 16 is 8.3 meters away at (-6.0, -5.7). A unknown object with ID 25 is 8.9 meters away at (-8.3, -3.2). A unknown object with ID 36 is 9.6 meters away at (-8.7, -4.0).", "velocity_description": "The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(225.386962890625, -31.37710952758789)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.6639938   0.28406906], 3.6749892234802246 meters away.)"}
{"file_name": "images/scenario_371_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 6.2) m/s. Its current heading (yaw) is 1.91 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_371_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 6.2) m/s. Its current heading (yaw) is 1.93 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 9.3 meters away at (-5.3, -7.7).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-5.330138  -7.6773357], 9.346220970153809 meters away.)"}
{"file_name": "images/scenario_371_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 6.0) m/s. Its current heading (yaw) is 1.92 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_371_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 5.9) m/s. Its current heading (yaw) is 1.90 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_372_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.5) m/s. Its current heading (yaw) is 0.58 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are active red lights at the following coordinates: [[13.820671 11.578985]]", "nav_goal": "(-147.37301635742188, 235.9778289794922)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_372_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.51 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are active red lights at the following coordinates: [[13.820671 11.578985]]", "nav_goal": "(-147.37301635742188, 235.9778289794922)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_372_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.51 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are active red lights at the following coordinates: [[13.820671 11.578985]]", "nav_goal": "(-147.37301635742188, 235.9778289794922)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_372_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.51 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are active red lights at the following coordinates: [[13.820671 11.578985]]", "nav_goal": "(-147.37301635742188, 235.9778289794922)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_373_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 4.4 meters away at (-0.6, -4.4). A vehicle with ID 22 is 4.9 meters away at (4.8, 0.7). A vehicle with ID 24 is 7.6 meters away at (5.4, 5.3). A vehicle with ID 25 is 11.3 meters away at (10.2, 4.9). A vehicle with ID 26 is 17.3 meters away at (14.8, 8.9). A vehicle with ID 27 is 25.2 meters away at (20.9, 14.1). A vehicle with ID 29 is 32.3 meters away at (-17.6, -27.0). A vehicle with ID 28 is 34.0 meters away at (27.8, 19.6). A vehicle with ID 30 is 38.4 meters away at (-22.1, -31.4). A vehicle with ID 31 is 46.7 meters away at (-27.4, -37.8).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.73926723 -0.90036565] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.25815195 -0.17706756] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.390105  -16.688576 ]\n [ -5.1359186  -8.78973  ]\n [ -7.3645873  -6.4981937]\n [ -7.7347155  -5.649672 ]]", "nav_goal": "(-235.8216552734375, 71.07353973388672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.6134112 -4.3829527], 4.425669193267822 meters away.)"}
{"file_name": "images/scenario_373_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -1.4) m/s. Its current heading (yaw) is -2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 5.2 meters away at (5.2, 0.9). A vehicle with ID 24 is 8.9 meters away at (6.4, 6.2). A vehicle with ID 21 is 8.9 meters away at (-2.0, -8.7). A vehicle with ID 25 is 12.2 meters away at (10.9, 5.5). A vehicle with ID 26 is 18.7 meters away at (15.9, 9.9). A vehicle with ID 27 is 26.5 meters away at (21.9, 15.0). A vehicle with ID 29 is 30.9 meters away at (-16.5, -26.1). A vehicle with ID 28 is 35.0 meters away at (28.6, 20.3). A vehicle with ID 30 is 37.1 meters away at (-21.0, -30.6). A vehicle with ID 31 is 45.3 meters away at (-26.3, -36.9).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.3439122 -1.3755767] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.9094665 -4.7592278] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.636926   -0.52673244] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.390105  -16.688576 ]\n [ -7.3645873  -6.4981937]\n [ -7.7347155  -5.649672 ]]", "nav_goal": "(-235.8216552734375, 71.07353973388672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.1533775 0.8539358], 5.223649024963379 meters away.)"}
{"file_name": "images/scenario_373_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -2.5) m/s. Its current heading (yaw) is -2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 4.8 meters away at (4.7, -0.6). A vehicle with ID 24 is 12.5 meters away at (9.3, 8.5). A vehicle with ID 25 is 14.1 meters away at (12.4, 6.6). A vehicle with ID 21 is 17.0 meters away at (7.3, -15.4). A unknown object with ID 14 is 21.2 meters away at (17.0, -12.7). A vehicle with ID 26 is 22.8 meters away at (19.1, 12.5). A vehicle with ID 29 is 23.9 meters away at (-10.6, -21.5). A unknown object with ID 9 is 25.2 meters away at (17.4, 18.2). A vehicle with ID 30 is 29.8 meters away at (-15.0, -25.8). A vehicle with ID 27 is 33.3 meters away at (27.0, 19.5).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.8055487 -4.7499266] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-2.4942923 -2.374337 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-3.551659  -3.2037745] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 4.813439 -6.018734] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.825073 -2.518056] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.1184828 -0.9047705] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.390105 -16.688576]]", "nav_goal": "(-235.8216552734375, 71.07353973388672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.7090216 -0.6233597], 4.750101089477539 meters away.)"}
{"file_name": "images/scenario_373_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 1.3) m/s. Its current heading (yaw) is 2.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 10.4 meters away at (2.2, -10.1). A vehicle with ID 25 is 12.6 meters away at (12.6, -0.1). A vehicle with ID 24 is 12.9 meters away at (12.2, 4.3). A vehicle with ID 29 is 19.7 meters away at (-1.3, -19.6). A vehicle with ID 26 is 21.5 meters away at (20.3, 7.1). A vehicle with ID 30 is 24.7 meters away at (-5.6, -24.0). A vehicle with ID 31 is 32.1 meters away at (-10.8, -30.3). A unknown object with ID 9 is 33.5 meters away at (26.7, 20.2). A vehicle with ID 15 is 35.1 meters away at (35.1, -0.9). A vehicle with ID 27 is 35.3 meters away at (30.9, 17.2).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-6.7675915 -6.9068594] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-5.7168183 -5.7184787] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-3.9249444 -3.7362227] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.0727825 -4.8225393] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-4.041528  -3.3427167] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.390105 -16.688576]]", "nav_goal": "(-235.8216552734375, 71.07353973388672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  2.2347574 -10.105991 ], 10.350130081176758 meters away.)"}
{"file_name": "images/scenario_374_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -5.2) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 4.4 meters away at (4.3, 0.9). A vehicle with ID 62 is 18.7 meters away at (18.5, 2.4). A vehicle with ID 49 is 24.3 meters away at (-20.1, 13.7). A vehicle with ID 92 is 28.5 meters away at (28.2, -4.3). A vehicle with ID 51 is 33.2 meters away at (-25.8, 20.8). A pedestrian with ID 79 is 56.7 meters away at (42.1, -37.9). A unknown object with ID 106 is 58.2 meters away at (-58.2, 1.6). A vehicle with ID 113 is 66.5 meters away at (61.3, -25.7). A vehicle with ID 67 is 69.0 meters away at (55.4, -41.1). A vehicle with ID 70 is 75.9 meters away at (61.3, -44.7).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [ 9.706606 -6.484013] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-7.767838  5.146417] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [10.927375  -7.2771325] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [-8.766932  5.326464] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 9.9425   -6.745923] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2905825  0.7740107] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [-7.6483803  5.368854 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(193.20294189453125, -181.62782287597656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.3362026 0.867753 ], 4.422176837921143 meters away.)"}
{"file_name": "images/scenario_374_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -5.5) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 8.7 meters away at (8.4, -2.2). A vehicle with ID 92 is 17.2 meters away at (-3.9, 16.8). A vehicle with ID 59 is 18.5 meters away at (7.2, 17.0). A vehicle with ID 49 is 19.4 meters away at (-16.0, 11.0). A vehicle with ID 62 is 26.1 meters away at (-12.4, 23.0). A vehicle with ID 51 is 27.9 meters away at (-21.3, 18.0). A vehicle with ID 113 is 31.1 meters away at (30.8, -4.8). A pedestrian with ID 79 is 35.2 meters away at (24.2, -25.6). A pedestrian with ID 110 is 35.8 meters away at (34.8, 8.2). A vehicle with ID 76 is 48.3 meters away at (47.5, -8.6).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [ 9.995032 -6.931613] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [-7.60045    5.0942407] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 9.019861  -6.0116086] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-7.4651213  4.852374 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 9.978843 -6.509126] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [-7.4641943  4.824126 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.178411    0.79058653] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.01529432 -1.3458788 ] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -0.80311733  14.650829  ]\n [ 46.732346   -15.815668  ]\n [ 47.742477   -12.638373  ]\n [ -1.1358387   13.994273  ]\n [  1.276118    16.859325  ]]", "nav_goal": "(193.20294189453125, -181.62782287597656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.410179  -2.1805553], 8.688263893127441 meters away.)"}
{"file_name": "images/scenario_374_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -5.2) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 13.3 meters away at (12.3, -5.1). A pedestrian with ID 79 is 13.8 meters away at (5.3, -12.7). A vehicle with ID 113 is 16.5 meters away at (-1.7, 16.4). A vehicle with ID 117 is 17.3 meters away at (16.7, 4.5). A vehicle with ID 49 is 19.2 meters away at (-15.8, 10.9). A vehicle with ID 87 is 24.1 meters away at (23.9, 3.0). A vehicle with ID 51 is 24.4 meters away at (-18.4, 16.1). A pedestrian with ID 110 is 24.5 meters away at (18.1, 16.5). A vehicle with ID 59 is 29.4 meters away at (-9.0, 28.0). A vehicle with ID 67 is 30.4 meters away at (23.4, -19.3).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [10.514478 -7.008501] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2085443  0.8502363] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [-7.7149615  4.9046054] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [-7.3240676  5.088633 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 8.006982  -5.6029315] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-6.7634554  4.397435 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 9.478535 -6.379641] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.09461611 -1.2254734 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(193.20294189453125, -181.62782287597656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.305542  -5.0851707], 13.31485366821289 meters away.)"}
{"file_name": "images/scenario_374_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -4.6) m/s. Its current heading (yaw) is -0.50 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 11.8 meters away at (6.7, -9.7). A pedestrian with ID 79 is 14.2 meters away at (-14.1, -1.7). A vehicle with ID 70 is 18.4 meters away at (12.7, -13.3). A vehicle with ID 76 is 18.5 meters away at (14.1, 12.0). A vehicle with ID 49 is 19.1 meters away at (-16.6, 9.5). A vehicle with ID 37 is 19.3 meters away at (16.8, -9.6). A vehicle with ID 51 is 21.5 meters away at (-16.9, 13.3). A vehicle with ID 98 is 23.6 meters away at (22.1, 8.0). A vehicle with ID 87 is 23.6 meters away at (-7.1, 22.5). A pedestrian with ID 110 is 23.6 meters away at (0.8, 23.6).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2224393  0.6969693] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.35336208  0.1853351 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 8.429227  -5.6380987] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [10.324969 -6.898693] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 8.834808 -5.992078] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-7.1521597  4.967229 ] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.5603072 -1.1346391] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(193.20294189453125, -181.62782287597656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.670662 -9.720848], 11.789512634277344 meters away.)"}
{"file_name": "images/scenario_375_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.9) m/s. Its current heading (yaw) is -2.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 8.7 meters away at (-7.1, 5.0). A pedestrian with ID 18 is 9.4 meters away at (-5.6, 7.6). A pedestrian with ID 20 is 10.3 meters away at (-3.2, 9.8). A pedestrian with ID 21 is 12.0 meters away at (-1.3, 11.9). A vehicle with ID 22 is 17.8 meters away at (-1.8, 17.7). A unknown object with ID 11 is 40.6 meters away at (40.6, 0.7).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.46436465 -0.34556803] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00036949 0.06786612] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.38596547 0.73578995] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.73554229736328, -41.63438415527344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.0844865  5.0188594], 8.68210220336914 meters away.)"}
{"file_name": "images/scenario_375_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -1.5) m/s. Its current heading (yaw) is -2.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 9.2 meters away at (-5.4, 7.5). A pedestrian with ID 18 is 10.9 meters away at (-3.8, 10.2). A pedestrian with ID 20 is 12.4 meters away at (-1.5, 12.3). A pedestrian with ID 21 is 16.2 meters away at (0.8, 16.2). A vehicle with ID 22 is 20.2 meters away at (-0.2, 20.2).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.12334091 0.58046925] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.00769469 -0.00980766] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.1841094  0.92242354] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.73554229736328, -41.63438415527344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.4115534  7.4701414], 9.224311828613281 meters away.)"}
{"file_name": "images/scenario_375_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -0.1) m/s. Its current heading (yaw) is -3.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 9.6 meters away at (-0.5, 9.6). A pedestrian with ID 21 is 21.0 meters away at (5.2, 20.3). A vehicle with ID 22 is 22.9 meters away at (4.7, 22.5).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.30806872  0.7287826 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.73554229736328, -41.63438415527344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.45744228  9.638303  ], 9.649151802062988 meters away.)"}
{"file_name": "images/scenario_375_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 0.5) m/s. Its current heading (yaw) is 3.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 11.5 meters away at (7.4, 8.8). A pedestrian with ID 4 is 17.3 meters away at (-10.8, -13.5). A pedestrian with ID 1 is 18.7 meters away at (-11.2, -14.9). A pedestrian with ID 2 is 18.8 meters away at (-11.8, -14.6). A vehicle with ID 22 is 24.8 meters away at (12.5, 21.5). A vehicle with ID 8 is 71.3 meters away at (-44.5, -55.7). A vehicle with ID 9 is 71.6 meters away at (-46.8, -54.2). A vehicle with ID 10 is 71.7 meters away at (-39.3, -60.0).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.47581223 1.2400951 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.5714153 1.3778837] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.600523  1.3454933] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.73554229736328, -41.63438415527344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [7.431324 8.757042], 11.485223770141602 meters away.)"}
{"file_name": "images/scenario_376_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.5) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 13.3 meters away at (-13.2, -2.2). A unknown object with ID 20 is 20.0 meters away at (-1.1, -20.0). A vehicle with ID 24 is 22.3 meters away at (-6.3, 21.4). A vehicle with ID 30 is 23.0 meters away at (-6.9, -21.9). A cyclist with ID 23 is 23.4 meters away at (-19.8, 12.4). A vehicle with ID 33 is 25.3 meters away at (-8.9, -23.7). A vehicle with ID 31 is 28.9 meters away at (-0.6, 28.9). A unknown object with ID 27 is 33.8 meters away at (-33.5, -4.8). A vehicle with ID 47 is 34.2 meters away at (-29.8, 16.8). A vehicle with ID 45 is 34.8 meters away at (-34.4, 5.1).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [ 5.175269  -2.8650222] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.4556234 -2.141661 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [1.3568535 2.070187 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-0.7444987 -0.8757248] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 0.5517884  -0.44163385] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.696547   10.192881 ]\n [-24.749067    7.5741315]\n [-13.309038   10.963597 ]\n [-10.726332   12.995573 ]]", "nav_goal": "(173.63623046875, 167.22708129882812)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-13.156824  -2.176678], 13.335664749145508 meters away.)"}
{"file_name": "images/scenario_376_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 12.8 meters away at (-0.3, -12.8). A vehicle with ID 24 is 17.1 meters away at (-9.2, 14.4). A unknown object with ID 20 is 20.3 meters away at (-0.7, -20.3). A vehicle with ID 30 is 23.1 meters away at (-6.6, -22.2). A cyclist with ID 23 is 23.2 meters away at (-16.6, 16.3). A vehicle with ID 33 is 25.6 meters away at (-8.4, -24.2). A vehicle with ID 31 is 25.9 meters away at (-2.8, 25.7). A vehicle with ID 28 is 31.7 meters away at (-29.2, -12.2). A unknown object with ID 27 is 33.6 meters away at (-33.2, -5.0). A vehicle with ID 47 is 33.7 meters away at (-29.4, 16.5).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [ 7.596193 -6.643959] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.0647943 -4.7836523] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [1.6907909 2.1731849] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.5714698 -1.8573793] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [4.4318104 5.4295797] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.098759    4.916507 ]\n [-22.696547   10.192881 ]\n [-24.749067    7.5741315]\n [-18.441755    2.6720307]\n [-13.309038   10.963597 ]\n [-10.726332   12.995573 ]\n [-18.436245    1.6361163]]", "nav_goal": "(173.63623046875, 167.22708129882812)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -0.33615088 -12.804332  ], 12.808743476867676 meters away.)"}
{"file_name": "images/scenario_376_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 9.1 meters away at (-8.7, 2.9). A unknown object with ID 20 is 20.3 meters away at (-0.7, -20.3). A vehicle with ID 28 is 21.8 meters away at (-21.5, -3.4). A vehicle with ID 31 is 22.8 meters away at (-6.0, 22.0). A vehicle with ID 30 is 23.2 meters away at (-6.5, -22.2). A cyclist with ID 23 is 24.0 meters away at (-12.2, 20.7). A vehicle with ID 33 is 25.5 meters away at (-8.4, -24.1). A vehicle with ID 19 is 29.9 meters away at (1.3, 29.9). A vehicle with ID 22 is 32.7 meters away at (17.0, -27.9). A unknown object with ID 27 is 33.5 meters away at (-33.1, -5.0).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.1698594 -6.0993705] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [3.8595572 3.3205967] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.3725969 -1.6880275] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [2.4891179 2.1307857] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.8264081 -2.2002945] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 9.308718  -8.0049715] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.696547   10.192881 ]\n [-24.749067    7.5741315]\n [-22.576775    6.852207 ]\n [-13.309038   10.963597 ]\n [-10.726332   12.995573 ]]", "nav_goal": "(173.63623046875, 167.22708129882812)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.669709   2.8874242], 9.137892723083496 meters away.)"}
{"file_name": "images/scenario_376_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 8.1 meters away at (-0.2, -8.1). A vehicle with ID 28 is 12.9 meters away at (-12.9, -0.6). A vehicle with ID 31 is 20.3 meters away at (-8.6, 18.4). A unknown object with ID 20 is 20.3 meters away at (-0.7, -20.3). A vehicle with ID 30 is 23.2 meters away at (-6.4, -22.3). A vehicle with ID 33 is 25.6 meters away at (-8.3, -24.2). A vehicle with ID 19 is 25.9 meters away at (-2.0, 25.8). A vehicle with ID 40 is 26.1 meters away at (-25.8, -4.0). A cyclist with ID 23 is 26.5 meters away at (-7.6, 25.3). A unknown object with ID 27 is 33.5 meters away at (-33.1, -5.0).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [ 5.1136475 -4.586015 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 4.7636194 -0.8644632] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.4742975 -2.679803 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.4299662 -1.8193165] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [5.068735  6.8481956] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [2.1512988 2.3441303] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.696547   10.192881 ]\n [-24.749067    7.5741315]\n [-13.309038   10.963597 ]\n [-10.726332   12.995573 ]]", "nav_goal": "(173.63623046875, 167.22708129882812)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.15999341 -8.085398  ], 8.086980819702148 meters away.)"}
{"file_name": "images/scenario_377_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.1 meters away at (-1.5, -2.7). A vehicle with ID 19 is 4.3 meters away at (-0.9, 4.2). A vehicle with ID 18 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 20 is 7.9 meters away at (6.9, -4.0). A unknown object with ID 21 is 13.1 meters away at (-11.0, -7.2). A vehicle with ID 29 is 19.7 meters away at (7.0, -18.4). A unknown object with ID 15 is 25.4 meters away at (-21.3, -13.8). A vehicle with ID 34 is 28.9 meters away at (-28.9, 0.9). A vehicle with ID 31 is 32.7 meters away at (-32.7, -1.1). A pedestrian with ID 38 is 39.6 meters away at (-37.2, 13.7).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-5.4344687e+00  1.9156695e-03] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.15169448 0.7714037 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.00039783 0.00199014] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.332224    6.773967 ]\n [-11.840898    4.712299 ]\n [-30.093204   12.321735 ]\n [-32.92412    15.896901 ]\n [-32.869656   27.882635 ]\n [-30.146765   32.77282  ]\n [-27.378529    6.528292 ]\n [-13.206864    1.8008858]\n [-23.587152    5.8902416]\n [-10.247912   10.339934 ]\n [-29.170721   35.298145 ]\n [-31.957668   30.649174 ]\n [-10.983341    7.2093077]]", "nav_goal": "(107.3846435546875, 249.4762420654297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.5493217 -2.7022486], 3.1148908138275146 meters away.)"}
{"file_name": "images/scenario_377_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.1 meters away at (-1.6, -2.7). A vehicle with ID 19 is 4.3 meters away at (-0.9, 4.2). A vehicle with ID 18 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 20 is 8.0 meters away at (6.9, -4.0). A unknown object with ID 21 is 13.1 meters away at (-11.0, -7.2). A vehicle with ID 29 is 20.6 meters away at (-3.5, -20.3). A unknown object with ID 15 is 25.4 meters away at (-21.3, -13.8). A vehicle with ID 34 is 28.9 meters away at (-28.9, 0.9). A vehicle with ID 43 is 39.0 meters away at (-35.8, -15.4). A pedestrian with ID 38 is 39.6 meters away at (-37.2, 13.7).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-5.404777  -2.4741964] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0.584502  4.0378003] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 5.8560156e-05 -5.5362675e-03] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.332224    6.773967 ]\n [-11.840898    4.712299 ]\n [-32.869656   27.882635 ]\n [-30.146765   32.77282  ]\n [-27.378529    6.528292 ]\n [-13.206864    1.8008858]\n [-23.587152    5.8902416]\n [-10.247912   10.339934 ]\n [-29.170721   35.298145 ]\n [-31.957668   30.649174 ]\n [-10.983341    7.2093077]]", "nav_goal": "(107.3846435546875, 249.4762420654297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.5557944 -2.6926377], 3.1097898483276367 meters away.)"}
{"file_name": "images/scenario_377_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.1 meters away at (-1.5, -2.7). A vehicle with ID 19 is 4.3 meters away at (-0.9, 4.2). A vehicle with ID 18 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 20 is 8.0 meters away at (6.9, -4.0). A unknown object with ID 21 is 13.1 meters away at (-11.0, -7.2). A unknown object with ID 15 is 25.4 meters away at (-21.3, -13.8). A vehicle with ID 34 is 28.9 meters away at (-28.9, 0.9). A vehicle with ID 29 is 30.9 meters away at (-13.0, -28.0). A vehicle with ID 1 is 34.7 meters away at (28.8, -19.4). A vehicle with ID 43 is 36.4 meters away at (-35.0, -10.2).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-4.008861  -5.6041436] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-6.198244   3.1709013] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0.23023492 1.7074182 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.332224    6.773967 ]\n [-11.840898    4.712299 ]\n [-32.869656   27.882635 ]\n [-30.146765   32.77282  ]\n [-27.378529    6.528292 ]\n [-13.206864    1.8008858]\n [-23.587152    5.8902416]\n [-10.247912   10.339934 ]\n [-29.170721   35.298145 ]\n [-31.957668   30.649174 ]\n [-10.983341    7.2093077]]", "nav_goal": "(107.3846435546875, 249.4762420654297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.5482805 -2.6929455], 3.10630464553833 meters away.)"}
{"file_name": "images/scenario_377_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.1 meters away at (-1.5, -2.7). A vehicle with ID 19 is 4.3 meters away at (-0.9, 4.2). A vehicle with ID 18 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 20 is 8.0 meters away at (6.9, -4.0). A unknown object with ID 21 is 13.1 meters away at (-11.0, -7.2). A vehicle with ID 1 is 22.3 meters away at (17.6, -13.7). A unknown object with ID 15 is 25.4 meters away at (-21.3, -13.8). A vehicle with ID 34 is 28.9 meters away at (-28.9, 0.9). A vehicle with ID 43 is 35.8 meters away at (-34.8, -8.6). A pedestrian with ID 38 is 39.7 meters away at (-37.3, 13.5).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.655745   2.3110688] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.008729   -0.00355012] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.332224    6.773967 ]\n [-11.840898    4.712299 ]\n [-32.869656   27.882635 ]\n [-30.146765   32.77282  ]\n [-27.378529    6.528292 ]\n [-13.206864    1.8008858]\n [-23.587152    5.8902416]\n [-10.247912   10.339934 ]\n [-29.170721   35.298145 ]\n [-31.957668   30.649174 ]\n [-10.983341    7.2093077]]", "nav_goal": "(107.3846435546875, 249.4762420654297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.5341848 -2.7067876], 3.111337661743164 meters away.)"}
{"file_name": "images/scenario_378_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.9) m/s. Its current heading (yaw) is 2.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 18.6 meters away at (10.6, -15.3). A vehicle with ID 22 is 24.3 meters away at (-12.5, 20.9). A vehicle with ID 21 is 32.5 meters away at (20.3, -25.3). A vehicle with ID 19 is 34.8 meters away at (-22.3, 26.7). A unknown object with ID 14 is 49.6 meters away at (-47.8, -13.2). A unknown object with ID 18 is 51.1 meters away at (-49.1, -14.2).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 10.6036005 -15.302578 ], 18.61733627319336 meters away.)"}
{"file_name": "images/scenario_378_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 5.2) m/s. Its current heading (yaw) is 2.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 11.4 meters away at (-3.6, 10.8). A vehicle with ID 19 is 21.3 meters away at (-13.4, 16.5). A pedestrian with ID 11 is 24.9 meters away at (-14.2, -20.5). A vehicle with ID 20 is 32.0 meters away at (19.6, -25.3). A unknown object with ID 17 is 43.6 meters away at (-37.6, -22.2). A unknown object with ID 14 is 45.3 meters away at (-38.8, -23.5). A vehicle with ID 21 is 46.0 meters away at (29.5, -35.4). A unknown object with ID 18 is 47.0 meters away at (-40.1, -24.5). A unknown object with ID 13 is 56.6 meters away at (35.4, -44.3).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.02936776 0.0108244 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.5736485 10.836107 ], 11.410179138183594 meters away.)"}
{"file_name": "images/scenario_378_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 5.7) m/s. Its current heading (yaw) is 2.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 3.7 meters away at (3.7, 0.1). A vehicle with ID 19 is 8.4 meters away at (-6.1, 5.7). A pedestrian with ID 11 is 32.1 meters away at (-6.8, -31.4). A unknown object with ID 17 is 44.8 meters away at (-30.2, -33.1). A vehicle with ID 20 is 45.1 meters away at (27.1, -36.0). A vehicle with ID 21 is 59.1 meters away at (37.0, -46.1).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.02238189  0.00190782] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.6729507  0.05387306], 3.6733458042144775 meters away.)"}
{"file_name": "images/scenario_378_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 6.0) m/s. Its current heading (yaw) is 2.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 5.8 meters away at (-0.1, -5.8). A vehicle with ID 22 is 15.1 meters away at (9.7, -11.5). A pedestrian with ID 11 is 43.0 meters away at (-0.8, -43.0). A vehicle with ID 20 is 58.1 meters away at (33.0, -47.8). A unknown object with ID 1 is 65.8 meters away at (-23.6, 61.4). A vehicle with ID 2 is 67.6 meters away at (-22.5, 63.8). A vehicle with ID 21 is 72.1 meters away at (42.9, -57.9).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01803865 -0.00133185] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.12488556 -5.7729607 ], 5.774311542510986 meters away.)"}
{"file_name": "images/scenario_379_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 2.0) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 44 is 3.2 meters away at (-0.8, 3.1). A unknown object with ID 42 is 6.3 meters away at (0.5, -6.3). A unknown object with ID 40 is 7.2 meters away at (7.1, -1.4). A unknown object with ID 48 is 7.4 meters away at (-4.9, 5.5). A unknown object with ID 49 is 8.0 meters away at (-7.8, -1.5). A vehicle with ID 8 is 11.6 meters away at (10.2, -5.5). A unknown object with ID 53 is 11.8 meters away at (-7.2, 9.4). A pedestrian with ID 58 is 14.5 meters away at (-14.4, -2.3). A unknown object with ID 38 is 15.9 meters away at (-15.6, 3.0). A unknown object with ID 47 is 16.0 meters away at (14.9, -5.9).", "velocity_description": "The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.0888042   0.61218673] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 1.2416898 -0.8075984] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.365135  10.062747]\n [-39.83477   10.37485 ]]", "nav_goal": "(-73.07286071777344, 213.1881561279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.80622053  3.1435747 ], 3.2453126907348633 meters away.)"}
{"file_name": "images/scenario_379_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 2.6) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 53 is 4.7 meters away at (0.5, 4.7). A vehicle with ID 68 is 5.3 meters away at (1.7, -5.1). A unknown object with ID 49 is 6.2 meters away at (-0.1, -6.2). A unknown object with ID 44 is 7.1 meters away at (7.0, -1.6). A unknown object with ID 38 is 8.1 meters away at (-7.9, -1.6). A pedestrian with ID 58 is 9.4 meters away at (-4.0, -8.5). A unknown object with ID 42 is 13.7 meters away at (8.2, -11.0). A vehicle with ID 8 is 15.4 meters away at (13.4, -7.7). A pedestrian with ID 54 is 16.9 meters away at (-16.7, -2.6). A unknown object with ID 60 is 17.3 meters away at (-17.3, 0.7).", "velocity_description": "The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 8.433154  -5.1868725] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 1.2494386  -0.66639614] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.3912857  1.8757302] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 1.2524315 -0.0775771] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.410349  11.748894]\n [-39.365135  10.062747]\n [-39.83477   10.37485 ]]", "nav_goal": "(-73.07286071777344, 213.1881561279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [0.47820568 4.717817  ], 4.74199104309082 meters away.)"}
{"file_name": "images/scenario_379_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 2.6) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A unknown object with ID 38 is 6.9 meters away at (-0.2, -6.9). A unknown object with ID 53 is 8.3 meters away at (8.3, -0.6). A vehicle with ID 14 is 9.1 meters away at (5.2, -7.5). A pedestrian with ID 54 is 10.6 meters away at (-6.5, -8.3). A unknown object with ID 18 is 11.4 meters away at (10.6, -4.4). A vehicle with ID 8 is 15.6 meters away at (13.1, -8.4). A unknown object with ID 44 is 16.2 meters away at (14.7, -6.8). A pedestrian with ID 58 is 16.5 meters away at (6.4, -15.2). A unknown object with ID 42 is 23.0 meters away at (16.1, -16.4). A vehicle with ID 39 is 23.4 meters away at (-22.6, -6.0).", "velocity_description": "The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.329005 -5.007681] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 1.18111  -0.299588] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.616426  2.727375] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.9976928 -0.530985 ] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.365135  10.062747]\n [-39.83477   10.37485 ]]", "nav_goal": "(-73.07286071777344, 213.1881561279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.16177559 -6.8870873 ], 6.888987064361572 meters away.)"}
{"file_name": "images/scenario_379_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 1.8) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 12.2 meters away at (10.3, -6.6). A unknown object with ID 38 is 12.6 meters away at (5.8, -11.2). A pedestrian with ID 54 is 13.8 meters away at (1.8, -13.7). A unknown object with ID 53 is 15.0 meters away at (14.2, -4.9). A unknown object with ID 18 is 18.7 meters away at (16.5, -8.7). A vehicle with ID 39 is 19.6 meters away at (-16.6, -10.3). A unknown object with ID 44 is 23.4 meters away at (20.6, -11.1). A pedestrian with ID 58 is 25.7 meters away at (15.0, -20.9). A pedestrian with ID 66 is 26.2 meters away at (-9.3, 24.4). A pedestrian with ID 67 is 27.0 meters away at (-10.1, 25.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.1728153  3.643711 ] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 1.2892938 -0.5839458] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 1.2693324 -0.7678503] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.00642375 -0.00085945] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.00228328 -0.01618275] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.365135  10.062747]\n [-39.83477   10.37485 ]]", "nav_goal": "(-73.07286071777344, 213.1881561279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.267747  -6.5966425], 12.204193115234375 meters away.)"}
{"file_name": "images/scenario_380_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -0.5) m/s. Its current heading (yaw) is -2.93 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 22.3 meters away at (-8.9, -20.4). A pedestrian with ID 26 is 27.0 meters away at (21.9, 15.8). A vehicle with ID 15 is 46.5 meters away at (0.1, 46.5).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.52111703 -1.0238409 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0663303 -0.5113789] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.4213424 3.5877783] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -8.91669  -20.444132], 22.304033279418945 meters away.)"}
{"file_name": "images/scenario_380_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -2.7) m/s. Its current heading (yaw) is -2.46 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 20.2 meters away at (-3.7, -19.9). A pedestrian with ID 26 is 31.3 meters away at (26.5, 16.7). A pedestrian with ID 5 is 53.3 meters away at (-26.7, -46.2). A pedestrian with ID 18 is 56.4 meters away at (-43.1, 36.4). A vehicle with ID 15 is 58.0 meters away at (10.7, 57.0).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.4552589 -1.0737545] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.7364689 -1.0207562] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.439096   -0.01205771] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.00759124 -0.01163298] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.2800357 4.4658027] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ -3.6612482 -19.887747 ], 20.221948623657227 meters away.)"}
{"file_name": "images/scenario_380_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -5.4) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 13.7 meters away at (1.5, -13.6). A pedestrian with ID 26 is 38.5 meters away at (30.3, 23.7). A pedestrian with ID 7 is 41.3 meters away at (-11.7, -39.7). A pedestrian with ID 5 is 44.6 meters away at (-22.5, -38.5). A pedestrian with ID 18 is 58.2 meters away at (-37.2, 44.8). A pedestrian with ID 25 is 59.3 meters away at (-32.6, 49.6).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.42315134 -0.9775143 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.97851104 -0.6003398 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.5905248  -0.00239568] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.26802745 -0.21250346] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.04801603 0.00772433] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  1.5135441 -13.602942 ], 13.686885833740234 meters away.)"}
{"file_name": "images/scenario_380_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -6.9) m/s. Its current heading (yaw) is -2.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 7.3 meters away at (6.6, -3.2). A pedestrian with ID 7 is 27.7 meters away at (-6.8, -26.9). A pedestrian with ID 6 is 28.5 meters away at (-2.1, -28.4). A pedestrian with ID 5 is 31.8 meters away at (-17.0, -26.8). A unknown object with ID 21 is 33.3 meters away at (-23.6, -23.6). A pedestrian with ID 26 is 48.9 meters away at (34.2, 34.9). A pedestrian with ID 11 is 54.2 meters away at (-31.5, 44.1).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.44162497 -0.9150714 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.08383809  0.02660791] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.9589202   0.42396456] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.0453684  -0.08774722] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0852884  -0.44681078] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.6952249  0.6555437] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 6.589608  -3.1744251], 7.3143630027771 meters away.)"}
{"file_name": "images/scenario_381_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.4) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 23.4 meters away at (-9.0, -21.6). A vehicle with ID 18 is 25.7 meters away at (-1.8, -25.6). A vehicle with ID 20 is 28.6 meters away at (-2.2, -28.6). A vehicle with ID 21 is 32.9 meters away at (10.8, -31.1). A vehicle with ID 9 is 36.6 meters away at (35.1, 10.3). A vehicle with ID 15 is 43.1 meters away at (-42.4, 8.0). A unknown object with ID 12 is 60.2 meters away at (59.8, 7.2). A unknown object with ID 14 is 61.5 meters away at (60.9, 8.8). A vehicle with ID 22 is 63.2 meters away at (62.5, -9.4). A vehicle with ID 23 is 68.8 meters away at (67.6, -13.0).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.98245287 -3.76215   ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(56.62787628173828, -58.02996063232422)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -9.039187 -21.62296 ], 23.436281204223633 meters away.)"}
{"file_name": "images/scenario_381_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -2.1) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 22.3 meters away at (0.5, -22.3). A vehicle with ID 20 is 25.2 meters away at (0.0, -25.2). A vehicle with ID 17 is 25.8 meters away at (-7.1, -24.9). A vehicle with ID 21 is 30.6 meters away at (13.1, -27.7). A vehicle with ID 9 is 39.8 meters away at (37.4, 13.6). A vehicle with ID 15 is 41.8 meters away at (-40.3, 11.2). A vehicle with ID 2 is 44.1 meters away at (-2.9, -44.0). A vehicle with ID 22 is 64.9 meters away at (64.7, -5.7). A vehicle with ID 23 is 70.4 meters away at (69.8, -9.3). A vehicle with ID 7 is 75.6 meters away at (74.6, -12.3).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 1.1206744 -2.274715 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(56.62787628173828, -58.02996063232422)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  0.50358987 -22.264925  ], 22.270620346069336 meters away.)"}
{"file_name": "images/scenario_381_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 20.2 meters away at (6.2, -19.2). A vehicle with ID 20 is 22.9 meters away at (5.8, -22.1). A vehicle with ID 17 is 24.5 meters away at (2.1, -24.4). A vehicle with ID 21 is 31.0 meters away at (18.8, -24.7). A vehicle with ID 15 is 37.4 meters away at (-34.7, 14.1). A vehicle with ID 2 is 41.1 meters away at (2.8, -41.0). A vehicle with ID 22 is 70.4 meters away at (70.4, -2.5). A vehicle with ID 23 is 75.8 meters away at (75.6, -6.0). A vehicle with ID 7 is 80.8 meters away at (80.3, -9.0).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 1.7877628  -0.35621506] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(56.62787628173828, -58.02996063232422)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  6.1774883 -19.217657 ], 20.186126708984375 meters away.)"}
{"file_name": "images/scenario_381_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 3.2) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 27.6 meters away at (14.8, -23.3). A vehicle with ID 15 is 27.8 meters away at (-25.7, 10.5). A vehicle with ID 20 is 29.9 meters away at (14.4, -26.2). A vehicle with ID 17 is 31.8 meters away at (13.3, -28.9). A vehicle with ID 21 is 39.8 meters away at (27.4, -28.9). A vehicle with ID 10 is 46.5 meters away at (11.4, -45.1). A vehicle with ID 22 is 79.6 meters away at (79.2, -7.5).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 0.39722294 -0.04793353] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(56.62787628173828, -58.02996063232422)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 14.822844 -23.28491 ], 27.602603912353516 meters away.)"}
{"file_name": "images/scenario_382_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 3.6 meters away at (-2.5, -2.5). A vehicle with ID 89 is 5.7 meters away at (5.3, -2.1). A vehicle with ID 12 is 7.8 meters away at (4.7, -6.2). A pedestrian with ID 23 is 8.1 meters away at (7.2, 3.7). A vehicle with ID 14 is 8.2 meters away at (-7.2, 3.8). A vehicle with ID 10 is 8.3 meters away at (1.6, -8.2). A vehicle with ID 19 is 9.1 meters away at (-5.2, 7.5). A pedestrian with ID 97 is 9.9 meters away at (-0.2, 9.9). A pedestrian with ID 99 is 10.4 meters away at (0.5, 10.4). A pedestrian with ID 104 is 12.6 meters away at (12.3, -2.8).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.5531905  1.2020952] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.5475108   0.77086264] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [ 0.7374425 -1.0413455] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.7520424 -1.0352818] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [ 0.00133948 -0.00060725] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.58327   32.901318]\n [-23.60351   35.959904]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.5431213 -2.49577  ], 3.5631916522979736 meters away.)"}
{"file_name": "images/scenario_382_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 1.1) m/s. Its current heading (yaw) is 2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 3.5 meters away at (-3.0, -1.9). A vehicle with ID 89 is 6.7 meters away at (6.0, -3.0). A pedestrian with ID 97 is 7.2 meters away at (1.9, 7.0). A pedestrian with ID 99 is 7.9 meters away at (2.6, 7.5). A pedestrian with ID 23 is 8.5 meters away at (6.9, 5.1). A vehicle with ID 12 is 8.8 meters away at (5.3, -7.1). A vehicle with ID 10 is 9.2 meters away at (2.2, -9.0). A vehicle with ID 19 is 10.2 meters away at (-5.8, 8.3). A vehicle with ID 14 is 11.3 meters away at (-9.3, 6.5). A vehicle with ID 76 is 12.9 meters away at (-4.8, 12.0).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-1.5233681  2.0641384] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [ 0.7463305 -1.0080736] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.6927611 -1.0563116] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.63779396  1.019551  ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.045928   1.4095414] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.0047233  2.7123258] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.942814  47.689125]\n [-27.58327   32.901318]\n [-23.60351   35.959904]\n [-38.057026  46.028706]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.9770725 -1.8954842], 3.529280424118042 meters away.)"}
{"file_name": "images/scenario_382_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.9) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A pedestrian with ID 97 is 5.8 meters away at (5.3, 2.4). A vehicle with ID 5 is 6.0 meters away at (-5.8, 1.7). A pedestrian with ID 99 is 6.6 meters away at (5.9, 2.9). A pedestrian with ID 23 is 8.6 meters away at (7.3, 4.4). A vehicle with ID 76 is 9.6 meters away at (-2.8, 9.2). A vehicle with ID 10 is 9.7 meters away at (2.5, -9.4). A vehicle with ID 89 is 9.8 meters away at (7.9, -5.8). A vehicle with ID 12 is 10.3 meters away at (6.1, -8.3). A vehicle with ID 19 is 11.7 meters away at (-6.7, 9.5). A vehicle with ID 54 is 11.9 meters away at (-11.9, 0.4).", "velocity_description": "The pedestrian with ID 97 is traveling at a (x, y) velocity of [ 0.74450874 -0.9235108 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.727351   3.6142402] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.76132804 -0.90742815] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8666356  1.0889922] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.7323942  2.5061448] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-1.1172231  1.4243996] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.7858438  2.4910293] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [  6.9071174 -10.942654 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-43.72465   30.93056 ]\n [-43.156715  29.610281]\n [-45.627903  33.43255 ]\n [-34.942814  47.689125]\n [-45.71267   37.318844]\n [-38.057026  46.028706]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [5.330258 2.387294], 5.840447425842285 meters away.)"}
{"file_name": "images/scenario_382_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 3.2) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 76 is 4.2 meters away at (0.9, 4.2). A vehicle with ID 5 is 7.6 meters away at (-7.0, 3.0). A vehicle with ID 10 is 8.0 meters away at (1.3, -7.9). A vehicle with ID 32 is 8.6 meters away at (-8.6, -0.1). A pedestrian with ID 23 is 9.8 meters away at (9.8, 1.0). A vehicle with ID 12 is 10.8 meters away at (6.3, -8.8). A pedestrian with ID 97 is 11.5 meters away at (10.5, -4.7). A pedestrian with ID 99 is 11.7 meters away at (10.9, -4.1). A vehicle with ID 9 is 12.6 meters away at (-4.6, 11.7). A vehicle with ID 19 is 13.6 meters away at (-7.9, 11.1).", "velocity_description": "The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.0557256  2.6876435] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.7560875  3.683542 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 6.7413826 -9.272742 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.7242417  0.9126008] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-2.2202287  2.9043694] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [ 0.6439136 -0.9033599] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.626371   -0.90710735] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.5636718  3.3675964] m/s.", "light_description": "There are active red lights at the following coordinates: [[-43.72465   30.93056 ]\n [-43.156715  29.610281]\n [-45.627903  33.43255 ]\n [-45.71267   37.318844]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.8721657 4.158103 ], 4.248587131500244 meters away.)"}
{"file_name": "images/scenario_383_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -2.9) m/s. Its current heading (yaw) is -0.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 11.3 meters away at (8.7, -7.2). A vehicle with ID 46 is 15.3 meters away at (1.5, 15.2). A vehicle with ID 53 is 16.0 meters away at (16.0, -0.3). A pedestrian with ID 39 is 18.5 meters away at (15.1, -10.7). A vehicle with ID 47 is 20.1 meters away at (3.3, 19.9). A vehicle with ID 59 is 20.8 meters away at (18.0, -10.5). A vehicle with ID 25 is 22.3 meters away at (22.2, -2.7). A vehicle with ID 51 is 22.4 meters away at (-21.5, -6.3). A vehicle with ID 58 is 22.8 meters away at (-10.7, -20.1). A vehicle with ID 55 is 22.8 meters away at (-18.0, -14.0).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01662347  0.21934363] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.27427673339844, 75.72942352294922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.723011 -7.2499  ], 11.342484474182129 meters away.)"}
{"file_name": "images/scenario_383_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -2.6) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 4.1 meters away at (-3.6, -1.9). A vehicle with ID 53 is 6.2 meters away at (3.5, 5.1). A vehicle with ID 59 is 7.6 meters away at (5.5, -5.2). A vehicle with ID 25 is 10.0 meters away at (9.6, 2.8). A vehicle with ID 65 is 13.2 meters away at (11.1, -7.1). A unknown object with ID 36 is 14.9 meters away at (14.7, 2.2). A vehicle with ID 46 is 23.3 meters away at (-11.1, 20.5). A vehicle with ID 45 is 24.9 meters away at (22.4, -10.8). A vehicle with ID 55 is 31.7 meters away at (-30.5, -8.7). A vehicle with ID 24 is 33.6 meters away at (33.2, -5.5).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.27427673339844, 75.72942352294922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.641738  -1.9322481], 4.12260103225708 meters away.)"}
{"file_name": "images/scenario_383_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -2.8) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 4.6 meters away at (-4.3, -1.6). A unknown object with ID 31 is 6.5 meters away at (0.6, 6.5). A unknown object with ID 36 is 7.8 meters away at (-1.0, 7.8). A vehicle with ID 45 is 8.6 meters away at (6.7, -5.3). A vehicle with ID 59 is 10.0 meters away at (-10.0, 0.3). A vehicle with ID 25 is 10.2 meters away at (-5.9, 8.3). A vehicle with ID 53 is 16.0 meters away at (-12.0, 10.6). A vehicle with ID 24 is 17.5 meters away at (17.5, 0.1). A vehicle with ID 26 is 19.3 meters away at (17.0, -9.0). A vehicle with ID 50 is 19.7 meters away at (-19.4, 3.6).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.27427673339844, 75.72942352294922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.2936363 -1.5635529], 4.569465160369873 meters away.)"}
{"file_name": "images/scenario_383_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -2.8) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 3.3 meters away at (0.6, -3.3). A vehicle with ID 24 is 5.9 meters away at (1.0, 5.8). A vehicle with ID 33 is 7.7 meters away at (-5.9, 4.9). A vehicle with ID 45 is 9.7 meters away at (-9.7, 0.4). A unknown object with ID 31 is 20.0 meters away at (-15.9, 12.2). A vehicle with ID 65 is 21.3 meters away at (-20.9, 4.1). A vehicle with ID 9 is 23.4 meters away at (23.3, -2.0). A vehicle with ID 25 is 26.5 meters away at (-22.5, 14.0). A vehicle with ID 59 is 27.4 meters away at (-26.7, 6.1). A vehicle with ID 44 is 28.9 meters away at (18.0, -22.5).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-8.805064   3.0529747] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(90.27427673339844, 75.72942352294922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.59830093 -3.2890987 ], 3.3430726528167725 meters away.)"}
{"file_name": "images/scenario_384_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.8) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 10.3 meters away at (-2.6, 9.9). A vehicle with ID 26 is 13.5 meters away at (13.1, -3.3). A vehicle with ID 25 is 19.3 meters away at (18.2, -6.3). A vehicle with ID 27 is 25.0 meters away at (22.9, -9.9). A vehicle with ID 10 is 28.3 meters away at (-20.1, 19.9). A vehicle with ID 32 is 44.9 meters away at (-43.0, 13.1). A vehicle with ID 34 is 45.4 meters away at (-37.0, -26.3). A vehicle with ID 29 is 46.1 meters away at (36.9, -27.6). A vehicle with ID 33 is 63.2 meters away at (12.8, -61.9). A vehicle with ID 2 is 64.5 meters away at (-64.5, 1.0).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-3.7361386 -3.351265 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 6.2846737 -4.6227856] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.9359317  4.650376 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.98223114013672, 37.71561813354492)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.6165047  9.943246 ], 10.281743049621582 meters away.)"}
{"file_name": "images/scenario_384_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 5.0) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 4.5 meters away at (3.1, 3.2). A unknown object with ID 24 is 4.6 meters away at (4.2, 1.9). A vehicle with ID 10 is 11.2 meters away at (-4.4, 10.3). A vehicle with ID 18 is 13.1 meters away at (13.1, 0.5). A vehicle with ID 32 is 33.8 meters away at (-33.5, -4.5). A vehicle with ID 34 is 41.6 meters away at (-21.3, -35.7). A vehicle with ID 27 is 43.3 meters away at (38.7, -19.5). A unknown object with ID 3 is 56.6 meters away at (-39.2, -40.8). A vehicle with ID 19 is 57.8 meters away at (10.4, -56.9). A vehicle with ID 2 is 65.8 meters away at (-65.8, 0.9).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-2.7113998 -4.2064385] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-8.448161   4.6925583] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.98223114013672, 37.71561813354492)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [3.11545   3.2183857], 4.479289531707764 meters away.)"}
{"file_name": "images/scenario_384_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 5.0) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 19.9 meters away at (18.9, -6.2). A unknown object with ID 12 is 20.3 meters away at (19.3, -6.3). A unknown object with ID 24 is 21.8 meters away at (20.4, -7.6). A vehicle with ID 18 is 30.7 meters away at (29.2, -9.4). A vehicle with ID 32 is 32.9 meters away at (-22.5, -24.0). A vehicle with ID 34 is 45.3 meters away at (-5.0, -45.0). A vehicle with ID 8 is 55.3 meters away at (-20.8, -51.3). A vehicle with ID 21 is 60.3 meters away at (-21.5, -56.4). A vehicle with ID 27 is 62.3 meters away at (54.9, -29.5). A vehicle with ID 17 is 65.4 meters away at (-21.7, -61.7).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-2.367002 -5.540466] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.98223114013672, 37.71561813354492)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [18.907328 -6.208767], 19.90064811706543 meters away.)"}
{"file_name": "images/scenario_384_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 4.8) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 16.2 meters away at (-9.7, 13.0). A unknown object with ID 24 is 40.8 meters away at (37.1, -17.1). A vehicle with ID 32 is 46.6 meters away at (-9.8, -45.6). A vehicle with ID 34 is 55.8 meters away at (11.9, -54.5). A unknown object with ID 11 is 55.9 meters away at (-52.9, 18.1). A vehicle with ID 2 is 60.5 meters away at (-60.4, -4.0). A vehicle with ID 8 is 60.8 meters away at (-4.0, -60.7). A vehicle with ID 21 is 66.0 meters away at (-4.7, -65.8). A vehicle with ID 17 is 71.3 meters away at (-5.0, -71.2). A vehicle with ID 20 is 71.7 meters away at (-71.7, 1.0).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.3644626 -5.8442664] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-4.637095   2.5146177] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.22755   2.388783] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.98223114013672, 37.71561813354492)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.70557  13.004425], 16.226926803588867 meters away.)"}
{"file_name": "images/scenario_385_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 1.1) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 9.8 meters away at (9.5, -2.5). A pedestrian with ID 22 is 10.9 meters away at (-0.3, 10.9). A pedestrian with ID 81 is 11.9 meters away at (11.8, -1.2). A vehicle with ID 105 is 12.5 meters away at (-3.0, -12.2). A pedestrian with ID 64 is 12.6 meters away at (12.5, -1.3). A pedestrian with ID 82 is 12.8 meters away at (12.6, -1.9). A vehicle with ID 84 is 15.0 meters away at (1.0, -15.0). A unknown object with ID 89 is 15.1 meters away at (-8.7, -12.3). A unknown object with ID 87 is 15.3 meters away at (-6.1, -14.0). A vehicle with ID 85 is 16.1 meters away at (15.0, -5.8).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.2052175  -0.32455787] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.00560554 0.00291556] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 0.00704942 -0.00129295] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 9.496221  -2.4837997], 9.815674781799316 meters away.)"}
{"file_name": "images/scenario_385_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 2.5) m/s. Its current heading (yaw) is 1.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 22 is 7.9 meters away at (3.8, 6.9). A vehicle with ID 77 is 13.0 meters away at (11.6, -5.9). A pedestrian with ID 64 is 14.7 meters away at (13.9, -4.7). A pedestrian with ID 82 is 15.6 meters away at (14.7, -5.3). A vehicle with ID 105 is 15.7 meters away at (-1.0, -15.7). A unknown object with ID 86 is 16.1 meters away at (-5.5, 15.2). A unknown object with ID 91 is 16.2 meters away at (-8.5, 13.8). A unknown object with ID 89 is 17.1 meters away at (-6.6, -15.8). A unknown object with ID 87 is 18.0 meters away at (-3.9, -17.6). A unknown object with ID 41 is 18.0 meters away at (-8.2, -16.1).", "velocity_description": "The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.85212755 -0.20565417] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.01462771 0.00888793] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.03460601 0.00909839] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [3.776534  6.9440627], 7.904569149017334 meters away.)"}
{"file_name": "images/scenario_385_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 3.0) m/s. Its current heading (yaw) is 1.14 ", "actor_description": " The most relevant actors are: A pedestrian with ID 22 is 5.7 meters away at (5.5, 1.5). A unknown object with ID 86 is 10.6 meters away at (-5.7, 8.9). A unknown object with ID 91 is 11.5 meters away at (-8.6, 7.6). A unknown object with ID 83 is 12.9 meters away at (-3.1, 12.5). A unknown object with ID 109 is 14.7 meters away at (-11.3, 9.3). A vehicle with ID 24 is 14.9 meters away at (6.5, 13.5). A vehicle with ID 77 is 16.6 meters away at (11.3, -12.2). A pedestrian with ID 64 is 17.6 meters away at (13.8, -11.0). A unknown object with ID 116 is 17.9 meters away at (-14.1, 11.0). A unknown object with ID 80 is 18.2 meters away at (1.0, 18.2).", "velocity_description": "The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.8169014  0.51579076] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-3.5856822 -3.8306096] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.00736117 -0.01413252] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [5.512912  1.4880867], 5.710218906402588 meters away.)"}
{"file_name": "images/scenario_385_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 4.4) m/s. Its current heading (yaw) is 0.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.2 meters away at (-4.2, -0.3). A pedestrian with ID 22 is 5.2 meters away at (1.9, -4.8). A unknown object with ID 83 is 9.6 meters away at (-8.2, 4.9). A unknown object with ID 86 is 10.9 meters away at (-10.8, 1.4). A unknown object with ID 80 is 11.4 meters away at (-4.0, 10.7). A unknown object with ID 91 is 13.7 meters away at (-13.7, 0.2). A unknown object with ID 124 is 15.7 meters away at (0.1, 15.7). A unknown object with ID 109 is 16.5 meters away at (-16.4, 1.9). A vehicle with ID 26 is 18.1 meters away at (13.5, 12.1). A unknown object with ID 116 is 19.5 meters away at (-19.1, 3.7).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.9678192 -2.262122 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.6464738 0.6919428] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.221061   -0.29854584], 4.2316060066223145 meters away.)"}
{"file_name": "images/scenario_386_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.1) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 28.5 meters away at (26.0, 11.5). A pedestrian with ID 28 is 29.2 meters away at (23.5, 17.3). A pedestrian with ID 31 is 31.0 meters away at (19.5, 24.1). A vehicle with ID 2 is 34.7 meters away at (-21.7, -27.0). A unknown object with ID 21 is 34.8 meters away at (9.3, 33.6). A pedestrian with ID 32 is 35.2 meters away at (-2.4, 35.1). A unknown object with ID 35 is 45.2 meters away at (32.5, 31.4). A pedestrian with ID 23 is 45.6 meters away at (-23.1, -39.4). A pedestrian with ID 24 is 45.7 meters away at (-24.8, -38.3). A cyclist with ID 29 is 47.6 meters away at (-43.8, -18.4).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.39588577 1.2167274 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.01019832 0.00207789] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.190593  -0.2785933] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [4.713542  1.8482354] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.64652276 -0.50602466] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.3734315 -1.321108 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.33145273 -1.2281363 ] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 2.9038072 -1.2146422] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.757879  -37.361317 ]\n [-17.98749   -30.273043 ]\n [ -4.8055334 -37.46142  ]\n [-16.193876  -27.307497 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [26.04485  11.466875], 28.457395553588867 meters away.)"}
{"file_name": "images/scenario_386_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.4) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 18.4 meters away at (18.2, 3.0). A pedestrian with ID 31 is 18.9 meters away at (16.6, 9.1). A pedestrian with ID 32 is 20.7 meters away at (-6.8, 19.6). A unknown object with ID 20 is 36.6 meters away at (-20.7, -30.2). A vehicle with ID 2 is 38.8 meters away at (-17.0, -34.9). A cyclist with ID 29 is 55.6 meters away at (-42.9, -35.4). A pedestrian with ID 30 is 55.8 meters away at (-43.4, -35.1). A pedestrian with ID 24 is 63.1 meters away at (-30.8, -55.0). A pedestrian with ID 23 is 63.6 meters away at (-29.2, -56.4). A vehicle with ID 25 is 66.1 meters away at (-37.4, -54.5).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.01707862  0.02977722] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1659567 -0.3502461] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.33846995 -0.5525486 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [4.8055396 4.977543 ] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 3.0051436 -1.1130387] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 2.6636982 -0.9194732] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.33994204 -1.0619662 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.75862443 -1.227164  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.757879  -37.361317 ]\n [-17.98749   -30.273043 ]\n [ -4.8055334 -37.46142  ]\n [-16.193876  -27.307497 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [18.166092   2.9880676], 18.410200119018555 meters away.)"}
{"file_name": "images/scenario_386_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 7.4) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 11.7 meters away at (-11.0, 4.0). A pedestrian with ID 31 is 14.4 meters away at (13.1, -6.0). A pedestrian with ID 12 is 14.8 meters away at (13.1, -6.8). A pedestrian with ID 28 is 17.3 meters away at (12.9, -11.5). A vehicle with ID 2 is 39.6 meters away at (-13.9, -37.1). A cyclist with ID 29 is 65.9 meters away at (-42.0, -50.7). A pedestrian with ID 30 is 66.0 meters away at (-42.3, -50.7). A vehicle with ID 39 is 79.4 meters away at (-54.5, -57.7). A pedestrian with ID 24 is 80.8 meters away at (-36.6, -72.1). A vehicle with ID 25 is 81.3 meters away at (-42.6, -69.3).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.60095173 -0.40960005] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.21671946 0.10651401] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.05627876 0.0251723 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.00374262 0.02748024] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [3.5515335 7.2178164] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 3.5520077  -0.15473686] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 3.1576846  -0.18140838] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 4.6956906 -1.8626635] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.12782082 -1.3521652 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.98749  -30.273043]\n [-16.193876 -27.307497]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.03386     4.0171356], 11.742378234863281 meters away.)"}
{"file_name": "images/scenario_386_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.5) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 19.5 meters away at (-15.8, -11.5). A pedestrian with ID 13 is 21.4 meters away at (-20.2, -7.1). A pedestrian with ID 31 is 22.4 meters away at (7.7, -21.0). A pedestrian with ID 28 is 27.4 meters away at (7.6, -26.4). A vehicle with ID 2 is 39.0 meters away at (-12.8, -36.8). A cyclist with ID 29 is 76.4 meters away at (-41.6, -64.1). A pedestrian with ID 30 is 76.9 meters away at (-41.7, -64.6).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.17303032 -0.18037997] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.98527473 -0.7659194 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00658969 -0.01977112] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.01481741  0.00776703] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [3.3321378 7.8361197] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [2.4794753 1.617586 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [2.847604  0.6196771] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-15.756054 -11.530361], 19.52440643310547 meters away.)"}
{"file_name": "images/scenario_387_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.4) m/s. Its current heading (yaw) is 0.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 7.0 meters away at (1.4, 6.9). A vehicle with ID 73 is 16.7 meters away at (10.5, 13.0). A unknown object with ID 82 is 24.7 meters away at (4.1, 24.4). A unknown object with ID 83 is 25.3 meters away at (6.4, 24.4). A unknown object with ID 41 is 25.6 meters away at (7.2, 24.5). A unknown object with ID 85 is 26.0 meters away at (8.2, 24.6). A pedestrian with ID 84 is 26.2 meters away at (6.9, 25.3). A pedestrian with ID 86 is 26.4 meters away at (8.1, 25.2). A unknown object with ID 37 is 26.5 meters away at (9.2, 24.8). A unknown object with ID 87 is 26.9 meters away at (9.8, 25.0).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [1.5036799 1.8985746] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [3.6527853 4.271336 ] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.0040938   0.00427454] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.00017995 -0.01579533] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.1222381591797, -28.41653823852539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.3987949 6.870329 ], 7.011280059814453 meters away.)"}
{"file_name": "images/scenario_387_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 2.7) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 9.5 meters away at (3.0, 9.0). A vehicle with ID 97 is 11.6 meters away at (11.6, 1.0). A unknown object with ID 40 is 16.5 meters away at (16.3, -2.1). A unknown object with ID 82 is 20.2 meters away at (0.8, 20.2). A unknown object with ID 83 is 20.5 meters away at (2.9, 20.3). A unknown object with ID 85 is 21.0 meters away at (4.7, 20.5). A pedestrian with ID 86 is 21.5 meters away at (4.8, 21.0). A pedestrian with ID 84 is 21.5 meters away at (3.4, 21.3). A unknown object with ID 34 is 21.6 meters away at (0.1, 21.6). A unknown object with ID 87 is 21.8 meters away at (6.5, 20.8).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [3.3758197 4.311929 ] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [-5.886157  -7.4660416] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.00535671  0.00274925] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.11648835  0.01212583] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.1222381591797, -28.41653823852539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.0437999 8.999008 ], 9.499835014343262 meters away.)"}
{"file_name": "images/scenario_387_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 3.1) m/s. Its current heading (yaw) is 0.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 40 is 13.5 meters away at (10.8, -8.2). A vehicle with ID 71 is 13.9 meters away at (5.3, 12.9). A unknown object with ID 36 is 14.4 meters away at (-1.4, 14.3). A unknown object with ID 85 is 14.4 meters away at (-0.6, 14.4). A unknown object with ID 83 is 14.4 meters away at (-2.6, 14.2). A unknown object with ID 87 is 14.8 meters away at (1.1, 14.8). A unknown object with ID 82 is 14.9 meters away at (-4.8, 14.1). A pedestrian with ID 86 is 14.9 meters away at (-0.9, 14.9). A unknown object with ID 89 is 15.0 meters away at (1.5, 15.0). A pedestrian with ID 84 is 15.5 meters away at (-2.4, 15.3).", "velocity_description": "The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [4.1926584 5.2696643] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.10294104 -0.00657444] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.03351219 -0.00534453] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.1222381591797, -28.41653823852539)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [10.800176 -8.153351], 13.532217979431152 meters away.)"}
{"file_name": "images/scenario_387_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, 1.2) m/s. Its current heading (yaw) is 0.20 ", "actor_description": " The most relevant actors are: A unknown object with ID 40 is 12.8 meters away at (1.3, -12.7). A unknown object with ID 89 is 13.1 meters away at (-8.2, 10.3). A unknown object with ID 87 is 13.1 meters away at (-8.3, 10.2). A unknown object with ID 75 is 14.0 meters away at (-7.9, 11.5). A unknown object with ID 85 is 14.1 meters away at (-10.2, 9.8). A unknown object with ID 39 is 14.6 meters away at (14.2, 3.1). A unknown object with ID 95 is 14.8 meters away at (14.3, 3.9). A pedestrian with ID 86 is 15.1 meters away at (-10.9, 10.4). A unknown object with ID 66 is 15.4 meters away at (15.2, 2.6). A unknown object with ID 83 is 15.6 meters away at (-12.3, 9.5).", "velocity_description": "The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.01909641 -0.00402719] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.1222381591797, -28.41653823852539)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  1.3322659 -12.726387 ], 12.795930862426758 meters away.)"}
{"file_name": "images/scenario_388_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -4.2) m/s. Its current heading (yaw) is -1.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 5.9 meters away at (-5.1, -3.1). A vehicle with ID 51 is 14.4 meters away at (-12.7, 6.9). A cyclist with ID 61 is 27.5 meters away at (-2.7, -27.4). A vehicle with ID 55 is 29.2 meters away at (-27.6, -9.5). A pedestrian with ID 57 is 31.0 meters away at (-29.8, 8.5). A vehicle with ID 75 is 31.6 meters away at (3.1, 31.5). A pedestrian with ID 58 is 31.7 meters away at (-29.8, 10.8). A pedestrian with ID 59 is 32.1 meters away at (-30.6, 9.6). A vehicle with ID 66 is 32.3 meters away at (3.3, -32.1). A vehicle with ID 64 is 32.6 meters away at (-1.8, -32.6).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [ -4.6024704 -14.080075 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.4394436 -6.336449 ] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [-0.04945125  0.03401431] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-4.7031226  -0.74963444] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.00682197 0.0147102 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ -5.747324 -12.591705] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.01665974 -0.0260469 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.00800483 -0.00878765] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-1.2434549   0.79860455] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.226814 -12.493322]\n [-15.110044 -38.4302  ]\n [-36.1388   -15.259862]\n [-32.439865  -7.84435 ]\n [-14.252486 -35.93319 ]\n [-26.856298 -37.252254]\n [-16.47601  -41.34161 ]\n [-13.517058 -32.802563]\n [-30.647675 -36.614204]\n [-33.41591  -10.369678]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.0870667 -3.065095 ], 5.939112186431885 meters away.)"}
{"file_name": "images/scenario_388_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -4.0) m/s. Its current heading (yaw) is -1.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 16.2 meters away at (-7.2, 14.5). A cyclist with ID 61 is 19.2 meters away at (-2.4, -19.1). A vehicle with ID 51 is 20.0 meters away at (-19.5, 4.4). A vehicle with ID 66 is 23.6 meters away at (2.6, -23.4). A vehicle with ID 64 is 24.3 meters away at (-1.7, -24.3). A vehicle with ID 69 is 27.2 meters away at (-3.6, -26.9). A vehicle with ID 50 is 27.5 meters away at (-13.2, -24.1). A vehicle with ID 79 is 28.5 meters away at (8.5, -27.2). A vehicle with ID 71 is 29.4 meters away at (5.6, -28.8). A vehicle with ID 76 is 31.1 meters away at (2.6, -31.0).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [ -4.5995126 -12.870268 ] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [ 0.04644938 -0.01743951] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-5.3321066 -4.367463 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-0.31938562  0.20383297] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ -3.3951938 -15.37593  ] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-0.7374299   0.42049575] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.226814 -12.493322]\n [-15.110044 -38.4302  ]\n [-36.1388   -15.259862]\n [-32.439865  -7.84435 ]\n [-14.252486 -35.93319 ]\n [-26.856298 -37.252254]\n [-16.47601  -41.34161 ]\n [-13.517058 -32.802563]\n [-30.647675 -36.614204]\n [-33.41591  -10.369678]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.170252 14.471909], 16.15081024169922 meters away.)"}
{"file_name": "images/scenario_388_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -4.3) m/s. Its current heading (yaw) is -1.09 ", "actor_description": " The most relevant actors are: A cyclist with ID 61 is 12.0 meters away at (-4.9, -10.9). A vehicle with ID 66 is 15.2 meters away at (0.1, -15.2). A vehicle with ID 90 is 15.9 meters away at (-6.7, 14.4). A vehicle with ID 64 is 16.6 meters away at (-4.2, -16.1). A vehicle with ID 75 is 18.2 meters away at (-17.9, -3.6). A vehicle with ID 79 is 19.4 meters away at (5.4, -18.6). A vehicle with ID 69 is 19.7 meters away at (-6.0, -18.7). A vehicle with ID 71 is 20.8 meters away at (3.0, -20.6). A vehicle with ID 76 is 22.8 meters away at (0.0, -22.8). A vehicle with ID 52 is 26.2 meters away at (9.0, -24.6).", "velocity_description": "The cyclist with ID 61 is traveling at a (x, y) velocity of [0.00906367 0.03057392] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [ -4.434801 -12.299873] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ -3.6215672 -13.3940935] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.226814 -12.493322]\n [-15.110044 -38.4302  ]\n [-36.1388   -15.259862]\n [-32.439865  -7.84435 ]\n [-14.252486 -35.93319 ]\n [-26.856298 -37.252254]\n [-16.47601  -41.34161 ]\n [-13.517058 -32.802563]\n [-30.647675 -36.614204]\n [-33.41591  -10.369678]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ -4.902335 -10.919346], 11.96933650970459 meters away.)"}
{"file_name": "images/scenario_388_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -4.0) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 9.4 meters away at (-6.8, -6.4). A vehicle with ID 79 is 10.0 meters away at (-1.5, -9.9). A cyclist with ID 61 is 12.0 meters away at (-11.8, -2.1). A vehicle with ID 71 is 12.5 meters away at (-3.9, -11.9). A vehicle with ID 64 is 13.2 meters away at (-11.0, -7.4). A vehicle with ID 76 is 15.6 meters away at (-7.0, -14.0). A vehicle with ID 52 is 16.0 meters away at (2.0, -15.9). A vehicle with ID 69 is 16.4 meters away at (-12.9, -10.1). A vehicle with ID 33 is 18.5 meters away at (-12.2, -13.9). A vehicle with ID 90 is 21.6 meters away at (-21.6, -1.6).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [-0.02715482  0.02129814] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [ -3.4619923 -12.880587 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.226814 -12.493322]\n [-15.110044 -38.4302  ]\n [-36.1388   -15.259862]\n [-32.439865  -7.84435 ]\n [-14.252486 -35.93319 ]\n [-26.856298 -37.252254]\n [-16.47601  -41.34161 ]\n [-13.517058 -32.802563]\n [-30.647675 -36.614204]\n [-33.41591  -10.369678]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.845485 -6.416317], 9.38241958618164 meters away.)"}
{"file_name": "images/scenario_389_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.7) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 3.7 meters away at (1.8, 3.3). A vehicle with ID 10 is 13.4 meters away at (13.3, -1.4). A pedestrian with ID 63 is 21.3 meters away at (-17.3, -12.5). A pedestrian with ID 67 is 21.5 meters away at (-18.0, -11.9). A vehicle with ID 60 is 24.0 meters away at (22.3, -8.9). A pedestrian with ID 62 is 30.6 meters away at (-30.1, 5.4). A pedestrian with ID 56 is 31.5 meters away at (-30.1, 9.3). A pedestrian with ID 57 is 32.4 meters away at (-31.0, 9.4). A pedestrian with ID 37 is 37.5 meters away at (-23.1, 29.6). A pedestrian with ID 27 is 38.1 meters away at (-23.2, 30.2).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.73829263 0.44048077] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.0363058 -0.6278883] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-6.6055646  2.6932962] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.00856591  0.02612288] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.01782761 0.08021377] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.03494954 0.05932479] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.00665178 0.02314652] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.01587554 0.00308929] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.405674   28.053041 ]\n [-27.444195   24.567034 ]\n [-27.32955    24.798546 ]\n [-17.026329   11.321056 ]\n [-29.237806   21.601488 ]\n [-13.535028    6.1159205]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.7617052 3.3093035], 3.7490124702453613 meters away.)"}
{"file_name": "images/scenario_389_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.1) m/s. Its current heading (yaw) is 2.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 4.2 meters away at (3.2, 2.7). A vehicle with ID 60 is 14.3 meters away at (13.3, -5.2). A vehicle with ID 10 is 15.1 meters away at (14.9, -2.2). A pedestrian with ID 63 is 18.7 meters away at (-14.3, -12.0). A pedestrian with ID 67 is 23.1 meters away at (-18.0, -14.4). A pedestrian with ID 62 is 28.9 meters away at (-28.5, 4.8). A pedestrian with ID 56 is 29.9 meters away at (-28.6, 8.8). A pedestrian with ID 57 is 30.7 meters away at (-29.3, 9.0). A pedestrian with ID 37 is 36.1 meters away at (-21.4, 29.0). A pedestrian with ID 44 is 36.8 meters away at (-22.0, 29.5).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-3.8005528  1.5774364] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.8112857 0.5822526] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.59030575 -1.1085111 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.00729499  0.00763775] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.0010063  0.00811225] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.00374837 0.01906153] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.01678484 -0.00298521] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.01306554 -0.0127132 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.405674   28.053041 ]\n [-27.444195   24.567034 ]\n [-27.32955    24.798546 ]\n [-13.322596    5.975498 ]\n [-17.026329   11.321056 ]\n [-29.237806   21.601488 ]\n [-13.535028    6.1159205]\n [-13.933914    4.4775276]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.2128162 2.713773 ], 4.205562114715576 meters away.)"}
{"file_name": "images/scenario_389_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 4.2 meters away at (3.2, 2.7). A vehicle with ID 60 is 8.7 meters away at (8.1, -3.1). A vehicle with ID 10 is 15.3 meters away at (15.1, -2.3). A pedestrian with ID 63 is 17.2 meters away at (-13.0, -11.2). A pedestrian with ID 67 is 25.1 meters away at (-18.7, -16.8). A pedestrian with ID 62 is 28.7 meters away at (-28.4, 4.7). A pedestrian with ID 56 is 29.6 meters away at (-28.3, 8.7). A pedestrian with ID 57 is 30.5 meters away at (-29.2, 8.9). A pedestrian with ID 37 is 35.5 meters away at (-20.8, 28.7). A pedestrian with ID 64 is 36.2 meters away at (-35.8, -5.1).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-1.3967187   0.58226556] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.20978394 0.11039045] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.5259428 -1.1385632] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.00594033 -0.01033919] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.01112652 -0.00755339] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.00743162 0.00238154] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.11107235 -0.3840402 ] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.5692152 1.2788345] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.405674   28.053041 ]\n [-27.444195   24.567034 ]\n [-27.32955    24.798546 ]\n [-13.322596    5.975498 ]\n [-17.026329   11.321056 ]\n [-29.237806   21.601488 ]\n [-13.535028    6.1159205]\n [-13.933914    4.4775276]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.228631  2.7327225], 4.2298736572265625 meters away.)"}
{"file_name": "images/scenario_389_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.7) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 3.9 meters away at (2.4, 3.0). A vehicle with ID 60 is 8.5 meters away at (7.9, -3.0). A vehicle with ID 10 is 15.7 meters away at (15.5, -2.4). A pedestrian with ID 63 is 16.4 meters away at (-11.7, -11.5). A cyclist with ID 34 is 25.5 meters away at (-25.2, 3.3). A pedestrian with ID 62 is 25.5 meters away at (-25.3, 3.4). A pedestrian with ID 67 is 26.9 meters away at (-18.2, -19.7). A pedestrian with ID 56 is 28.1 meters away at (-26.9, 8.1). A pedestrian with ID 57 is 29.0 meters away at (-27.8, 8.4). A cyclist with ID 25 is 33.0 meters away at (-21.0, 25.4).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.131306   0.9233762] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-0.6199035   0.27638447] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.9382862   0.41202772] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.38992518 0.48148227] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [ 1.3066667  -0.58238786] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 1.3134724 -0.5702685] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.4993213 -1.1990103] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.03848428 0.02663411] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.02008188 0.02110617] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [ 4.0877943 -1.5359095] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.444195   24.567034 ]\n [-13.322596    5.975498 ]\n [-17.026329   11.321056 ]\n [-29.237806   21.601488 ]\n [-13.535028    6.1159205]\n [-13.933914    4.4775276]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.4478536 3.04343  ], 3.9056949615478516 meters away.)"}
{"file_name": "images/scenario_390_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 6.0) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 8.2 meters away at (-3.3, -7.6). A pedestrian with ID 87 is 12.6 meters away at (-2.7, 12.3). A vehicle with ID 79 is 17.5 meters away at (16.9, 4.3). A vehicle with ID 11 is 18.5 meters away at (13.9, -12.1). A vehicle with ID 95 is 18.7 meters away at (-10.8, 15.2). A vehicle with ID 68 is 20.2 meters away at (17.8, -9.4). A pedestrian with ID 71 is 21.5 meters away at (20.8, -5.4). A pedestrian with ID 70 is 21.6 meters away at (20.7, -6.2). A vehicle with ID 75 is 24.1 meters away at (23.8, 3.6). A unknown object with ID 55 is 26.8 meters away at (-26.5, 3.8).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.802949  -0.8433797] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-1.5066134 -2.3257322] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.6232734  5.908559 ] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 0.31613684 -0.38924444] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.02078709 -0.0092469 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.01833837 -0.01580649] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.687319  22.14567 ]\n [-27.191933  18.769976]]", "nav_goal": "(-231.7554931640625, 73.29930114746094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.269618  -7.5526114], 8.229966163635254 meters away.)"}
{"file_name": "images/scenario_390_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 6.1) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 95 is 4.2 meters away at (3.0, 3.0). A unknown object with ID 63 is 7.2 meters away at (-0.1, 7.2). A pedestrian with ID 38 is 12.3 meters away at (1.5, 12.2). A unknown object with ID 59 is 12.8 meters away at (-12.8, 0.5). A pedestrian with ID 87 is 13.2 meters away at (13.0, -1.7). A pedestrian with ID 101 is 13.4 meters away at (3.0, 13.0). A unknown object with ID 55 is 15.3 meters away at (-13.0, -8.0). A vehicle with ID 11 is 18.0 meters away at (13.6, -11.8). A vehicle with ID 45 is 20.9 meters away at (-16.2, -13.3). A unknown object with ID 25 is 21.5 meters away at (-15.3, 15.1).", "velocity_description": "The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.00327918  0.00523825] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.8666525 -0.7756686] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.00921523  0.00611418] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.681757   6.8315134] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.191933  18.769976]]", "nav_goal": "(-231.7554931640625, 73.29930114746094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.9844627 2.9513798], 4.1973395347595215 meters away.)"}
{"file_name": "images/scenario_390_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.9) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 4.1 meters away at (-1.4, 3.9). A unknown object with ID 59 is 10.7 meters away at (1.0, -10.6). A unknown object with ID 63 is 14.2 meters away at (13.7, -4.0). A vehicle with ID 11 is 14.9 meters away at (11.9, -9.1). A pedestrian with ID 38 is 15.4 meters away at (15.3, 1.1). A pedestrian with ID 101 is 17.0 meters away at (16.9, 1.8). A vehicle with ID 95 is 18.7 meters away at (16.7, -8.2). A vehicle with ID 40 is 20.4 meters away at (-18.7, 8.3). A vehicle with ID 45 is 24.5 meters away at (-2.5, -24.3). A vehicle with ID 13 is 28.8 meters away at (-24.2, 15.6).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.691365   6.5156083] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.00515138 -0.0198935 ] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.02009188 -0.03759035] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 5.5471773 -3.4451938] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.1100774  4.164634 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-231.7554931640625, 73.29930114746094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.3702393  3.898098 ], 4.131915092468262 meters away.)"}
{"file_name": "images/scenario_390_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 4.2) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 41 is 4.5 meters away at (4.5, 0.1). A unknown object with ID 56 is 5.4 meters away at (-1.8, -5.0). A unknown object with ID 43 is 5.7 meters away at (-3.3, 4.7). A vehicle with ID 40 is 7.8 meters away at (3.9, -6.7). A unknown object with ID 62 is 10.0 meters away at (-10.0, -0.1). A vehicle with ID 11 is 12.7 meters away at (10.8, -6.8). A unknown object with ID 25 is 13.2 meters away at (12.1, -5.2). A unknown object with ID 21 is 14.2 meters away at (-10.9, 9.2). A pedestrian with ID 20 is 18.2 meters away at (-11.0, 14.5). A unknown object with ID 28 is 18.8 meters away at (-18.2, 4.8).", "velocity_description": "The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 3.6063788 -2.6371934] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.9293094  4.5321374] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.3505296   0.83122474] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.323517  22.325392]\n [-33.38702   23.119564]]", "nav_goal": "(-231.7554931640625, 73.29930114746094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [4.461975   0.10221863], 4.463145732879639 meters away.)"}
{"file_name": "images/scenario_391_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -5.1) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 10.6 meters away at (9.4, 5.0). A pedestrian with ID 22 is 13.7 meters away at (3.8, -13.1). A pedestrian with ID 76 is 14.2 meters away at (7.1, -12.3). A vehicle with ID 72 is 14.2 meters away at (6.5, 12.6). A vehicle with ID 13 is 19.6 meters away at (-9.3, -17.3). A unknown object with ID 84 is 26.7 meters away at (-20.5, -17.2). A vehicle with ID 79 is 32.5 meters away at (-18.0, -27.1). A vehicle with ID 75 is 33.2 meters away at (19.0, 27.2). A unknown object with ID 80 is 36.5 meters away at (29.1, 22.2). A vehicle with ID 81 is 39.8 meters away at (21.4, 33.5).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [4.502367 7.933707] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.49198812 -1.1268165 ] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.743199  1.3774855] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-1.7637511 -3.5212605] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-2.7870092 -5.325708 ] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-2.7819297 -5.6236296] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.12608  -60.72265 ]\n [ 39.482277  29.449675]\n [-41.412113 -63.21312 ]\n [ 19.52749   27.763527]\n [-40.98085  -62.653828]\n [ 39.399757  29.798323]\n [-38.602554 -59.772648]\n [ 19.057854  28.075632]]", "nav_goal": "(-218.9405059814453, 89.18283081054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [9.398087 5.000516], 10.645618438720703 meters away.)"}
{"file_name": "images/scenario_391_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -5.8) m/s. Its current heading (yaw) is -2.06 ", "actor_description": " The most relevant actors are: A pedestrian with ID 22 is 9.1 meters away at (8.3, -3.8). A pedestrian with ID 76 is 14.7 meters away at (14.6, 2.0). A unknown object with ID 84 is 15.5 meters away at (-14.4, -5.8). A vehicle with ID 72 is 17.6 meters away at (8.4, 15.5). A vehicle with ID 13 is 18.1 meters away at (-8.4, -16.1). A pedestrian with ID 7 is 29.8 meters away at (-19.0, -23.0). A vehicle with ID 79 is 31.1 meters away at (-17.6, -25.7). A unknown object with ID 73 is 35.2 meters away at (-26.7, -23.0). A vehicle with ID 74 is 38.7 meters away at (23.7, 30.6). A cyclist with ID 71 is 40.9 meters away at (-6.1, -40.4).", "velocity_description": "The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8926358 -1.322    ] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.6567874 1.2996049] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-2.7588933 -5.241943 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-2.3978543 -4.741124 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.02736186 -0.0564003 ] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-3.3601997 -4.022228 ] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [3.37168   5.8334665] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [-1.394035    0.83692825] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.12608  -60.72265 ]\n [-41.412113 -63.21312 ]\n [ 19.52749   27.763527]\n [-40.98085  -62.653828]\n [-38.602554 -59.772648]\n [-27.971994 -54.214924]\n [-31.818916 -49.738113]\n [ 19.057854  28.075632]\n [-31.319035 -51.19747 ]]", "nav_goal": "(-218.9405059814453, 89.18283081054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 8.297196  -3.7697334], 9.11341667175293 meters away.)"}
{"file_name": "images/scenario_391_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.6) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A pedestrian with ID 22 is 12.8 meters away at (12.3, 3.4). A vehicle with ID 13 is 15.1 meters away at (-6.8, -13.5). A vehicle with ID 72 is 17.4 meters away at (8.2, 15.3). A pedestrian with ID 7 is 19.5 meters away at (-14.0, -13.5). A pedestrian with ID 76 is 25.5 meters away at (21.2, 14.2). A unknown object with ID 73 is 25.7 meters away at (-21.8, -13.6). A unknown object with ID 44 is 27.1 meters away at (-24.4, -11.8). A unknown object with ID 11 is 28.2 meters away at (-25.8, -11.4). A vehicle with ID 79 is 29.3 meters away at (-21.1, -20.3). A cyclist with ID 71 is 30.4 meters away at (-1.9, -30.4).", "velocity_description": "The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.423383  -1.2460649] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.2151985 -2.5008676] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-2.4280174 -4.389472 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.00780105 -0.01783539] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.8183286 1.3184804] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-5.4281917   0.18831718] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [-0.01672393 -0.01168196] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.12608  -60.72265 ]\n [-41.412113 -63.21312 ]\n [ 19.52749   27.763527]\n [-40.98085  -62.653828]\n [-38.602554 -59.772648]\n [ 19.057854  28.075632]]", "nav_goal": "(-218.9405059814453, 89.18283081054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [12.297992   3.3752174], 12.752752304077148 meters away.)"}
{"file_name": "images/scenario_391_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.4) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 9.2 meters away at (0.5, -9.2). A vehicle with ID 72 is 13.2 meters away at (6.2, 11.6). A vehicle with ID 13 is 14.2 meters away at (-6.2, -12.8). A pedestrian with ID 7 is 14.5 meters away at (-11.5, -8.8). A pedestrian with ID 22 is 14.9 meters away at (13.6, 5.9). A unknown object with ID 73 is 21.2 meters away at (-19.3, -8.9). A unknown object with ID 44 is 23.1 meters away at (-21.9, -7.3). A unknown object with ID 11 is 24.2 meters away at (-23.3, -6.7). A cyclist with ID 71 is 25.6 meters away at (0.6, -25.6). A vehicle with ID 14 is 29.2 meters away at (-11.1, -27.1).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [3.3415449 7.4733934] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-1.5970548 -2.9336565] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.027162  -2.3150568] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.0058051  -0.00630637] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.6786428 -1.0795995] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [0.00558032 0.00280362] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.11901632 -3.5105975 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.12608  -60.72265 ]\n [-41.412113 -63.21312 ]\n [ 19.52749   27.763527]\n [-40.98085  -62.653828]\n [-38.602554 -59.772648]\n [ 19.057854  28.075632]]", "nav_goal": "(-218.9405059814453, 89.18283081054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.49396133 -9.15102   ], 9.164341926574707 meters away.)"}
{"file_name": "images/scenario_392_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 10.5) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 20.6 meters away at (-9.1, 18.4). A vehicle with ID 8 is 24.0 meters away at (-18.2, 15.5). A vehicle with ID 9 is 26.4 meters away at (-12.7, 23.2). A vehicle with ID 10 is 30.2 meters away at (-22.1, 20.7). A vehicle with ID 11 is 33.2 meters away at (-16.5, 28.7). A vehicle with ID 12 is 37.1 meters away at (-26.1, 26.4). A vehicle with ID 13 is 39.0 meters away at (-20.0, 33.5). A vehicle with ID 14 is 44.0 meters away at (-30.1, 32.0). A vehicle with ID 15 is 45.9 meters away at (-24.0, 39.2). A vehicle with ID 16 is 51.1 meters away at (-34.1, 38.1).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.49449920654297, 246.31344604492188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.089245 18.435907], 20.554733276367188 meters away.)"}
{"file_name": "images/scenario_392_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 10.1) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 3.2 meters away at (2.0, 2.5). A vehicle with ID 7 is 6.0 meters away at (5.5, -2.2). A vehicle with ID 8 is 6.3 meters away at (-3.6, -5.2). A vehicle with ID 10 is 7.4 meters away at (-7.4, -0.1). A vehicle with ID 11 is 8.2 meters away at (-1.8, 8.0). A vehicle with ID 12 is 12.6 meters away at (-11.3, 5.6). A vehicle with ID 13 is 13.8 meters away at (-5.2, 12.8). A vehicle with ID 14 is 19.0 meters away at (-15.4, 11.2). A vehicle with ID 15 is 20.5 meters away at (-9.2, 18.4). A vehicle with ID 16 is 26.0 meters away at (-19.4, 17.2).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.49449920654297, 246.31344604492188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.013239 2.470993], 3.1873087882995605 meters away.)"}
{"file_name": "images/scenario_392_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 10.0) m/s. Its current heading (yaw) is 2.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 5.0 meters away at (4.8, -1.4). A vehicle with ID 16 is 6.1 meters away at (-5.5, -2.7). A vehicle with ID 14 is 8.7 meters away at (-1.5, -8.6). A vehicle with ID 13 is 11.2 meters away at (8.7, -7.0). A vehicle with ID 12 is 14.5 meters away at (2.6, -14.2). A vehicle with ID 11 is 17.0 meters away at (12.2, -11.9). A vehicle with ID 10 is 20.9 meters away at (6.5, -19.9). A vehicle with ID 9 is 23.7 meters away at (16.0, -17.5). A vehicle with ID 8 is 27.1 meters away at (10.5, -25.0). A vehicle with ID 7 is 29.7 meters away at (19.6, -22.3).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.49449920654297, 246.31344604492188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.760639  -1.4384727], 4.973217010498047 meters away.)"}
{"file_name": "images/scenario_392_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 10.4) m/s. Its current heading (yaw) is 1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 23.4 meters away at (4.7, -22.9). A vehicle with ID 15 is 26.6 meters away at (15.1, -21.8). A vehicle with ID 14 is 30.2 meters away at (8.8, -28.9). A vehicle with ID 13 is 33.5 meters away at (19.2, -27.4). A vehicle with ID 12 is 36.9 meters away at (12.9, -34.6). A vehicle with ID 11 is 39.5 meters away at (22.8, -32.3). A vehicle with ID 10 is 43.6 meters away at (16.9, -40.2). A vehicle with ID 9 is 46.1 meters away at (26.3, -37.9). A vehicle with ID 8 is 49.9 meters away at (20.8, -45.3).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-44.49449920654297, 246.31344604492188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  4.718315 -22.928421], 23.408864974975586 meters away.)"}
{"file_name": "images/scenario_393_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 1.6) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 6.2 meters away at (-6.2, 0.2). A vehicle with ID 62 is 6.5 meters away at (-2.9, 5.8). A vehicle with ID 59 is 11.0 meters away at (9.6, 5.4). A vehicle with ID 64 is 13.8 meters away at (9.6, 10.0). A vehicle with ID 67 is 14.2 meters away at (-13.4, -4.9). A vehicle with ID 69 is 14.6 meters away at (-14.5, -1.1). A vehicle with ID 68 is 17.0 meters away at (8.6, 14.7). A unknown object with ID 79 is 19.7 meters away at (19.4, -3.4). A pedestrian with ID 65 is 20.4 meters away at (20.4, 1.4). A pedestrian with ID 66 is 21.4 meters away at (21.4, 1.2).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [2.8106928 1.8205038] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [3.6247346 2.415385 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [2.8187153 1.7961076] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [5.5052176 3.8325312] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0.99395585 0.6113433 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [3.1693883 1.9671096] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [4.3938904 4.094665 ] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.6966403  0.9457245] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.67454433  1.019594  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[33.25249  15.832299]\n [33.491623 16.010614]\n [38.473213 20.114742]\n [36.244892 17.535366]\n [33.1445   15.75677 ]]", "nav_goal": "(240.27371215820312, -149.97158813476562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.213846    0.22322845], 6.2178544998168945 meters away.)"}
{"file_name": "images/scenario_393_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.9) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 4.6 meters away at (-4.4, 1.4). A vehicle with ID 62 is 8.2 meters away at (-0.2, 8.2). A vehicle with ID 59 is 10.8 meters away at (9.5, 5.2). A vehicle with ID 69 is 11.7 meters away at (-11.7, 0.6). A pedestrian with ID 65 is 13.1 meters away at (13.0, -0.9). A pedestrian with ID 66 is 14.2 meters away at (14.2, -0.7). A unknown object with ID 79 is 15.2 meters away at (13.5, -7.0). A vehicle with ID 67 is 15.4 meters away at (-14.4, -5.5). A unknown object with ID 55 is 16.7 meters away at (15.3, -6.8). A unknown object with ID 32 is 17.1 meters away at (15.2, -7.9).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [4.5959916 2.8907197] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [4.957226  3.9852662] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [3.103596  1.6071277] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [5.4081793 3.455844 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.59555125  0.55838615] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.62036425  0.76294553] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [3.9733653 2.4627483] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[33.25249  15.832299]\n [33.491623 16.010614]\n [38.473213 20.114742]\n [36.244892 17.535366]\n [33.1445   15.75677 ]]", "nav_goal": "(240.27371215820312, -149.97158813476562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.364122   1.3890505], 4.579849720001221 meters away.)"}
{"file_name": "images/scenario_393_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 1.6) m/s. Its current heading (yaw) is 0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 5.3 meters away at (0.9, 5.2). A pedestrian with ID 65 is 7.7 meters away at (6.8, -3.6). A vehicle with ID 69 is 8.0 meters away at (-6.3, 4.9). A pedestrian with ID 66 is 8.3 meters away at (7.7, -3.2). A vehicle with ID 67 is 10.5 meters away at (-10.1, -2.8). A vehicle with ID 59 is 11.0 meters away at (10.6, 3.0). A pedestrian with ID 76 is 12.6 meters away at (12.6, -0.6). A unknown object with ID 79 is 13.1 meters away at (8.1, -10.3). A unknown object with ID 81 is 14.1 meters away at (10.9, -9.1). A unknown object with ID 55 is 14.3 meters away at (9.9, -10.3).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [5.895045 4.539233] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.31784344  0.24988124] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [5.194708  4.1383214] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.40607494  0.28712672] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [5.4766555 3.6296794] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 3.779302   -0.54551524] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.0180808 -1.0125251] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[36.227146 17.210863]\n [33.25249  15.832299]\n [33.491623 16.010614]\n [38.473213 20.114742]\n [36.244892 17.535366]\n [33.1445   15.75677 ]]", "nav_goal": "(240.27371215820312, -149.97158813476562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.8760328 5.2374163], 5.31017541885376 meters away.)"}
{"file_name": "images/scenario_393_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 0.4) m/s. Its current heading (yaw) is 0.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 5.5 meters away at (-4.6, 3.2). A pedestrian with ID 66 is 5.7 meters away at (1.2, -5.6). A pedestrian with ID 65 is 5.8 meters away at (0.5, -5.8). A pedestrian with ID 76 is 6.5 meters away at (4.3, -4.9). A vehicle with ID 77 is 11.3 meters away at (-10.5, 4.2). A vehicle with ID 69 is 12.2 meters away at (-1.9, 12.0). A unknown object with ID 81 is 12.5 meters away at (4.7, -11.6). A unknown object with ID 79 is 13.0 meters away at (2.0, -12.9). A vehicle with ID 59 is 13.3 meters away at (12.6, -4.3). A unknown object with ID 55 is 13.4 meters away at (3.7, -12.8).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [6.0534406 4.8650856] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.00080182 0.0080317 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.01678171  0.0090107 ] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.1805748  -0.87588114] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [5.599112  4.8812037] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [5.6158524 6.152274 ] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 4.591482  -4.5233603] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[36.227146 17.210863]\n [33.25249  15.832299]\n [33.491623 16.010614]\n [38.473213 20.114742]\n [36.244892 17.535366]\n [33.1445   15.75677 ]]", "nav_goal": "(240.27371215820312, -149.97158813476562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.557432   3.1500902], 5.540149688720703 meters away.)"}
{"file_name": "images/scenario_394_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.5) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 7.5 meters away at (-1.8, -7.3). A vehicle with ID 56 is 10.7 meters away at (-10.4, -2.1). A vehicle with ID 61 is 12.5 meters away at (-5.4, -11.2). A vehicle with ID 67 is 16.8 meters away at (-15.1, -7.4). A vehicle with ID 60 is 18.8 meters away at (-9.6, -16.2). A vehicle with ID 62 is 24.6 meters away at (-20.5, -13.6). A vehicle with ID 54 is 24.7 meters away at (24.6, 2.6). A vehicle with ID 66 is 25.1 meters away at (-7.3, 24.0). A vehicle with ID 64 is 25.6 meters away at (-14.1, -21.4). A vehicle with ID 70 is 26.4 meters away at (2.6, 26.2).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-57.097225 -60.632027]\n [-55.960087 -61.631355]\n [-54.631783 -62.27645 ]\n [-55.611927 -61.796192]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-1.8154134 -7.259757 ], 7.483301162719727 meters away.)"}
{"file_name": "images/scenario_394_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.9) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 8.6 meters away at (-2.6, -8.2). A vehicle with ID 56 is 11.6 meters away at (-11.2, -3.1). A vehicle with ID 61 is 13.6 meters away at (-6.2, -12.2). A vehicle with ID 67 is 17.9 meters away at (-15.8, -8.4). A vehicle with ID 60 is 20.0 meters away at (-10.4, -17.1). A vehicle with ID 54 is 23.8 meters away at (23.8, 1.6). A vehicle with ID 66 is 24.4 meters away at (-8.1, 23.1). A vehicle with ID 70 is 25.4 meters away at (1.8, 25.3). A vehicle with ID 62 is 25.8 meters away at (-21.2, -14.6). A vehicle with ID 68 is 26.6 meters away at (-20.4, 17.0).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-57.097225 -60.632027]\n [-55.960087 -61.631355]\n [-54.631783 -62.27645 ]\n [-55.611927 -61.796192]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.5913498 -8.21655  ], 8.615496635437012 meters away.)"}
{"file_name": "images/scenario_394_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 14.1 meters away at (-6.3, -12.6). A vehicle with ID 56 is 16.6 meters away at (-14.9, -7.5). A vehicle with ID 61 is 19.3 meters away at (-9.9, -16.6). A vehicle with ID 54 is 20.3 meters away at (20.1, -2.8). A vehicle with ID 70 is 21.0 meters away at (-1.9, 20.9). A vehicle with ID 66 is 22.0 meters away at (-11.7, 18.7). A vehicle with ID 67 is 23.3 meters away at (-19.5, -12.8). A vehicle with ID 60 is 25.8 meters away at (-14.1, -21.6). A vehicle with ID 58 is 26.0 meters away at (25.6, -4.4). A vehicle with ID 68 is 27.3 meters away at (-24.1, 12.7).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ -6.266641 -12.634689], 14.103409767150879 meters away.)"}
{"file_name": "images/scenario_394_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 4.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 15.6 meters away at (-8.4, 13.2). A pedestrian with ID 26 is 17.0 meters away at (2.6, 16.8). A vehicle with ID 54 is 17.2 meters away at (13.8, -10.4). A vehicle with ID 66 is 21.2 meters away at (-18.2, 10.9). A vehicle with ID 58 is 22.6 meters away at (19.2, -12.0). A vehicle with ID 53 is 24.0 meters away at (-12.7, -20.3). A vehicle with ID 47 is 25.0 meters away at (10.5, 22.7). A vehicle with ID 56 is 26.2 meters away at (-21.3, -15.3). A vehicle with ID 63 is 28.7 meters away at (25.0, -14.0). A unknown object with ID 23 is 29.0 meters away at (20.5, 20.5).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.01648179 0.00345682] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-8.377655 13.170241], 15.608983039855957 meters away.)"}
{"file_name": "images/scenario_395_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -1.2) m/s. Its current heading (yaw) is -1.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 29.1 meters away at (-28.9, 3.5). A vehicle with ID 13 is 30.1 meters away at (21.4, -21.1). A pedestrian with ID 17 is 31.6 meters away at (18.7, 25.5). A unknown object with ID 18 is 34.6 meters away at (-32.9, 10.9). A unknown object with ID 11 is 35.9 meters away at (-34.0, 11.6). A pedestrian with ID 20 is 44.3 meters away at (11.6, 42.7). A pedestrian with ID 21 is 50.7 meters away at (13.1, 49.0). A pedestrian with ID 22 is 54.6 meters away at (12.5, 53.1).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.6802115 -1.0876443] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [11.934615 -4.864165] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.5900115 -0.9672778] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.05714925  0.06824949] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.10438474 -0.13724445] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.02241972 0.12672724] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-28.873499    3.4735775], 29.081689834594727 meters away.)"}
{"file_name": "images/scenario_395_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 18.3 meters away at (-17.5, 5.1). A pedestrian with ID 17 is 30.0 meters away at (17.5, 24.3). A unknown object with ID 18 is 34.9 meters away at (-32.9, 11.6). A unknown object with ID 11 is 36.1 meters away at (-34.0, 12.0). A pedestrian with ID 20 is 45.1 meters away at (11.0, 43.8). A pedestrian with ID 21 is 51.2 meters away at (13.1, 49.6). A vehicle with ID 13 is 54.4 meters away at (45.1, -30.4). A pedestrian with ID 22 is 55.4 meters away at (12.4, 53.9). A unknown object with ID 9 is 56.6 meters away at (2.5, 56.6).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [5.500155  2.1917548] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.66133165 -0.88576514] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.12934054  0.02837409] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.02392631 0.00577205] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [11.915127  -4.8897996] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00048969 0.025714  ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-17.548552    5.0696535], 18.266172409057617 meters away.)"}
{"file_name": "images/scenario_395_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.9) m/s. Its current heading (yaw) is -1.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 15.3 meters away at (-8.3, 12.8). A pedestrian with ID 17 is 28.3 meters away at (16.2, 23.2). A unknown object with ID 18 is 35.2 meters away at (-33.1, 12.1). A vehicle with ID 6 is 41.2 meters away at (26.7, -31.4). A pedestrian with ID 20 is 45.3 meters away at (11.0, 43.9). A pedestrian with ID 21 is 51.7 meters away at (13.2, 49.9). A pedestrian with ID 22 is 55.9 meters away at (12.5, 54.5). A vehicle with ID 13 is 79.2 meters away at (68.4, -40.0).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [3.988821  4.1891975] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.6038079  -0.69027936] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-16.197086   7.045087] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.06200944 0.01666334] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.04682438 0.06483418] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.03870013 0.0766246 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [11.599217  -4.9342933] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.347086 12.820266], 15.298138618469238 meters away.)"}
{"file_name": "images/scenario_395_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.5) m/s. Its current heading (yaw) is -1.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 14.8 meters away at (-7.2, -12.9). A vehicle with ID 19 is 24.7 meters away at (-4.0, 24.4). A pedestrian with ID 17 is 29.7 meters away at (13.1, 26.6). A unknown object with ID 18 is 38.8 meters away at (-34.8, 17.2). A unknown object with ID 3 is 40.3 meters away at (-36.1, 17.9). A unknown object with ID 8 is 40.8 meters away at (-37.2, 16.8). A pedestrian with ID 20 is 50.0 meters away at (9.6, 49.0). A pedestrian with ID 21 is 56.9 meters away at (11.7, 55.7). A pedestrian with ID 22 is 60.6 meters away at (10.9, 59.6). A vehicle with ID 5 is 75.0 meters away at (-69.8, 27.3).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-15.627607   6.629375] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [2.3826313 2.520894 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.7270964 -0.8049155] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.04593275 -0.03330864] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.06425833 0.14312106] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.02634093 -0.00497011] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -7.186095 -12.901658], 14.767963409423828 meters away.)"}
{"file_name": "images/scenario_396_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.4, 0.1) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 92 is 10.6 meters away at (5.2, -9.2). A vehicle with ID 95 is 12.3 meters away at (8.0, -9.3). A vehicle with ID 99 is 14.0 meters away at (10.6, -9.1). A vehicle with ID 126 is 15.0 meters away at (14.4, 4.2). A vehicle with ID 107 is 16.0 meters away at (13.2, -9.1). A vehicle with ID 111 is 18.4 meters away at (16.0, -9.2). A vehicle with ID 82 is 18.6 meters away at (-17.8, 5.2). A vehicle with ID 83 is 19.1 meters away at (-16.6, -9.4). A vehicle with ID 113 is 21.4 meters away at (19.1, -9.6). A vehicle with ID 96 is 21.6 meters away at (-0.2, -21.6).", "velocity_description": "The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [-8.289439    0.17888492] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-2.9027605   0.96525055] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(1.155956506729126, -15.116874694824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.1889915 -9.215821 ], 10.57624626159668 meters away.)"}
{"file_name": "images/scenario_396_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.7, 0.1) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 116 is 9.6 meters away at (0.3, -9.6). A vehicle with ID 113 is 10.0 meters away at (-2.2, -9.8). A vehicle with ID 111 is 10.8 meters away at (-5.2, -9.4). A vehicle with ID 107 is 12.2 meters away at (-8.0, -9.2). A vehicle with ID 99 is 14.1 meters away at (-10.6, -9.3). A vehicle with ID 95 is 16.2 meters away at (-13.2, -9.4). A vehicle with ID 92 is 18.5 meters away at (-16.0, -9.3). A vehicle with ID 126 is 21.3 meters away at (-20.9, 4.2). A vehicle with ID 122 is 22.4 meters away at (0.4, -22.4). A vehicle with ID 121 is 22.5 meters away at (-2.4, -22.3).", "velocity_description": "The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [-5.4407916   0.11940014] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(1.155956506729126, -15.116874694824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.34570312 -9.59526   ], 9.601485252380371 meters away.)"}
{"file_name": "images/scenario_396_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 116 is 22.6 meters away at (-20.3, -9.8). A vehicle with ID 52 is 23.6 meters away at (21.5, -9.7). A vehicle with ID 113 is 25.0 meters away at (-23.0, -9.8). A vehicle with ID 51 is 26.3 meters away at (24.4, -9.9). A vehicle with ID 62 is 27.3 meters away at (-14.9, -22.8). A vehicle with ID 111 is 27.7 meters away at (-26.0, -9.4). A vehicle with ID 72 is 28.2 meters away at (16.4, -23.0). A vehicle with ID 49 is 28.9 meters away at (27.1, -10.0). A vehicle with ID 125 is 29.0 meters away at (-17.8, -22.9). A vehicle with ID 107 is 30.3 meters away at (-28.8, -9.3).", "velocity_description": "The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(1.155956506729126, -15.116874694824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-20.346859  -9.778935], 22.574813842773438 meters away.)"}
{"file_name": "images/scenario_396_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 9.8 meters away at (1.5, -9.7). A vehicle with ID 51 is 10.8 meters away at (4.4, -9.8). A vehicle with ID 49 is 12.3 meters away at (7.2, -10.0). A vehicle with ID 63 is 14.0 meters away at (9.9, -9.9). A vehicle with ID 47 is 16.1 meters away at (12.6, -10.0). A vehicle with ID 72 is 23.2 meters away at (-3.6, -23.0). A vehicle with ID 76 is 23.8 meters away at (7.5, -22.6). A vehicle with ID 74 is 24.8 meters away at (10.3, -22.6). A vehicle with ID 55 is 25.9 meters away at (13.0, -22.4). A vehicle with ID 54 is 27.6 meters away at (15.8, -22.6).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(1.155956506729126, -15.116874694824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.5371094 -9.686943 ], 9.808137893676758 meters away.)"}
{"file_name": "images/scenario_397_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.7) m/s. Its current heading (yaw) is -1.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 10.9 meters away at (2.6, -10.6). A vehicle with ID 14 is 28.8 meters away at (-4.8, 28.4). A vehicle with ID 15 is 44.4 meters away at (-5.6, 44.0). A pedestrian with ID 10 is 68.7 meters away at (7.4, -68.3).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [13.381659  -3.1761577] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.08091018  0.4752051 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(220.98348999023438, 45.4630126953125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.5609837 -10.604087 ], 10.908954620361328 meters away.)"}
{"file_name": "images/scenario_397_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -2.8) m/s. Its current heading (yaw) is -1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 30.8 meters away at (27.5, -14.0). A vehicle with ID 14 is 32.6 meters away at (-5.3, 32.1). A vehicle with ID 15 is 48.7 meters away at (-5.9, 48.4). A pedestrian with ID 10 is 65.0 meters away at (6.5, -64.7). A vehicle with ID 8 is 79.4 meters away at (-78.6, 11.2).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [11.600964  -3.6549048] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0.15594003 0.5825787 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.03952863  0.01096247] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(220.98348999023438, 45.4630126953125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 27.465303 -14.024996], 30.838991165161133 meters away.)"}
{"file_name": "images/scenario_397_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -2.5) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 39.1 meters away at (-9.2, 37.9). A vehicle with ID 13 is 45.4 meters away at (42.9, -14.7). A vehicle with ID 15 is 56.3 meters away at (-9.7, 55.5). A pedestrian with ID 10 is 59.0 meters away at (1.9, -59.0). A unknown object with ID 7 is 63.5 meters away at (-61.2, 16.7).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 7.9418974 -2.4504735] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0.10892061 0.6388934 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.88205326 -0.12504992] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(220.98348999023438, 45.4630126953125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.246952 37.942406], 39.052940368652344 meters away.)"}
{"file_name": "images/scenario_397_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -1.7) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 45.6 meters away at (-17.7, 42.0). A vehicle with ID 13 is 48.8 meters away at (47.7, -10.4). A unknown object with ID 3 is 49.1 meters away at (48.6, -6.4). A unknown object with ID 5 is 52.4 meters away at (52.3, -3.2). A vehicle with ID 15 is 63.0 meters away at (-18.0, 60.4). A unknown object with ID 7 is 72.6 meters away at (-69.6, 20.6). A vehicle with ID 2 is 75.0 meters away at (66.3, -35.0).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [5.419755  2.4708066] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-6.593533   3.8309255] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(220.98348999023438, 45.4630126953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-17.6577   42.00557], 45.56602096557617 meters away.)"}
{"file_name": "images/scenario_398_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.4) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 4.4 meters away at (1.0, -4.2). A vehicle with ID 71 is 5.8 meters away at (-2.3, -5.3). A vehicle with ID 81 is 7.6 meters away at (-7.3, -2.3). A cyclist with ID 10 is 8.3 meters away at (7.3, -4.0). A vehicle with ID 62 is 9.4 meters away at (-7.9, 5.0). A vehicle with ID 67 is 9.9 meters away at (2.9, -9.5). A vehicle with ID 87 is 14.0 meters away at (11.9, -7.5). A vehicle with ID 88 is 14.8 meters away at (8.4, 12.2). A vehicle with ID 70 is 14.9 meters away at (7.7, -12.8). A unknown object with ID 94 is 17.3 meters away at (-16.7, 4.8).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [ 5.768782 -3.757918] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-0.01889748 -0.00213226] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 1.7079542 -1.105843 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 54.048687 -40.726593]]", "nav_goal": "(233.3775634765625, -67.85179901123047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.99832153 -4.243768  ], 4.359611511230469 meters away.)"}
{"file_name": "images/scenario_398_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-2.8, -5.0). A vehicle with ID 125 is 6.5 meters away at (-6.4, 0.8). A vehicle with ID 62 is 7.6 meters away at (-6.4, 4.1). A cyclist with ID 10 is 7.7 meters away at (6.7, -3.6). A vehicle with ID 81 is 8.0 meters away at (-7.8, -2.0). A vehicle with ID 67 is 9.4 meters away at (2.3, -9.1). A vehicle with ID 87 is 13.6 meters away at (11.5, -7.2). A vehicle with ID 70 is 14.3 meters away at (7.1, -12.4). A vehicle with ID 88 is 14.9 meters away at (7.9, 12.6). A vehicle with ID 78 is 16.2 meters away at (11.8, -11.1).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [ 5.9181933 -3.7861001] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.5913469  -0.40152338] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [0.00978041 0.013993  ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 5.296113  -3.3807948] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(233.3775634765625, -67.85179901123047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.7825024 -4.981479 ], 5.70591402053833 meters away.)"}
{"file_name": "images/scenario_398_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-2.9, -4.9). A vehicle with ID 62 is 7.2 meters away at (-6.1, 3.9). A cyclist with ID 10 is 7.6 meters away at (6.7, -3.6). A vehicle with ID 81 is 8.1 meters away at (-7.9, -1.9). A vehicle with ID 125 is 8.4 meters away at (5.0, -6.7). A vehicle with ID 67 is 9.3 meters away at (2.3, -9.0). A vehicle with ID 70 is 14.2 meters away at (7.0, -12.4). A vehicle with ID 88 is 14.9 meters away at (7.9, 12.6). A vehicle with ID 87 is 15.2 meters away at (12.8, -8.1). A unknown object with ID 94 is 18.0 meters away at (-17.2, 5.2).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-0.03357249  0.01747893] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [ 5.5702457 -3.6244915] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [ 1.080318   -0.70298177] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(233.3775634765625, -67.85179901123047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.8661776 -4.927134 ], 5.7001423835754395 meters away.)"}
{"file_name": "images/scenario_398_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.2) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-3.4, -4.5). A vehicle with ID 62 is 7.5 meters away at (-6.3, 4.1). A cyclist with ID 10 is 7.7 meters away at (6.9, -3.6). A vehicle with ID 81 is 8.5 meters away at (-8.3, -1.5). A vehicle with ID 67 is 8.9 meters away at (1.8, -8.7). A vehicle with ID 38 is 9.4 meters away at (6.7, 6.6). A vehicle with ID 70 is 13.7 meters away at (6.6, -12.0). A vehicle with ID 88 is 14.9 meters away at (7.2, 13.0). A vehicle with ID 53 is 16.1 meters away at (16.1, -0.3). A vehicle with ID 82 is 17.8 meters away at (16.3, 7.4).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.26900578 -0.18549562] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [ 1.1317582 -0.7473066] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-8.480892  5.635241] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-7.879966   5.0986924] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(233.3775634765625, -67.85179901123047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.3669682 -4.539462 ], 5.651830673217773 meters away.)"}
{"file_name": "images/scenario_399_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -1.6) m/s. Its current heading (yaw) is -2.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 9.3 meters away at (9.1, 1.8). A vehicle with ID 20 is 19.8 meters away at (19.8, -0.4). A vehicle with ID 18 is 24.3 meters away at (22.7, 8.5). A vehicle with ID 19 is 24.3 meters away at (19.1, 14.9). A cyclist with ID 21 is 25.3 meters away at (15.8, 19.8). A vehicle with ID 24 is 29.4 meters away at (20.5, -21.1). A vehicle with ID 22 is 29.5 meters away at (19.0, 22.6). A vehicle with ID 25 is 31.5 meters away at (16.2, -26.9). A vehicle with ID 23 is 32.2 meters away at (-0.4, 32.2). A vehicle with ID 31 is 35.2 meters away at (12.3, -33.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.1355014  -0.26737693] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.3681726  1.3995296] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.03232298 0.01100449] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [4.7502284 2.4405363] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.0098147 32.63984  ]\n [ 2.8294268 45.01986  ]\n [ 4.6416426 29.049095 ]\n [ 4.4745626 39.34814  ]\n [ 6.1682935 35.198128 ]]", "nav_goal": "(-88.55776977539062, -246.4759979248047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [9.106665  1.7917223], 9.28125 meters away.)"}
{"file_name": "images/scenario_399_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.2) m/s. Its current heading (yaw) is -2.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 11.1 meters away at (9.6, 5.7). A vehicle with ID 20 is 23.0 meters away at (21.9, 7.2). A vehicle with ID 25 is 32.3 meters away at (24.1, -21.4). A vehicle with ID 24 is 32.4 meters away at (28.4, -15.5). A vehicle with ID 18 is 33.8 meters away at (30.8, 13.9). A vehicle with ID 19 is 33.9 meters away at (27.0, 20.6). A vehicle with ID 31 is 34.1 meters away at (20.3, -27.4). A cyclist with ID 21 is 34.7 meters away at (23.7, 25.4). A vehicle with ID 22 is 38.9 meters away at (26.8, 28.2). A unknown object with ID 30 is 40.5 meters away at (37.5, -15.3).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.31378  -1.741904] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.9209976  0.6104938] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.01970958  0.00968346] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.0098147 32.63984  ]\n [ 2.8294268 45.01986  ]\n [ 4.6416426 29.049095 ]\n [ 4.4745626 39.34814  ]\n [ 6.1682935 35.198128 ]]", "nav_goal": "(-88.55776977539062, -246.4759979248047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [9.600449 5.65123 ], 11.140243530273438 meters away.)"}
{"file_name": "images/scenario_399_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -6.4) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 12.7 meters away at (7.6, 10.1). A vehicle with ID 20 is 26.9 meters away at (20.2, 17.7). A vehicle with ID 31 is 32.8 meters away at (28.3, -16.5). A vehicle with ID 25 is 33.7 meters away at (32.0, -10.5). A vehicle with ID 24 is 36.5 meters away at (36.3, -4.5). A vehicle with ID 39 is 43.8 meters away at (24.0, -36.6). A unknown object with ID 30 is 45.6 meters away at (45.4, -4.3). A vehicle with ID 18 is 45.9 meters away at (38.4, 25.1). A vehicle with ID 19 is 47.0 meters away at (34.8, 31.6). A cyclist with ID 21 is 48.0 meters away at (31.4, 36.4).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7019277 -4.73964  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.861364  -1.4400176] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.04578114  0.01150581] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.0098147 32.63984  ]\n [ 2.8294268 45.01986  ]\n [ 4.6416426 29.049095 ]\n [ 4.4745626 39.34814  ]\n [ 6.1682935 35.198128 ]]", "nav_goal": "(-88.55776977539062, -246.4759979248047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.5622663 10.146156 ], 12.654341697692871 meters away.)"}
{"file_name": "images/scenario_399_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -7.4) m/s. Its current heading (yaw) is -2.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 14.4 meters away at (7.8, 12.0). A vehicle with ID 31 is 37.6 meters away at (37.5, -2.6). A vehicle with ID 4 is 37.6 meters away at (37.5, -2.6). A vehicle with ID 39 is 40.3 meters away at (33.3, -22.7). A vehicle with ID 25 is 41.4 meters away at (41.2, 3.4). A vehicle with ID 24 is 46.4 meters away at (45.4, 9.3). A vehicle with ID 43 is 49.5 meters away at (38.2, -31.5). A vehicle with ID 14 is 61.1 meters away at (48.0, -37.8). A vehicle with ID 18 is 61.6 meters away at (47.6, 39.1). A vehicle with ID 10 is 61.8 meters away at (48.7, -38.1).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.977983  -7.1360655] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.0098147 32.63984  ]\n [ 4.6416426 29.049095 ]]", "nav_goal": "(-88.55776977539062, -246.4759979248047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.814516 12.038424], 14.352362632751465 meters away.)"}
{"file_name": "images/scenario_400_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.9) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 3.5 meters away at (-3.3, 1.4). A vehicle with ID 26 is 9.9 meters away at (-6.3, -7.6). A pedestrian with ID 27 is 11.4 meters away at (-9.5, 6.2). A unknown object with ID 7 is 16.0 meters away at (-11.1, 11.5). A vehicle with ID 3 is 21.5 meters away at (-3.0, 21.3). A vehicle with ID 25 is 23.1 meters away at (17.6, 15.0). A vehicle with ID 28 is 29.7 meters away at (-21.9, -20.0). A vehicle with ID 35 is 36.2 meters away at (23.2, 27.8). A unknown object with ID 5 is 36.4 meters away at (-36.2, 3.7). A pedestrian with ID 34 is 43.9 meters away at (-43.0, -9.0).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [-6.702583 -7.314381] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.5071813  0.44047275] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6846266  2.4660764] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [6.988743  7.5744033] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-4.003087 -4.514962] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-3.7352514 -3.6232123] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.7334278 -0.7369451] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.899345 11.255784]]", "nav_goal": "(-200.76882934570312, -16.420246124267578)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.2546363  1.3805884], 3.5353474617004395 meters away.)"}
{"file_name": "images/scenario_400_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.2) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 11.8 meters away at (-11.5, 2.5). A vehicle with ID 26 is 13.0 meters away at (-7.7, -10.4). A vehicle with ID 35 is 19.9 meters away at (15.1, 13.0). A vehicle with ID 31 is 23.6 meters away at (-17.5, -15.9). A vehicle with ID 3 is 27.2 meters away at (-14.7, 22.9). A cyclist with ID 11 is 27.6 meters away at (21.5, 17.4). A vehicle with ID 17 is 29.0 meters away at (-18.5, -22.3). A vehicle with ID 24 is 38.7 meters away at (-24.8, -29.6). A unknown object with ID 33 is 40.0 meters away at (20.0, 34.6). A vehicle with ID 25 is 42.0 meters away at (31.8, 27.5).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.49698216 0.6370375 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [1.7604758 2.1646314] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.5226619 -7.1925554] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-4.5338125 -5.0365334] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.4696584  3.2410243] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [ 2.9133081 -6.2946577] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0.3990762  0.52463627] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [10.081208  9.423663] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-200.76882934570312, -16.420246124267578)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-11.506549    2.4585905], 11.766279220581055 meters away.)"}
{"file_name": "images/scenario_400_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 4.5) m/s. Its current heading (yaw) is 1.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 12.2 meters away at (-10.6, -6.0). A vehicle with ID 26 is 14.6 meters away at (-2.9, -14.3). A vehicle with ID 12 is 18.5 meters away at (-5.5, -17.6). A vehicle with ID 35 is 24.6 meters away at (21.4, -12.1). A vehicle with ID 3 is 30.9 meters away at (-24.2, 19.3). A unknown object with ID 33 is 32.0 meters away at (20.0, 25.0). A vehicle with ID 17 is 33.6 meters away at (-16.4, -29.4). A unknown object with ID 36 is 36.2 meters away at (26.0, 25.2). A vehicle with ID 31 is 42.2 meters away at (-24.9, -34.1). A vehicle with ID 24 is 46.3 meters away at (-24.8, -39.1).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.3892662 0.5702424] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [3.147497  3.7147114] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [3.3119311 3.805662 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 6.533095  -7.1409407] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.0655036  2.6973624] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.2344754 2.5976896] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-3.1888657 -3.8215578] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-200.76882934570312, -16.420246124267578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-10.649202  -5.970084], 12.208498001098633 meters away.)"}
{"file_name": "images/scenario_400_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 3.4) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 13.8 meters away at (-3.5, -13.4). A vehicle with ID 26 is 17.3 meters away at (11.9, -12.6). A vehicle with ID 17 is 30.7 meters away at (-3.9, -30.4). A vehicle with ID 3 is 32.1 meters away at (-27.8, 16.1). A unknown object with ID 36 is 36.6 meters away at (32.1, 17.5). A vehicle with ID 24 is 48.0 meters away at (-16.6, -45.0). A pedestrian with ID 34 is 49.2 meters away at (-33.6, -35.9). A vehicle with ID 31 is 54.2 meters away at (-24.0, -48.6). A vehicle with ID 35 is 56.3 meters away at (45.9, -32.6). A vehicle with ID 23 is 57.4 meters away at (-23.2, -52.6).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.3241399 -0.0718836] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [5.0094795 5.384584 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [3.8814192 4.3884172] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.937589  2.233244] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [2.0684793 2.3032908] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.0048453 -0.93802  ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-2.515476  -3.0315201] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [10.761515  -5.6239314] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-200.76882934570312, -16.420246124267578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -3.5041006 -13.354174 ], 13.806254386901855 meters away.)"}
{"file_name": "images/scenario_401_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.6) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 25.3 meters away at (-2.1, -25.2). A unknown object with ID 15 is 26.4 meters away at (2.9, -26.3). A vehicle with ID 16 is 28.0 meters away at (-2.1, -28.0). A vehicle with ID 18 is 32.7 meters away at (11.2, -30.8). A unknown object with ID 17 is 33.7 meters away at (-1.8, 33.6). A unknown object with ID 19 is 37.7 meters away at (37.0, 7.4). A unknown object with ID 20 is 38.7 meters away at (38.2, 6.1). A vehicle with ID 21 is 42.0 meters away at (41.2, 8.5). A vehicle with ID 22 is 47.3 meters away at (-5.6, -47.0). A vehicle with ID 11 is 49.9 meters away at (-6.8, -49.4).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.848731994628906, -57.951263427734375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -2.138938 -25.160458], 25.25121307373047 meters away.)"}
{"file_name": "images/scenario_401_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.2) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 22.2 meters away at (-0.1, -22.2). A vehicle with ID 16 is 25.0 meters away at (-0.1, -25.0). A vehicle with ID 18 is 30.8 meters away at (13.2, -27.8). A unknown object with ID 17 is 36.6 meters away at (-0.1, 36.6). A unknown object with ID 19 is 40.1 meters away at (38.7, 10.4). A unknown object with ID 20 is 41.1 meters away at (40.1, 9.2). A vehicle with ID 22 is 44.3 meters away at (-3.7, -44.1). A vehicle with ID 21 is 44.5 meters away at (42.9, 11.5). A vehicle with ID 11 is 46.8 meters away at (-4.7, -46.6). A pedestrian with ID 24 is 59.4 meters away at (40.5, -43.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.80313504  0.8205413 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.848731994628906, -57.951263427734375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -0.11374664 -22.221361  ], 22.221651077270508 meters away.)"}
{"file_name": "images/scenario_401_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 0.7) m/s. Its current heading (yaw) is 2.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 20.6 meters away at (6.7, -19.5). A vehicle with ID 16 is 23.3 meters away at (6.6, -22.3). A vehicle with ID 18 is 32.1 meters away at (20.0, -25.0). A unknown object with ID 17 is 39.8 meters away at (6.4, 39.3). A vehicle with ID 22 is 41.5 meters away at (3.2, -41.4). A vehicle with ID 11 is 43.9 meters away at (2.2, -43.9). A unknown object with ID 19 is 47.4 meters away at (45.4, 13.7). A vehicle with ID 8 is 47.7 meters away at (42.5, 21.6). A vehicle with ID 21 is 51.5 meters away at (49.5, 14.1). A pedestrian with ID 25 is 60.1 meters away at (45.1, -39.7).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.9050955  0.6250779] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.848731994628906, -57.951263427734375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  6.661431 -19.530218], 20.635021209716797 meters away.)"}
{"file_name": "images/scenario_401_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 3.6) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 30.1 meters away at (17.1, -24.7). A vehicle with ID 16 is 32.4 meters away at (16.9, -27.6). A unknown object with ID 17 is 38.2 meters away at (17.2, 34.1). A vehicle with ID 18 is 43.0 meters away at (30.4, -30.4). A vehicle with ID 22 is 48.5 meters away at (13.6, -46.6). A unknown object with ID 10 is 49.1 meters away at (10.8, -47.9). A unknown object with ID 19 is 56.7 meters away at (56.2, 7.8). A unknown object with ID 3 is 57.9 meters away at (57.5, 6.5). A vehicle with ID 21 is 61.0 meters away at (60.3, 9.0). A pedestrian with ID 25 is 69.6 meters away at (53.9, -44.1).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.64779574  0.72673345] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.848731994628906, -57.951263427734375)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 17.071444 -24.73624 ], 30.055212020874023 meters away.)"}
{"file_name": "images/scenario_402_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -2.6) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 3.0 meters away at (-1.1, -2.8). A vehicle with ID 46 is 6.2 meters away at (-6.0, -1.4). A vehicle with ID 52 is 6.8 meters away at (4.9, -4.7). A unknown object with ID 50 is 7.6 meters away at (-0.9, -7.6). A unknown object with ID 48 is 9.3 meters away at (-3.0, 8.8). A vehicle with ID 43 is 14.1 meters away at (-12.0, 7.4). A vehicle with ID 20 is 23.4 meters away at (21.3, -9.9). A vehicle with ID 12 is 23.5 meters away at (-23.4, 2.1). A vehicle with ID 51 is 34.3 meters away at (-34.1, -3.7). A vehicle with ID 38 is 40.1 meters away at (38.9, -9.8).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.464667  1.3978026] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-10.480184    3.5056827] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(239.17945861816406, -37.41783905029297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.0950336 -2.8168416], 3.022200345993042 meters away.)"}
{"file_name": "images/scenario_402_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.3) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 5.5 meters away at (5.0, 2.3). A vehicle with ID 52 is 8.9 meters away at (-8.9, -0.3). A vehicle with ID 20 is 9.0 meters away at (7.1, -5.4). A unknown object with ID 29 is 10.2 meters away at (-4.8, 9.0). A vehicle with ID 49 is 15.2 meters away at (-15.1, 1.6). A unknown object with ID 50 is 15.2 meters away at (-14.9, -3.1). A vehicle with ID 46 is 20.5 meters away at (-20.3, 3.2). A unknown object with ID 48 is 21.6 meters away at (-17.0, 13.3). A vehicle with ID 10 is 23.5 meters away at (19.2, 13.6). A vehicle with ID 11 is 27.9 meters away at (20.9, 18.4).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [-9.226268   3.1435113] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(239.17945861816406, -37.41783905029297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.04867   2.2843862], 5.541433811187744 meters away.)"}
{"file_name": "images/scenario_402_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -2.5) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 4.1 meters away at (-3.9, -1.3). A vehicle with ID 10 is 19.5 meters away at (7.9, 17.8). A vehicle with ID 52 is 20.5 meters away at (-20.2, 3.9). A unknown object with ID 29 is 20.7 meters away at (-16.1, 13.0). A vehicle with ID 7 is 23.2 meters away at (19.8, 12.1). A vehicle with ID 42 is 24.1 meters away at (24.1, -0.9). A vehicle with ID 11 is 24.8 meters away at (10.1, 22.6). A vehicle with ID 9 is 25.3 meters away at (20.1, 15.4). A vehicle with ID 38 is 25.6 meters away at (-22.7, 11.7). A unknown object with ID 21 is 25.7 meters away at (23.0, 11.6).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-7.364843   2.0418987] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(239.17945861816406, -37.41783905029297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.9335594 -1.2931213], 4.140658378601074 meters away.)"}
{"file_name": "images/scenario_402_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.5) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 11.7 meters away at (-11.3, 3.0). A vehicle with ID 42 is 17.0 meters away at (16.6, 3.3). A vehicle with ID 7 is 20.4 meters away at (12.4, 16.3). A vehicle with ID 44 is 21.9 meters away at (20.7, -7.2). A vehicle with ID 10 is 22.0 meters away at (0.7, 22.0). A vehicle with ID 45 is 22.5 meters away at (22.4, 1.6). A vehicle with ID 9 is 23.4 meters away at (12.7, 19.6). A vehicle with ID 12 is 25.0 meters away at (-23.0, 10.0). A vehicle with ID 11 is 26.9 meters away at (2.8, 26.7). A vehicle with ID 52 is 28.8 meters away at (-27.6, 8.2).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.105594  -1.9943125] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(239.17945861816406, -37.41783905029297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-11.3243065   2.9688177], 11.70699691772461 meters away.)"}
{"file_name": "images/scenario_403_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 2.7) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 13.1 meters away at (8.6, 9.9). A vehicle with ID 13 is 19.2 meters away at (14.7, 12.4). A vehicle with ID 14 is 22.6 meters away at (14.8, 17.0). A vehicle with ID 15 is 25.9 meters away at (-16.5, -19.9). A unknown object with ID 2 is 47.2 meters away at (40.0, 25.1). A vehicle with ID 18 is 50.5 meters away at (30.5, 40.3). A vehicle with ID 21 is 53.8 meters away at (30.1, 44.6). A pedestrian with ID 23 is 59.9 meters away at (29.8, 51.9). A vehicle with ID 17 is 63.1 meters away at (-43.4, -45.8). A vehicle with ID 19 is 69.8 meters away at (-47.9, -50.8).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [1.3528161 1.58032  ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0.3288622  0.40864745] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [4.5026526 5.322127 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8279654 -1.0805379] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-47.85895  -51.38214 ]\n [ 33.068256  43.479797]\n [ 26.10507   33.781437]\n [ 32.745274  43.693813]\n [ 27.968472  32.880062]\n [ 30.487078  30.773012]\n [ 27.696573  43.51309 ]\n [ 28.021181  43.16928 ]\n [-46.431335 -52.27109 ]\n [ 31.595354  29.0669  ]]", "nav_goal": "(-170.02505493164062, 197.27882385253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.570591 9.861462], 13.065353393554688 meters away.)"}
{"file_name": "images/scenario_403_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 9.9 meters away at (6.5, 7.4). A vehicle with ID 13 is 13.8 meters away at (11.1, 8.2). A vehicle with ID 14 is 17.4 meters away at (11.3, 13.2). A vehicle with ID 15 is 19.4 meters away at (-12.4, -14.9). A cyclist with ID 1 is 30.7 meters away at (-0.9, 30.7). A vehicle with ID 7 is 31.4 meters away at (17.8, 25.8). A unknown object with ID 5 is 40.4 meters away at (16.1, 37.0). A unknown object with ID 2 is 41.9 meters away at (36.4, 20.9). A vehicle with ID 18 is 45.0 meters away at (26.9, 36.1). A vehicle with ID 21 is 48.3 meters away at (26.5, 40.4).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0.4594901 0.5594577] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [3.3492973 4.00836  ] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [8.3974214e-08 7.0678499e-09] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-7.06935   5.914853] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-47.85895  -51.38214 ]\n [ 33.068256  43.479797]\n [ 26.10507   33.781437]\n [ 32.745274  43.693813]\n [ 27.968472  32.880062]\n [ 30.487078  30.773012]\n [ 27.696573  43.51309 ]\n [ 28.021181  43.16928 ]\n [-46.431335 -52.27109 ]\n [ 31.595354  29.0669  ]]", "nav_goal": "(-170.02505493164062, 197.27882385253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.479147 7.433977], 9.861205101013184 meters away.)"}
{"file_name": "images/scenario_403_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 0.4) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 8.4 meters away at (5.5, 6.3). A vehicle with ID 13 is 11.6 meters away at (9.6, 6.5). A vehicle with ID 15 is 13.7 meters away at (-8.8, -10.5). A vehicle with ID 14 is 15.2 meters away at (9.8, 11.5). A vehicle with ID 7 is 36.7 meters away at (2.0, 36.6). A unknown object with ID 2 is 39.8 meters away at (34.9, 19.1). A vehicle with ID 18 is 42.8 meters away at (25.5, 34.4). A vehicle with ID 21 is 46.1 meters away at (25.1, 38.7). A pedestrian with ID 23 is 46.9 meters away at (21.5, 41.7). A pedestrian with ID 3 is 56.3 meters away at (56.3, -2.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [1.3148202 1.6199956] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-7.4592957  6.589573 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.75753665 -1.0453466 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.97165257 0.1450161 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-47.85895  -51.38214 ]\n [ 33.068256  43.479797]\n [ 26.10507   33.781437]\n [ 32.745274  43.693813]\n [ 27.968472  32.880062]\n [ 30.487078  30.773012]\n [ 27.696573  43.51309 ]\n [ 28.021181  43.16928 ]\n [-46.431335 -52.27109 ]\n [ 31.595354  29.0669  ]]", "nav_goal": "(-170.02505493164062, 197.27882385253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.4858227 6.309043 ], 8.360518455505371 meters away.)"}
{"file_name": "images/scenario_403_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 8.1 meters away at (5.4, 6.1). A vehicle with ID 13 is 11.3 meters away at (9.4, 6.3). A vehicle with ID 15 is 12.7 meters away at (-8.1, -9.8). A vehicle with ID 14 is 14.9 meters away at (9.7, 11.4). A vehicle with ID 18 is 40.6 meters away at (24.2, 32.7). A pedestrian with ID 23 is 44.1 meters away at (19.6, 39.5). A vehicle with ID 21 is 44.6 meters away at (24.1, 37.5). A vehicle with ID 17 is 71.1 meters away at (-48.6, -51.9). A vehicle with ID 19 is 78.2 meters away at (-53.4, -57.1).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.283807 -1.85732 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.92087764 -0.82849675] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.1044835 -1.3451511] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-47.85895  -51.38214 ]\n [ 26.10507   33.781437]\n [ 27.968472  32.880062]\n [ 30.487078  30.773012]\n [-46.431335 -52.27109 ]\n [ 31.595354  29.0669  ]]", "nav_goal": "(-170.02505493164062, 197.27882385253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.356269  6.0890484], 8.109631538391113 meters away.)"}
{"file_name": "images/scenario_404_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -3.9) m/s. Its current heading (yaw) is -1.25 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(28.407245635986328, 166.2298583984375)", "instruction": "right u-turn approaching.", "closest": ""}
{"file_name": "images/scenario_404_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -3.6) m/s. Its current heading (yaw) is -1.12 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(28.407245635986328, 166.2298583984375)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_404_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -2.7) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 37.6 meters away at (24.2, -28.7).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(28.407245635986328, 166.2298583984375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 24.239607 -28.70377 ], 37.56946563720703 meters away.)"}
{"file_name": "images/scenario_404_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -2.4) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 29.8 meters away at (18.1, -23.7).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(28.407245635986328, 166.2298583984375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 18.084858 -23.694012], 29.80718421936035 meters away.)"}
{"file_name": "images/scenario_405_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.5) m/s. Its current heading (yaw) is -1.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 4.8 meters away at (4.3, 2.2). A pedestrian with ID 47 is 5.9 meters away at (-5.9, -0.8). A vehicle with ID 48 is 9.9 meters away at (6.3, 7.7). A vehicle with ID 49 is 10.2 meters away at (1.4, 10.1). A vehicle with ID 16 is 12.3 meters away at (-7.7, -9.5). A vehicle with ID 50 is 12.9 meters away at (-1.1, 12.9). A vehicle with ID 51 is 17.5 meters away at (0.8, 17.5). A vehicle with ID 53 is 20.1 meters away at (-20.1, 0.7). A vehicle with ID 52 is 23.0 meters away at (2.3, 22.9). A vehicle with ID 46 is 23.7 meters away at (13.8, -19.2).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.3295766   0.38487723] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-0.578008  -1.3136911] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 5.4918156 -1.7160447] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(94.6264877319336, 65.43695068359375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.301518 2.205198], 4.833834648132324 meters away.)"}
{"file_name": "images/scenario_405_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -4.5) m/s. Its current heading (yaw) is -1.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 8.5 meters away at (5.2, -6.7). A vehicle with ID 45 is 9.8 meters away at (2.7, 9.4). A vehicle with ID 49 is 12.6 meters away at (-2.1, 12.4). A pedestrian with ID 47 is 12.7 meters away at (-10.2, 7.5). A vehicle with ID 48 is 15.8 meters away at (4.7, 15.1). A vehicle with ID 46 is 17.1 meters away at (12.1, -12.0). A vehicle with ID 57 is 20.0 meters away at (-13.9, -14.4). A vehicle with ID 50 is 20.2 meters away at (-2.8, 20.0). A vehicle with ID 56 is 20.3 meters away at (19.6, -5.5). A vehicle with ID 42 is 20.7 meters away at (19.1, -8.0).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [ 9.093912  -2.8872015] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-1.1160318 -2.7045612] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.5305892  0.3704567] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-6.0328956  2.1356494] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(94.6264877319336, 65.43695068359375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.239244 -6.723652], 8.523918151855469 meters away.)"}
{"file_name": "images/scenario_405_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -2.6) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 3.5 meters away at (2.5, 2.4). A vehicle with ID 46 is 5.7 meters away at (3.3, -4.6). A vehicle with ID 14 is 10.8 meters away at (10.6, 2.0). A vehicle with ID 44 is 14.6 meters away at (12.6, -7.5). A vehicle with ID 45 is 17.9 meters away at (-6.2, 16.8). A vehicle with ID 16 is 18.3 meters away at (17.4, -5.8). A vehicle with ID 68 is 19.7 meters away at (17.3, -9.4). A unknown object with ID 24 is 20.5 meters away at (20.5, 0.2). A vehicle with ID 49 is 20.7 meters away at (-12.1, 16.7). A vehicle with ID 48 is 22.8 meters away at (-4.2, 22.4).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.9066182  0.6406152] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [11.052265  -3.5800433] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-0.48195034 -1.2300072 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(94.6264877319336, 65.43695068359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.5214052 2.3786983], 3.4663655757904053 meters away.)"}
{"file_name": "images/scenario_405_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.3) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 3.0 meters away at (-0.0, -3.0). A vehicle with ID 68 is 6.7 meters away at (4.6, -4.9). A vehicle with ID 14 is 6.8 meters away at (-2.1, 6.5). A unknown object with ID 24 is 9.2 meters away at (7.8, 4.8). A vehicle with ID 46 is 9.2 meters away at (-9.2, -0.2). A vehicle with ID 43 is 13.8 meters away at (12.0, -6.9). A vehicle with ID 42 is 14.2 meters away at (-12.0, 7.5). A vehicle with ID 35 is 25.1 meters away at (24.4, 6.1). A vehicle with ID 16 is 28.1 meters away at (26.9, -8.3). A vehicle with ID 45 is 28.6 meters away at (-19.0, 21.4).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-0.64043176  0.10543472] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [11.078739 -3.710214] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(94.6264877319336, 65.43695068359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.02935791 -3.0445461 ], 3.0446877479553223 meters away.)"}
{"file_name": "images/scenario_406_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 3.2) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 5.8 meters away at (5.3, 2.2). A vehicle with ID 74 is 7.0 meters away at (-3.5, -6.0). A vehicle with ID 66 is 12.2 meters away at (-0.1, -12.2). A vehicle with ID 70 is 16.0 meters away at (-13.4, 8.8). A vehicle with ID 60 is 20.0 meters away at (19.7, -3.0). A pedestrian with ID 64 is 21.2 meters away at (8.6, -19.4). A vehicle with ID 65 is 23.0 meters away at (18.7, -13.5). A vehicle with ID 68 is 26.3 meters away at (-24.7, 9.0). A vehicle with ID 76 is 27.8 meters away at (-24.7, 12.8). A pedestrian with ID 61 is 28.1 meters away at (28.1, 0.3).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 9.769239  -3.5353103] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.5905662  -0.26481405] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 9.666901 -3.522334] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-9.103376  3.081377] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.61285615 -0.33061108] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 37.992943  -9.641431]\n [ 38.973087 -10.12169 ]\n [ 36.50764   -8.477267]\n [ 37.64478   -9.476592]]", "nav_goal": "(78.08816528320312, 75.07894897460938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.302244  2.2416725], 5.756638526916504 meters away.)"}
{"file_name": "images/scenario_406_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.1) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 5.6 meters away at (5.1, 2.2). A vehicle with ID 76 is 8.7 meters away at (-6.0, 6.2). A vehicle with ID 45 is 9.6 meters away at (-8.6, -4.4). A vehicle with ID 78 is 13.1 meters away at (8.3, -10.1). A vehicle with ID 63 is 24.4 meters away at (24.0, -4.3). A vehicle with ID 68 is 26.0 meters away at (-24.5, 8.7). A vehicle with ID 66 is 26.3 meters away at (18.5, -18.7). A vehicle with ID 31 is 28.4 meters away at (-28.3, 2.5). A pedestrian with ID 44 is 29.1 meters away at (-22.5, 18.4). A pedestrian with ID 64 is 39.0 meters away at (28.6, -26.5).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 9.504394  -3.2197685] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 9.229282 -3.220704] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-9.042282   3.0455773] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 8.393053  -2.8536534] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.0267999   0.00035331] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.5461917 -0.2361013] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(78.08816528320312, 75.07894897460938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.1198616 2.231082 ], 5.584864139556885 meters away.)"}
{"file_name": "images/scenario_406_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 2.5) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 9.4 meters away at (-8.3, -4.5). A vehicle with ID 76 is 11.3 meters away at (11.3, 0.2). A vehicle with ID 31 is 11.6 meters away at (6.7, -9.5). A pedestrian with ID 44 is 13.3 meters away at (-5.1, 12.4). A vehicle with ID 70 is 22.9 meters away at (22.6, -3.8). A cyclist with ID 33 is 25.0 meters away at (-23.5, -8.3). A vehicle with ID 68 is 26.3 meters away at (-24.9, 8.7). A vehicle with ID 45 is 33.0 meters away at (28.3, -17.1). A vehicle with ID 69 is 39.8 meters away at (37.4, -13.8). A pedestrian with ID 23 is 40.6 meters away at (-40.6, -1.3).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [ 8.550348 -3.024824] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 8.99467   -3.1058164] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.02510507 -0.0030138 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-0.04590921 -0.07001443] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-9.114851  3.012685] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 9.407811  -3.1835928] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-8.508647  2.992841] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.92005205 -0.36426818] m/s.", "light_description": "There are active red lights at the following coordinates: [[-75.44185   16.75863 ]\n [-72.15089   27.774183]\n [-78.40089   18.913088]\n [-79.78541   19.157299]]", "nav_goal": "(78.08816528320312, 75.07894897460938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.256752  -4.5119505], 9.409125328063965 meters away.)"}
{"file_name": "images/scenario_406_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 3.4) m/s. Its current heading (yaw) is 2.50 ", "actor_description": " The most relevant actors are: A pedestrian with ID 44 is 10.3 meters away at (7.4, 7.2). A vehicle with ID 13 is 11.1 meters away at (-9.9, -5.2). A cyclist with ID 33 is 17.5 meters away at (-10.9, -13.7). A vehicle with ID 76 is 24.3 meters away at (23.9, -4.8). A vehicle with ID 16 is 26.8 meters away at (21.8, -15.6). A pedestrian with ID 23 is 27.0 meters away at (-26.0, -7.4). A pedestrian with ID 22 is 27.4 meters away at (-26.2, -8.2). A vehicle with ID 5 is 27.4 meters away at (2.9, 27.3). A pedestrian with ID 47 is 29.5 meters away at (-27.5, -10.8). A vehicle with ID 28 is 31.4 meters away at (-18.2, -25.6).", "velocity_description": "The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.00045383 0.01411996] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 9.544657  -3.2560244] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [ 0.05399284 -0.04589112] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 9.145364  -3.1036556] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.111425  -0.5191351] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.2392769 -0.5791764] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.10852126 -0.9347855 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-75.44185   16.75863 ]\n [-78.40089   18.913088]\n [-79.78541   19.157299]]", "nav_goal": "(78.08816528320312, 75.07894897460938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [7.390106 7.183077], 10.30583667755127 meters away.)"}
{"file_name": "images/scenario_407_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.3) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 10.6 meters away at (-9.5, -4.6). A pedestrian with ID 12 is 13.5 meters away at (-9.1, 10.0). A pedestrian with ID 13 is 14.0 meters away at (-9.0, 10.8). A pedestrian with ID 11 is 15.9 meters away at (-11.8, 10.7). A pedestrian with ID 18 is 18.3 meters away at (3.3, 18.0). A pedestrian with ID 10 is 21.1 meters away at (-17.5, 11.8). A vehicle with ID 16 is 27.0 meters away at (-16.7, 21.3). A vehicle with ID 15 is 30.1 meters away at (-27.4, -12.3). A vehicle with ID 17 is 38.1 meters away at (-33.2, -18.6). A unknown object with ID 5 is 41.7 meters away at (40.8, -8.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.4744655  -0.02088372] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.4580415  0.01084869] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.3711951  -0.23147278] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.55598384  0.8502494 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.3488158   0.65099955] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.2900338 -5.0815544] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.760131 -6.384847] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.955467    -6.6982746 ]\n [ -7.6285644    3.2160566 ]\n [ -7.4084134    3.104925  ]\n [ -7.5114784    3.436943  ]\n [-38.370945     0.35216415]\n [ -5.003122    -6.7983756 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-9.522795  -4.6222677], 10.585318565368652 meters away.)"}
{"file_name": "images/scenario_407_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -3.4) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 24.9 meters away at (24.8, -1.7). A vehicle with ID 14 is 25.5 meters away at (-25.4, 2.3). A pedestrian with ID 12 is 28.1 meters away at (-22.2, 17.2). A pedestrian with ID 18 is 28.4 meters away at (-13.6, 24.9). A pedestrian with ID 13 is 28.7 meters away at (-22.3, 18.1). A pedestrian with ID 11 is 30.5 meters away at (-25.2, 17.2). A pedestrian with ID 10 is 41.3 meters away at (-36.2, 20.0). A vehicle with ID 16 is 43.1 meters away at (-32.8, 27.9). A vehicle with ID 15 is 51.1 meters away at (-48.5, -16.2). A vehicle with ID 17 is 61.5 meters away at (-55.5, -26.5).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.3258616  0.20804203] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.19796881 -0.23874271] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.27335    0.21396483] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.2999624  -0.05749379] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.3690809   0.75597507] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.774671 -5.810764] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-3.3583858 -8.097987 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.955467    -6.6982746 ]\n [ -7.6285644    3.2160566 ]\n [ -7.4084134    3.104925  ]\n [ -7.5114784    3.436943  ]\n [-16.391466     3.3555465 ]\n [-38.370945     0.35216415]\n [ -5.003122    -6.7983756 ]\n [-18.185078     0.3900008 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [24.838066  -1.6720734], 24.894283294677734 meters away.)"}
{"file_name": "images/scenario_407_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -3.4) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 10.0 meters away at (8.6, 5.1). A unknown object with ID 9 is 11.9 meters away at (11.3, 3.9). A vehicle with ID 14 is 42.5 meters away at (-41.5, 9.0). A pedestrian with ID 12 is 43.2 meters away at (-35.4, 24.8). A pedestrian with ID 13 is 44.0 meters away at (-35.8, 25.6). A pedestrian with ID 11 is 45.6 meters away at (-38.8, 24.1). A vehicle with ID 16 is 60.0 meters away at (-48.9, 34.7). A pedestrian with ID 10 is 61.6 meters away at (-54.6, 28.3). A vehicle with ID 32 is 67.7 meters away at (-65.4, 17.5). A vehicle with ID 19 is 78.9 meters away at (-78.1, 11.1).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.2701356  0.37073568] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.2376595  0.36961403] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3602262  0.39415172] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.2446915  0.7138704] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 2.9315472 -4.9856877] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.39528993  1.0268458 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.955467    -6.6982746 ]\n [ -7.6285644    3.2160566 ]\n [ -7.4084134    3.104925  ]\n [ -7.5114784    3.436943  ]\n [-38.370945     0.35216415]\n [ -5.003122    -6.7983756 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [8.626915  5.0728064], 10.007848739624023 meters away.)"}
{"file_name": "images/scenario_407_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.3) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 11.6 meters away at (-4.7, 10.7). A unknown object with ID 5 is 13.9 meters away at (-7.4, 11.7). A pedestrian with ID 12 is 57.7 meters away at (-48.5, 31.3). A pedestrian with ID 13 is 58.5 meters away at (-48.7, 32.3). A pedestrian with ID 11 is 60.5 meters away at (-52.1, 30.9). A vehicle with ID 14 is 61.6 meters away at (-59.4, 16.5). A pedestrian with ID 2 is 76.3 meters away at (63.4, -42.5). A pedestrian with ID 3 is 77.0 meters away at (64.1, -42.6). A vehicle with ID 32 is 79.9 meters away at (-78.8, 13.0). A pedestrian with ID 10 is 81.6 meters away at (-73.2, 36.2).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.4250453  -0.25215596] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.4190526  -0.24370816] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.3928027  -0.12980363] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.9638335   0.87063515] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.42324236 1.0916972 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.43968645 1.1518656 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 0.11523052 -6.046374  ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.1926622   0.54880154] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-4.6663246 10.656431 ], 11.633318901062012 meters away.)"}
{"file_name": "images/scenario_408_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.7) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 5.7 meters away at (5.3, 2.1). A unknown object with ID 19 is 13.0 meters away at (10.1, 8.0). A vehicle with ID 16 is 13.7 meters away at (6.4, 12.1). A pedestrian with ID 18 is 13.8 meters away at (11.5, 7.6). A vehicle with ID 17 is 24.5 meters away at (-8.9, -22.8). A pedestrian with ID 25 is 44.7 meters away at (16.2, 41.6). A vehicle with ID 27 is 47.9 meters away at (-26.6, -39.8). A vehicle with ID 26 is 59.3 meters away at (-11.1, -58.3). A vehicle with ID 24 is 69.8 meters away at (-8.5, 69.2). A vehicle with ID 12 is 73.1 meters away at (-33.5, -65.0).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.96553814 -2.3923163 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.17888369 1.3521937 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -0.9287808 -13.402615 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.32242215 0.9265083 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [1.0870373 7.837531 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.6025552 -9.303009 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [  3.0071988 -13.087413 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [4.007694  6.8807344] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.54105377197266, -245.17579650878906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.2608027 2.120552 ], 5.67210578918457 meters away.)"}
{"file_name": "images/scenario_408_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 6.2 meters away at (5.6, 2.6). A vehicle with ID 16 is 9.8 meters away at (5.0, 8.4). A pedestrian with ID 18 is 16.3 meters away at (12.2, 10.8). A vehicle with ID 27 is 32.6 meters away at (-23.6, -22.6). A vehicle with ID 24 is 43.5 meters away at (-4.6, 43.3). A vehicle with ID 17 is 50.2 meters away at (-10.4, -49.1). A vehicle with ID 26 is 76.9 meters away at (-11.3, -76.1).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.62424225 -1.3525195 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.17770036 1.5077193 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [1.5943617 8.837247 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [  0.52327085 -13.214082  ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -0.99001575 -13.470416  ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.12862727 -9.003142  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.54105377197266, -245.17579650878906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.63165   2.6205156], 6.211488246917725 meters away.)"}
{"file_name": "images/scenario_408_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 6.6 meters away at (5.9, 2.9). A vehicle with ID 16 is 8.6 meters away at (4.5, 7.3). A unknown object with ID 7 is 14.1 meters away at (13.4, 4.5). A vehicle with ID 24 is 17.7 meters away at (-5.3, 16.9). A pedestrian with ID 18 is 18.6 meters away at (12.6, 13.7). A vehicle with ID 27 is 21.1 meters away at (-20.5, -4.9). A vehicle with ID 11 is 36.5 meters away at (-20.7, -30.0). A vehicle with ID 17 is 76.3 meters away at (-11.9, -75.4).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.18915011 -0.36535826] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ -0.97035706 -13.927329  ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00463205  1.258211  ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.9884852 8.91014  ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.6616555 10.156376 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -0.26668775 -13.091412  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.54105377197266, -245.17579650878906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.870572 2.908771], 6.5516839027404785 meters away.)"}
{"file_name": "images/scenario_408_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.7) m/s. Its current heading (yaw) is -2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 7.2 meters away at (6.4, 3.5). A vehicle with ID 16 is 8.7 meters away at (4.7, 7.4). A vehicle with ID 24 is 12.8 meters away at (-6.9, -10.8). A unknown object with ID 14 is 14.6 meters away at (11.2, 9.4). A unknown object with ID 7 is 14.7 meters away at (13.8, 5.0). A vehicle with ID 11 is 19.3 meters away at (-17.2, -8.8). A pedestrian with ID 18 is 21.4 meters away at (13.2, 16.8). A vehicle with ID 27 is 22.7 meters away at (-18.4, 13.4). A pedestrian with ID 23 is 47.0 meters away at (16.7, 43.9).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.15673618 -0.28404143] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ -1.0172285 -14.294694 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.5472466 10.046667 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.08494774 1.4701651 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.7664628 9.024096 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.11856204 -1.2476306 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.54105377197266, -245.17579650878906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.354333  3.4507513], 7.2308526039123535 meters away.)"}
{"file_name": "images/scenario_409_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, -9.8) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 9.3 meters away at (-7.9, -4.9). A vehicle with ID 6 is 19.4 meters away at (7.1, 18.0). A vehicle with ID 35 is 29.4 meters away at (-19.5, -22.0). A vehicle with ID 39 is 31.8 meters away at (-5.2, 31.3). A vehicle with ID 34 is 34.7 meters away at (22.3, 26.6). A vehicle with ID 18 is 39.4 meters away at (-36.8, -14.0). A vehicle with ID 11 is 41.4 meters away at (-26.6, -31.8). A vehicle with ID 7 is 43.0 meters away at (20.9, 37.6). A unknown object with ID 38 is 51.6 meters away at (51.3, 5.5). A vehicle with ID 37 is 57.6 meters away at (16.5, 55.2).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ -9.091611 -13.325794] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ -8.007257 -13.037734] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ -8.939757 -12.060831] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 9.783051 17.44028 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 8.54826  12.434843] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ -8.662322 -12.070261] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -6.574626 -12.943527] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.737759 41.5927  ]]", "nav_goal": "(-73.51017761230469, -238.35397338867188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.9309664 -4.9363728], 9.341734886169434 meters away.)"}
{"file_name": "images/scenario_409_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, -9.2) m/s. Its current heading (yaw) is -2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 12.6 meters away at (4.0, 11.9). A vehicle with ID 15 is 16.1 meters away at (-14.1, 7.9). A vehicle with ID 5 is 17.5 meters away at (-12.6, -12.1). A vehicle with ID 27 is 19.8 meters away at (-17.0, 10.2). A vehicle with ID 30 is 29.5 meters away at (-27.7, -10.0). A vehicle with ID 18 is 30.8 meters away at (-6.7, 30.0). A vehicle with ID 35 is 36.0 meters away at (-24.2, -26.7). A vehicle with ID 31 is 36.5 meters away at (-34.0, -13.1). A vehicle with ID 7 is 37.6 meters away at (20.5, 31.5). A vehicle with ID 11 is 47.0 meters away at (-30.2, -36.0).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ -8.831587 -12.461382] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [11.046742 15.374283] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -8.984682 -13.333322] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 8.830686 12.440773] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [11.08722  15.266159] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 8.057474 12.573497] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ -9.308543 -12.205357] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 8.64674  11.453634] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -7.37575 -12.30338] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ -8.377561 -11.325406] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.737759 41.5927  ]]", "nav_goal": "(-73.51017761230469, -238.35397338867188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.9666061 11.93322  ], 12.575201988220215 meters away.)"}
{"file_name": "images/scenario_409_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, -9.2) m/s. Its current heading (yaw) is -2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 5.4 meters away at (-0.5, 5.4). A vehicle with ID 16 is 18.4 meters away at (-18.2, 2.6). A vehicle with ID 17 is 22.7 meters away at (-22.6, 1.5). A vehicle with ID 5 is 26.5 meters away at (-16.6, -20.7). A vehicle with ID 31 is 28.4 meters away at (-2.9, 28.3). A vehicle with ID 7 is 31.5 meters away at (18.6, 25.4). A vehicle with ID 22 is 35.7 meters away at (-34.7, -8.2). A vehicle with ID 10 is 39.1 meters away at (20.2, 33.4). A vehicle with ID 30 is 39.3 meters away at (8.0, 38.5). A vehicle with ID 35 is 43.9 meters away at (-29.1, -32.9).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ -9.232478 -12.257933] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [12.662392 17.288752] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 9.722647 13.433155] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -9.068226 -13.279367] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 8.550717 11.783443] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -8.457478 -11.77333 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [6.479415 8.841724] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-10.078642 -14.53306 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [10.635646 15.075605] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ -9.340514 -12.107721] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-73.51017761230469, -238.35397338867188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.53653336  5.3924522 ], 5.419078350067139 meters away.)"}
{"file_name": "images/scenario_409_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, -9.5) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 4.5 meters away at (-4.5, -0.1). A vehicle with ID 25 is 20.2 meters away at (-19.9, 3.6). A vehicle with ID 7 is 26.6 meters away at (15.8, 21.4). A vehicle with ID 10 is 27.3 meters away at (13.4, 23.8). A vehicle with ID 22 is 29.3 meters away at (-7.3, 28.4). A vehicle with ID 5 is 35.0 meters away at (-20.3, -28.4). A vehicle with ID 17 is 47.5 meters away at (10.8, 46.3). A vehicle with ID 35 is 50.5 meters away at (-32.9, -38.3). A vehicle with ID 12 is 50.5 meters away at (30.5, 40.3). A vehicle with ID 11 is 55.8 meters away at (-33.9, -44.4).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ -9.01386  -12.301812] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [11.09738  15.209828] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -8.2047415 -11.070172 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-10.544382 -13.861402] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [6.9392447 9.299054 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -8.660978 -13.323549] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 9.550673 12.863731] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ -9.0514555 -12.568325 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ -8.493638 -11.46088 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ -7.6128006 -11.803509 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-73.51017761230469, -238.35397338867188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.4636307  -0.05882263], 4.46401834487915 meters away.)"}
{"file_name": "images/scenario_410_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.9) m/s. Its current heading (yaw) is -1.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 9.7 meters away at (-9.2, 3.1). A pedestrian with ID 17 is 10.5 meters away at (5.3, 9.1). A vehicle with ID 3 is 13.4 meters away at (-2.3, 13.2). A vehicle with ID 20 is 14.5 meters away at (-13.1, 6.0). A unknown object with ID 22 is 43.3 meters away at (-25.3, 35.1). A vehicle with ID 21 is 43.6 meters away at (2.5, 43.5). A vehicle with ID 23 is 46.3 meters away at (-0.5, 46.3). A vehicle with ID 19 is 47.2 meters away at (3.4, -47.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.16249634 -1.0581478 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 1.8065743 -3.5816522] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.01932531 -3.000517  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.919185     7.6828437 ]\n [ -8.510779     7.5658965 ]\n [  3.6307273   23.605444  ]\n [  0.26584232  23.59602   ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.225523   3.0670562], 9.721990585327148 meters away.)"}
{"file_name": "images/scenario_410_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -5.6) m/s. Its current heading (yaw) is -1.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 15.9 meters away at (0.5, 15.9). A vehicle with ID 18 is 16.0 meters away at (-8.4, 13.7). A cyclist with ID 16 is 18.7 meters away at (6.3, 17.6). A pedestrian with ID 17 is 18.7 meters away at (6.5, 17.5). A vehicle with ID 20 is 20.6 meters away at (-12.2, 16.6). A vehicle with ID 19 is 36.7 meters away at (4.2, -36.5). A vehicle with ID 23 is 53.3 meters away at (0.5, 53.3).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.27923146 -4.470846  ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [ 0.18383855 -1.223129  ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.14894417 -1.2534604 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.07453787 -0.49107432] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.919185     7.6828437 ]\n [ -8.510779     7.5658965 ]\n [  3.6307273   23.605444  ]\n [  0.26584232  23.59602   ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.51389  15.905462], 15.913762092590332 meters away.)"}
{"file_name": "images/scenario_410_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -5.3) m/s. Its current heading (yaw) is -1.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 17.0 meters away at (1.6, 16.9). A vehicle with ID 18 is 25.5 meters away at (-7.1, 24.5). A vehicle with ID 19 is 26.3 meters away at (5.4, -25.7). A pedestrian with ID 17 is 27.6 meters away at (8.4, 26.3). A cyclist with ID 16 is 27.7 meters away at (8.5, 26.4). A vehicle with ID 20 is 29.5 meters away at (-10.9, 27.4). A vehicle with ID 23 is 63.9 meters away at (1.8, 63.8). A vehicle with ID 7 is 65.2 meters away at (4.9, 65.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.17628   -5.5862694] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.26413167 -1.1598723 ] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [ 0.4890201 -1.0843513] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.919185     7.6828437 ]\n [ -8.510779     7.5658965 ]\n [  3.6307273   23.605444  ]\n [  0.26584232  23.59602   ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.5911778 16.878696 ], 16.95353126525879 meters away.)"}
{"file_name": "images/scenario_410_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -5.3) m/s. Its current heading (yaw) is -1.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 16.2 meters away at (2.6, 16.0). A vehicle with ID 19 is 16.5 meters away at (6.6, -15.1). A pedestrian with ID 11 is 17.5 meters away at (17.3, -2.2). A pedestrian with ID 14 is 25.0 meters away at (-16.3, 19.0). A vehicle with ID 18 is 35.6 meters away at (-5.8, 35.1). A pedestrian with ID 17 is 36.9 meters away at (10.1, 35.4). A pedestrian with ID 2 is 39.0 meters away at (9.9, -37.7). A vehicle with ID 20 is 39.3 meters away at (-9.6, 38.1). A vehicle with ID 23 is 74.5 meters away at (3.1, 74.5). A vehicle with ID 7 is 75.9 meters away at (6.2, 75.6).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.08492103 -5.8275704 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.00080142 0.00015114] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.0010205  0.01465497] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.10437503 -0.6471145 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.09381812 -1.0620297 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.919185     7.6828437 ]\n [ -8.510779     7.5658965 ]\n [  3.6307273   23.605444  ]\n [  0.26584232  23.59602   ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.565889 16.020472], 16.224651336669922 meters away.)"}
{"file_name": "images/scenario_411_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 1.7) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 69 is 21.4 meters away at (-21.2, -3.4). A vehicle with ID 64 is 21.6 meters away at (11.3, -18.4). A pedestrian with ID 71 is 23.0 meters away at (-22.5, -4.7). A pedestrian with ID 72 is 23.0 meters away at (-22.7, -3.6). A vehicle with ID 70 is 25.3 meters away at (-22.3, -11.8). A vehicle with ID 62 is 26.4 meters away at (-25.6, 6.4). A pedestrian with ID 51 is 26.5 meters away at (-10.3, -24.4). A pedestrian with ID 43 is 27.5 meters away at (-10.9, -25.3). A vehicle with ID 63 is 28.0 meters away at (-16.6, -22.5). A unknown object with ID 75 is 28.6 meters away at (-19.4, 21.0).", "velocity_description": "The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.1723201 -0.519228 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.1511772  -0.30844983] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.0493933 -0.3814939] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0.02478297 0.81258017] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 2.605157  -1.7763877] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [0.18324913 1.4525802 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.11272678 1.4245076 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.70909    -7.0897427]\n [-20.140923   -6.95033  ]\n [-19.330116   -7.269625 ]\n [-20.754377   -6.8192425]]", "nav_goal": "(-248.0717315673828, 166.88003540039062)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-21.151314   -3.4380808], 21.428916931152344 meters away.)"}
{"file_name": "images/scenario_411_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 0.3) m/s. Its current heading (yaw) is 2.97 ", "actor_description": " The most relevant actors are: A pedestrian with ID 69 is 15.4 meters away at (-13.9, -6.8). A pedestrian with ID 72 is 16.7 meters away at (-15.2, -7.0). A pedestrian with ID 71 is 17.0 meters away at (-15.0, -8.0). A vehicle with ID 62 is 17.6 meters away at (-17.4, 2.1). A vehicle with ID 70 is 21.2 meters away at (-17.2, -12.5). A unknown object with ID 75 is 23.8 meters away at (-14.3, 19.0). A pedestrian with ID 51 is 24.1 meters away at (-5.3, -23.6). A pedestrian with ID 43 is 25.3 meters away at (-5.8, -24.6). A pedestrian with ID 52 is 25.3 meters away at (-25.3, 1.3). A pedestrian with ID 80 is 25.9 meters away at (-25.9, 0.4).", "velocity_description": "The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.98036   -0.7715556] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.170524  -0.7523691] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.2470263  -0.73207057] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 1.1120102 -1.0125375] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0.04200466 0.58588123] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [0.09901365 1.5145816 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.12602238 1.4797541 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.6605278   0.09544151] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 1.1735607 -0.6934742] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.70909    -7.0897427]\n [-20.140923   -6.95033  ]\n [-19.330116   -7.269625 ]\n [-20.754377   -6.8192425]]", "nav_goal": "(-248.0717315673828, 166.88003540039062)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-13.88596    -6.7639427], 15.4457368850708 meters away.)"}
{"file_name": "images/scenario_411_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -0.1) m/s. Its current heading (yaw) is -3.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 69 is 12.2 meters away at (-8.9, -8.4). A vehicle with ID 62 is 12.9 meters away at (-12.9, -0.2). A pedestrian with ID 72 is 13.1 meters away at (-9.9, -8.6). A pedestrian with ID 71 is 13.6 meters away at (-9.7, -9.6). A vehicle with ID 70 is 18.9 meters away at (-14.3, -12.4). A pedestrian with ID 51 is 20.7 meters away at (-2.8, -20.5). A pedestrian with ID 80 is 20.9 meters away at (-20.8, -1.2). A unknown object with ID 32 is 21.2 meters away at (-20.9, 3.7). A pedestrian with ID 81 is 21.6 meters away at (-21.5, -2.0). A pedestrian with ID 43 is 21.7 meters away at (-3.2, -21.4).", "velocity_description": "The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.2269036  -0.64643955] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.8906835 -1.4616965] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.2605989  -0.70419085] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.2013909 -0.7453484] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.5026762  1.4327344] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 1.142828  -0.7715521] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.1095299  -0.78116614] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.40206376  1.4463311 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.70909    -7.0897427]\n [-20.140923   -6.95033  ]\n [-19.330116   -7.269625 ]\n [-20.754377   -6.8192425]]", "nav_goal": "(-248.0717315673828, 166.88003540039062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-8.936842 -8.374048], 12.247115135192871 meters away.)"}
{"file_name": "images/scenario_411_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -0.9) m/s. Its current heading (yaw) is -2.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 9.2 meters away at (-8.0, -4.5). A pedestrian with ID 69 is 9.3 meters away at (-3.4, -8.6). A pedestrian with ID 72 is 10.0 meters away at (-4.4, -8.9). A pedestrian with ID 71 is 10.9 meters away at (-4.4, -10.0). A pedestrian with ID 80 is 15.3 meters away at (-15.2, -1.6). A pedestrian with ID 81 is 16.3 meters away at (-16.1, -2.4). A pedestrian with ID 51 is 17.0 meters away at (-1.2, -17.0). A vehicle with ID 70 is 17.0 meters away at (-11.5, -12.6). A pedestrian with ID 43 is 17.9 meters away at (-1.3, -17.9). A unknown object with ID 32 is 18.3 meters away at (-17.7, 4.7).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.3790327 -3.5598636] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.1253443  -0.68840617] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.0887439 -0.7080976] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.1102568  -0.71621794] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 1.2197078  -0.74156326] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.0838517 -0.6871882] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.82061774  1.3643309 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [-0.09287738 -0.42554656] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.8751168  1.3342606] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.70909    -7.0897427]\n [-20.140923   -6.95033  ]\n [-19.330116   -7.269625 ]\n [-20.754377   -6.8192425]]", "nav_goal": "(-248.0717315673828, 166.88003540039062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.994356  -4.4552455], 9.15199089050293 meters away.)"}
{"file_name": "images/scenario_412_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 9.6) m/s. Its current heading (yaw) is 1.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 39.1 meters away at (21.3, -32.8). A vehicle with ID 5 is 39.4 meters away at (13.5, -37.0). A vehicle with ID 7 is 59.9 meters away at (25.7, -54.1).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-48.80421447753906, 243.2777557373047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 21.297318 -32.82858 ], 39.131717681884766 meters away.)"}
{"file_name": "images/scenario_412_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 9.8) m/s. Its current heading (yaw) is 1.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 37.2 meters away at (-2.1, -37.1). A vehicle with ID 6 is 57.6 meters away at (24.3, -52.3). A vehicle with ID 5 is 58.8 meters away at (16.7, -56.3). A vehicle with ID 7 is 79.0 meters away at (28.7, -73.6).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 41.787846 105.61814 ]]", "nav_goal": "(-48.80421447753906, 243.2777557373047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -2.087059 -37.14517 ], 37.20375442504883 meters away.)"}
{"file_name": "images/scenario_412_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 8.8) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 58.9 meters away at (41.2, 42.0). A vehicle with ID 5 is 76.4 meters away at (13.4, -75.2).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 41.787846 105.61814 ]]", "nav_goal": "(-48.80421447753906, 243.2777557373047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [41.2017   42.033367], 58.85901641845703 meters away.)"}
{"file_name": "images/scenario_412_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.7) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 41.7 meters away at (32.5, 26.2).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 41.787846 105.61814 ]]", "nav_goal": "(-48.80421447753906, 243.2777557373047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [32.486374 26.210052], 41.741241455078125 meters away.)"}
{"file_name": "images/scenario_413_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 2.2) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 12.4 meters away at (-9.4, 8.1). A unknown object with ID 32 is 13.5 meters away at (0.9, 13.4). A vehicle with ID 35 is 14.7 meters away at (9.2, 11.5). A vehicle with ID 39 is 15.2 meters away at (-11.7, 9.6). A vehicle with ID 44 is 17.2 meters away at (-17.2, -1.5). A vehicle with ID 42 is 18.5 meters away at (-9.8, 15.6). A vehicle with ID 47 is 19.2 meters away at (-19.2, 0.1). A vehicle with ID 37 is 20.3 meters away at (3.4, 20.0). A vehicle with ID 40 is 21.5 meters away at (1.3, 21.5). A vehicle with ID 49 is 22.0 meters away at (11.6, 18.7).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.121267 26.288437]\n [23.77827  24.04396 ]\n [23.783781 23.008045]]", "nav_goal": "(195.1620635986328, 206.35861206054688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.376466  8.062822], 12.366374015808105 meters away.)"}
{"file_name": "images/scenario_413_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 0.8) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 10.3 meters away at (-1.8, 10.2). A vehicle with ID 35 is 10.4 meters away at (6.6, 8.1). A vehicle with ID 34 is 13.0 meters away at (-12.1, 4.8). A vehicle with ID 39 is 15.9 meters away at (-14.6, 6.3). A vehicle with ID 37 is 16.7 meters away at (0.7, 16.7). A vehicle with ID 42 is 17.6 meters away at (-12.5, 12.5). A vehicle with ID 49 is 17.8 meters away at (8.9, 15.4). A vehicle with ID 40 is 18.2 meters away at (-1.4, 18.1). A vehicle with ID 45 is 19.7 meters away at (-3.7, 19.3). A vehicle with ID 44 is 20.5 meters away at (-19.9, -4.8).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.121267 26.288437]\n [23.77827  24.04396 ]\n [23.783781 23.008045]]", "nav_goal": "(195.1620635986328, 206.35861206054688)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.7672663 10.163105 ], 10.3156156539917 meters away.)"}
{"file_name": "images/scenario_413_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 4.3 meters away at (4.2, -1.2). A vehicle with ID 35 is 9.9 meters away at (6.2, 7.7). A unknown object with ID 32 is 10.0 meters away at (-2.1, 9.7). A vehicle with ID 34 is 13.2 meters away at (-12.5, 4.3). A vehicle with ID 39 is 16.1 meters away at (-15.0, 5.9). A vehicle with ID 37 is 16.3 meters away at (0.3, 16.3). A vehicle with ID 49 is 17.2 meters away at (8.5, 14.9). A vehicle with ID 42 is 17.6 meters away at (-12.8, 12.1). A vehicle with ID 40 is 17.8 meters away at (-1.8, 17.7). A vehicle with ID 45 is 19.3 meters away at (-4.1, 18.8).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.121267 26.288437]\n [23.77827  24.04396 ]\n [23.783781 23.008045]]", "nav_goal": "(195.1620635986328, 206.35861206054688)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 4.167736  -1.1913462], 4.3346662521362305 meters away.)"}
{"file_name": "images/scenario_413_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 4.3 meters away at (4.1, -1.3). A vehicle with ID 35 is 9.9 meters away at (6.2, 7.6). A unknown object with ID 32 is 9.9 meters away at (-2.2, 9.7). A vehicle with ID 34 is 13.2 meters away at (-12.5, 4.3). A vehicle with ID 39 is 16.1 meters away at (-15.0, 5.9). A vehicle with ID 37 is 16.3 meters away at (0.3, 16.3). A vehicle with ID 49 is 17.1 meters away at (8.5, 14.9). A vehicle with ID 42 is 17.6 meters away at (-12.9, 12.0). A vehicle with ID 40 is 17.7 meters away at (-1.8, 17.6). A vehicle with ID 45 is 19.2 meters away at (-4.1, 18.8).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.121267 26.288437]\n [22.007988 34.85618 ]\n [23.77827  24.04396 ]\n [23.783781 23.008045]]", "nav_goal": "(195.1620635986328, 206.35861206054688)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 4.130933  -1.2679272], 4.321139335632324 meters away.)"}
{"file_name": "images/scenario_414_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 4.1) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 22.3 meters away at (-18.6, -12.4). A pedestrian with ID 12 is 28.0 meters away at (-25.3, 12.0). A vehicle with ID 13 is 28.2 meters away at (-18.5, 21.3). A pedestrian with ID 11 is 28.4 meters away at (-25.2, 13.2). A unknown object with ID 41 is 30.7 meters away at (-19.8, -23.4). A vehicle with ID 9 is 47.6 meters away at (-47.2, -5.6). A vehicle with ID 44 is 50.2 meters away at (-21.9, -45.2). A vehicle with ID 46 is 55.0 meters away at (-32.5, -44.3). A unknown object with ID 18 is 61.0 meters away at (3.8, -60.8). A vehicle with ID 48 is 61.7 meters away at (-29.6, -54.1).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.9860538  0.8587259] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.9984237   0.96599174] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-18.580326 -12.365915], 22.319149017333984 meters away.)"}
{"file_name": "images/scenario_414_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.3) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 15.8 meters away at (-8.9, 13.0). A pedestrian with ID 12 is 18.4 meters away at (-17.6, 5.5). A pedestrian with ID 11 is 18.8 meters away at (-17.5, 6.7). A vehicle with ID 27 is 33.0 meters away at (-21.7, -24.9). A pedestrian with ID 17 is 36.9 meters away at (-33.4, -15.8). A vehicle with ID 9 is 40.1 meters away at (-37.6, -14.0). A pedestrian with ID 32 is 40.3 meters away at (-36.6, -16.8). A vehicle with ID 44 is 55.5 meters away at (-12.9, -54.0). A unknown object with ID 4 is 65.2 meters away at (-47.3, 44.8). A vehicle with ID 48 is 65.2 meters away at (-19.8, -62.2).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.96784407  0.8778121 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.9324863  0.836061 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.7210216 -0.4203541] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.68554026 -0.3803061 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.875896 13.018515], 15.756372451782227 meters away.)"}
{"file_name": "images/scenario_414_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 4.4) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 4.6 meters away at (1.0, 4.5). A pedestrian with ID 11 is 9.3 meters away at (-9.3, 0.1). A pedestrian with ID 12 is 9.4 meters away at (-9.3, -1.5). A vehicle with ID 14 is 35.1 meters away at (-23.9, -25.7). A vehicle with ID 9 is 35.7 meters away at (-27.7, -22.5). A vehicle with ID 27 is 36.0 meters away at (-12.1, -33.8). A pedestrian with ID 32 is 36.6 meters away at (-26.2, -25.5). A pedestrian with ID 21 is 43.6 meters away at (2.4, -43.6). A vehicle with ID 15 is 44.6 meters away at (-43.8, -8.4). A unknown object with ID 22 is 45.7 meters away at (-45.7, 1.8).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.87096345  0.97968227] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.7951058  0.8176001] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.16294846 -0.00125196] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.9998208 0.4174756] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.9797764 4.5252113], 4.630064487457275 meters away.)"}
{"file_name": "images/scenario_414_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 4.4) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 6.8 meters away at (-0.7, -6.8). A pedestrian with ID 12 is 8.7 meters away at (-0.8, -8.7). A vehicle with ID 13 is 11.8 meters away at (11.0, -4.1). A vehicle with ID 25 is 24.8 meters away at (-5.4, 24.2). A vehicle with ID 8 is 34.6 meters away at (-32.4, -12.2). A vehicle with ID 9 is 35.8 meters away at (-17.5, -31.2). A unknown object with ID 4 is 38.7 meters away at (-27.2, 27.5). A unknown object with ID 33 is 40.5 meters away at (-28.6, 28.7). A vehicle with ID 1 is 50.1 meters away at (-35.2, 35.6). A vehicle with ID 3 is 55.4 meters away at (-46.5, 30.1).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.75444627  0.69869846] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.832754   0.8821833] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-0.67245865 -6.782694  ], 6.815947532653809 meters away.)"}
{"file_name": "images/scenario_415_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.7) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 5.5 meters away at (5.5, 0.7). A vehicle with ID 68 is 10.4 meters away at (9.9, -3.2). A vehicle with ID 83 is 11.0 meters away at (1.7, -10.9). A vehicle with ID 88 is 19.9 meters away at (-19.0, 6.2). A vehicle with ID 67 is 23.2 meters away at (19.9, -11.8). A vehicle with ID 72 is 25.7 meters away at (2.1, -25.6). A vehicle with ID 73 is 28.5 meters away at (16.6, -23.2). A vehicle with ID 86 is 31.7 meters away at (-21.2, 23.5). A pedestrian with ID 87 is 33.8 meters away at (-32.7, 8.7). A vehicle with ID 17 is 34.1 meters away at (25.9, -22.1).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [10.756606 -8.975706] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 9.580815 -8.139629] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [10.806256 -9.320388] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.00117908 -0.00102836] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.4281783  5.443609 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-57.588326  48.584835]\n [-55.122883  46.940414]\n [-56.451187  47.58551 ]\n [-56.103027  47.420673]]", "nav_goal": "(-134.3941650390625, 186.84149169921875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.5062466  0.66342545], 5.546069145202637 meters away.)"}
{"file_name": "images/scenario_415_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.4) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 11.3 meters away at (-11.3, -0.6). A vehicle with ID 86 is 14.8 meters away at (-8.1, 12.4). A pedestrian with ID 87 is 19.8 meters away at (-19.6, -2.5). A vehicle with ID 70 is 21.4 meters away at (18.5, -10.6). A vehicle with ID 88 is 27.1 meters away at (14.6, -22.9). A vehicle with ID 68 is 27.2 meters away at (23.0, -14.5). A vehicle with ID 84 is 32.8 meters away at (-30.2, 12.7). A vehicle with ID 17 is 33.9 meters away at (25.7, -22.1). A vehicle with ID 21 is 39.1 meters away at (-32.3, 22.0). A vehicle with ID 72 is 39.9 meters away at (15.2, -36.9).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [ 9.246694 -6.977395] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.002601   -0.01077928] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [10.9833975 -9.658918 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-5.4109554 -2.1839514] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.9469748  5.847543 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-8.226654   3.1393144] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-134.3941650390625, 186.84149169921875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-11.300781    -0.58397484], 11.3158597946167 meters away.)"}
{"file_name": "images/scenario_415_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 5.3) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 86 is 5.4 meters away at (5.2, 1.5). A pedestrian with ID 87 is 14.8 meters away at (-6.3, -13.4). A vehicle with ID 84 is 25.7 meters away at (-24.7, -7.0). A vehicle with ID 17 is 33.3 meters away at (25.4, -21.6). A vehicle with ID 50 is 33.9 meters away at (21.1, -26.5). A pedestrian with ID 12 is 37.6 meters away at (-7.6, 36.9). A vehicle with ID 70 is 38.5 meters away at (31.8, -21.6). A vehicle with ID 37 is 38.6 meters away at (0.2, 38.6). A vehicle with ID 21 is 39.2 meters away at (-35.3, 16.9). A vehicle with ID 60 is 44.2 meters away at (4.6, 44.0).", "velocity_description": "The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.00994504 -0.00082692] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-2.3305516 -6.367296 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-7.0350504  5.945327 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 9.57901 -7.92334] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.84023345 -1.2339221 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-8.108536   2.7022448] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-52.65902   42.23443 ]\n [-50.330482  44.65087 ]]", "nav_goal": "(-134.3941650390625, 186.84149169921875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.177994  1.4573975], 5.379184722900391 meters away.)"}
{"file_name": "images/scenario_415_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 3.8) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 86 is 22.1 meters away at (20.6, -7.8). A pedestrian with ID 87 is 24.6 meters away at (9.3, -22.7). A pedestrian with ID 12 is 25.8 meters away at (5.9, 25.1). A pedestrian with ID 38 is 25.8 meters away at (21.6, 14.1). A vehicle with ID 84 is 33.1 meters away at (-13.5, -30.2). A vehicle with ID 37 is 33.3 meters away at (15.8, 29.3). A vehicle with ID 17 is 33.4 meters away at (27.3, -19.2). A pedestrian with ID 39 is 34.3 meters away at (27.0, 21.2). A pedestrian with ID 30 is 35.1 meters away at (27.5, 21.9). A vehicle with ID 47 is 35.8 meters away at (-17.6, -31.2).", "velocity_description": "The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.05178405 -0.08950742] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.1149852 -1.319678 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.84642124 1.0366572 ] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-2.3610616 -7.2282424] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-5.9010344  5.0554667] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.4854403 0.5704378] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.53768384 0.7679315 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.330482  44.65087 ]]", "nav_goal": "(-134.3941650390625, 186.84149169921875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [20.625198  -7.8121033], 22.05510711669922 meters away.)"}
{"file_name": "images/scenario_416_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.8) m/s. Its current heading (yaw) is 0.91 ", "actor_description": " The most relevant actors are: A pedestrian with ID 16 is 11.5 meters away at (-7.3, -8.9). A vehicle with ID 22 is 15.3 meters away at (13.5, 7.3). A unknown object with ID 21 is 18.9 meters away at (16.1, -9.9). A unknown object with ID 23 is 20.8 meters away at (18.8, 9.0). A vehicle with ID 4 is 36.5 meters away at (-19.2, 31.1).", "velocity_description": "The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00141019 0.0051504 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 1.8232876 -3.3938134] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.2274169921875, 185.30177307128906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.331191 -8.875373], 11.511672973632812 meters away.)"}
{"file_name": "images/scenario_416_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.1) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A pedestrian with ID 16 is 12.2 meters away at (-7.8, -9.5). A vehicle with ID 22 is 15.2 meters away at (15.2, 0.2). A unknown object with ID 23 is 20.2 meters away at (18.3, 8.5). A vehicle with ID 4 is 36.3 meters away at (-19.9, 30.3).", "velocity_description": "The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01500001 -0.10323656] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.15419284 -3.5541732 ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.2274169921875, 185.30177307128906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.756756 -9.453476], 12.228468894958496 meters away.)"}
{"file_name": "images/scenario_416_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 1.2) m/s. Its current heading (yaw) is 0.90 ", "actor_description": " The most relevant actors are: A pedestrian with ID 16 is 14.3 meters away at (-9.0, -11.1). A vehicle with ID 22 is 14.7 meters away at (12.3, -8.1). A unknown object with ID 23 is 18.3 meters away at (17.0, 7.0). A vehicle with ID 4 is 35.8 meters away at (-21.0, 28.9). A unknown object with ID 11 is 51.9 meters away at (-37.7, 35.6).", "velocity_description": "The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01011645  0.00750976] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.7584088 -3.3240216] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.2274169921875, 185.30177307128906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -8.992642 -11.058468], 14.253326416015625 meters away.)"}
{"file_name": "images/scenario_416_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 2.0) m/s. Its current heading (yaw) is 1.26 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 10.8 meters away at (-9.9, -4.4). A unknown object with ID 23 is 15.7 meters away at (15.2, 3.7). A vehicle with ID 22 is 16.8 meters away at (5.1, -16.0). A pedestrian with ID 1 is 17.6 meters away at (-14.0, 10.7). A pedestrian with ID 16 is 17.8 meters away at (-10.9, -14.1). A unknown object with ID 17 is 19.7 meters away at (12.5, -15.2). A unknown object with ID 8 is 23.7 meters away at (15.6, -17.8). A unknown object with ID 3 is 25.6 meters away at (-17.1, 19.1). A vehicle with ID 4 is 34.4 meters away at (-22.8, 25.7).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.63827  -1.554453] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00633218 0.00362945] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01436553 -0.03689096] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.2274169921875, 185.30177307128906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.872597  -4.4134235], 10.814179420471191 meters away.)"}
{"file_name": "images/scenario_417_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.3) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 13.6 meters away at (8.7, -10.5). A unknown object with ID 20 is 14.3 meters away at (-0.8, -14.3). A vehicle with ID 5 is 32.3 meters away at (30.6, -10.5). A vehicle with ID 23 is 41.9 meters away at (-39.8, 13.1). A pedestrian with ID 26 is 63.7 meters away at (63.0, -9.5). A pedestrian with ID 27 is 63.9 meters away at (63.3, -8.7). A pedestrian with ID 13 is 64.6 meters away at (64.0, -8.4). A vehicle with ID 21 is 66.1 meters away at (65.0, -12.1). A vehicle with ID 22 is 72.4 meters away at (71.0, -14.3). A unknown object with ID 19 is 77.9 meters away at (77.1, -10.8).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-9.2512506e-05  4.2477060e-02] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.01416475 0.00308267] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00714194 -0.00245045] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(187.34494018554688, -151.37828063964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  8.733162 -10.456577], 13.623806953430176 meters away.)"}
{"file_name": "images/scenario_417_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 14.2 meters away at (-1.1, -14.2). A vehicle with ID 5 is 31.9 meters away at (30.1, -10.3). A vehicle with ID 23 is 42.3 meters away at (-40.2, 13.2). A unknown object with ID 15 is 46.1 meters away at (-39.0, 24.6). A vehicle with ID 21 is 65.7 meters away at (64.6, -11.9). A vehicle with ID 22 is 72.0 meters away at (70.6, -14.2).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(187.34494018554688, -151.37828063964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -1.1371515 -14.162624 ], 14.208203315734863 meters away.)"}
{"file_name": "images/scenario_417_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.2) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 14.1 meters away at (-1.5, -14.1). A unknown object with ID 12 is 30.3 meters away at (29.6, 6.8). A vehicle with ID 5 is 31.5 meters away at (29.7, -10.2). A vehicle with ID 23 is 42.6 meters away at (-40.4, 13.4). A pedestrian with ID 18 is 63.0 meters away at (62.3, -9.3). A pedestrian with ID 2 is 63.5 meters away at (62.9, -8.4). A vehicle with ID 21 is 65.3 meters away at (64.2, -12.0). A vehicle with ID 22 is 71.6 meters away at (70.2, -14.2). A unknown object with ID 10 is 78.1 meters away at (77.3, -11.1). A vehicle with ID 4 is 78.6 meters away at (76.8, -16.6).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-2.8950433e-05 -5.7634070e-06] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(187.34494018554688, -151.37828063964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -1.4825423 -14.060511 ], 14.13845443725586 meters away.)"}
{"file_name": "images/scenario_417_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -0.7) m/s. Its current heading (yaw) is -0.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 14.5 meters away at (-6.2, -13.1). A unknown object with ID 12 is 25.6 meters away at (24.3, 7.9). A vehicle with ID 5 is 26.7 meters away at (25.0, -9.3). A vehicle with ID 3 is 40.5 meters away at (33.5, -22.6). A vehicle with ID 23 is 47.4 meters away at (-45.2, 14.2). A pedestrian with ID 18 is 58.2 meters away at (57.6, -8.3). A pedestrian with ID 1 is 58.3 meters away at (57.8, -7.6). A pedestrian with ID 2 is 59.1 meters away at (58.7, -7.4). A vehicle with ID 21 is 60.6 meters away at (59.6, -11.0). A vehicle with ID 22 is 66.8 meters away at (65.5, -13.1).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.01302406  0.00330023] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00043177 0.02005219] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.01289633 0.02902481] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(187.34494018554688, -151.37828063964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -6.2095613 -13.12279  ], 14.517791748046875 meters away.)"}
{"file_name": "images/scenario_418_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -4.9) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 24.7 meters away at (-16.8, -18.1). A vehicle with ID 4 is 28.6 meters away at (-25.3, -13.4). A vehicle with ID 5 is 34.6 meters away at (-18.7, -29.2). A vehicle with ID 20 is 42.1 meters away at (21.2, 36.3). A vehicle with ID 25 is 53.1 meters away at (30.1, 43.8). A vehicle with ID 24 is 56.1 meters away at (37.5, 41.7). A pedestrian with ID 27 is 57.6 meters away at (-43.5, -37.8). A vehicle with ID 12 is 67.6 meters away at (-44.4, -51.0).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [1.7810428 6.243566 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 4.2651377  -0.49065813] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [4.7377295 0.9175634] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.9476607 -1.1092553] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-46.775623 -53.86679 ]\n [-47.355854 -53.386265]\n [-37.93566  -42.96548 ]\n [-44.56658  -56.513805]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-16.782755 -18.133171], 24.707746505737305 meters away.)"}
{"file_name": "images/scenario_418_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -2.6) m/s. Its current heading (yaw) is -2.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 10.0 meters away at (-3.8, -9.2). A vehicle with ID 19 is 14.7 meters away at (-10.0, -10.8). A pedestrian with ID 27 is 50.4 meters away at (-38.6, -32.3). A vehicle with ID 20 is 51.8 meters away at (28.0, 43.6). A vehicle with ID 6 is 57.2 meters away at (-35.1, -45.1). A vehicle with ID 13 is 61.1 meters away at (-57.4, 20.9). A vehicle with ID 25 is 69.3 meters away at (46.0, 51.8). A vehicle with ID 24 is 75.3 meters away at (53.2, 53.3).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [5.8305063 6.676143 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.8866052  -0.88760144] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [3.2028427 3.5577056] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [4.8383837 1.2087133] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [4.4713287 2.8778415] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.93566 -42.96548]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.7768497 -9.237181 ], 9.979484558105469 meters away.)"}
{"file_name": "images/scenario_418_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.6) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 10.4 meters away at (-7.1, -7.6). A vehicle with ID 5 is 14.5 meters away at (11.9, 8.3). A vehicle with ID 6 is 45.5 meters away at (-27.3, -36.4). A pedestrian with ID 27 is 48.9 meters away at (-37.6, -31.2). A vehicle with ID 3 is 60.9 meters away at (35.8, 49.2).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [6.795463 7.487997] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [1.9981447 2.1920907] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.9203196 -0.9420984] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.8678327 -4.9970717] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.93566 -42.96548]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.1306744 -7.570284 ], 10.39979362487793 meters away.)"}
{"file_name": "images/scenario_418_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 10.1 meters away at (-6.9, -7.4). A vehicle with ID 5 is 35.9 meters away at (26.6, 24.1). A vehicle with ID 6 is 39.7 meters away at (-22.8, -32.6). A vehicle with ID 3 is 50.2 meters away at (32.6, 38.2). A pedestrian with ID 27 is 51.1 meters away at (-39.2, -32.8).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [7.7880225 8.363626 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [2.8365374 1.0270686] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.3929744 -5.838214 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.8669531 -0.7867916] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.93566 -42.96548]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.947962  -7.3675423], 10.126936912536621 meters away.)"}
{"file_name": "images/scenario_419_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -3.8) m/s. Its current heading (yaw) is -1.75 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 32.7 meters away at (-32.7, 1.7). A vehicle with ID 12 is 33.7 meters away at (-5.2, 33.3). A vehicle with ID 14 is 38.5 meters away at (-4.1, 38.3). A vehicle with ID 15 is 44.4 meters away at (-3.0, 44.3). A vehicle with ID 16 is 49.7 meters away at (-2.0, 49.6). A vehicle with ID 17 is 55.3 meters away at (8.5, -54.6). A vehicle with ID 18 is 66.8 meters away at (1.2, -66.8).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.1419729  -0.62712234] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.979226   4.7817225] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-32.697643   1.662147], 32.73986053466797 meters away.)"}
{"file_name": "images/scenario_419_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -1.9) m/s. Its current heading (yaw) is -2.62 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 27.4 meters away at (-26.5, 7.2). A vehicle with ID 17 is 39.3 meters away at (8.2, -38.4). A vehicle with ID 12 is 39.4 meters away at (-1.3, 39.4). A vehicle with ID 14 is 44.3 meters away at (-0.1, 44.3). A vehicle with ID 15 is 50.3 meters away at (1.0, 50.3). A vehicle with ID 16 is 55.7 meters away at (2.0, 55.7). A vehicle with ID 18 is 60.9 meters away at (5.1, -60.7). A vehicle with ID 6 is 62.9 meters away at (20.0, -59.6).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.1727585  0.01401807] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.1968899  5.6750393] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.454011   5.3721313] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-26.455475   7.217352], 27.42229652404785 meters away.)"}
{"file_name": "images/scenario_419_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -0.7) m/s. Its current heading (yaw) is -2.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 18.9 meters away at (-16.2, 9.9). A vehicle with ID 17 is 27.2 meters away at (12.2, -24.3). A vehicle with ID 12 is 42.3 meters away at (6.9, 41.7). A vehicle with ID 14 is 47.3 meters away at (8.0, 46.6). A vehicle with ID 6 is 51.6 meters away at (21.4, -46.9). A vehicle with ID 15 is 53.2 meters away at (9.0, 52.5). A vehicle with ID 16 is 58.7 meters away at (10.2, 57.8). A vehicle with ID 18 is 59.9 meters away at (13.0, -58.4).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.2326822  0.26237687] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.4004135  6.1417627] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.0969923  5.4706573] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-16.154713   9.87636 ], 18.934551239013672 meters away.)"}
{"file_name": "images/scenario_419_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -1.0) m/s. Its current heading (yaw) is -2.96 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 12.9 meters away at (-4.0, 12.3). A unknown object with ID 9 is 13.7 meters away at (-6.5, 12.0). A vehicle with ID 17 is 22.4 meters away at (20.3, -9.6). A vehicle with ID 12 is 46.7 meters away at (17.2, 43.4). A vehicle with ID 1 is 52.8 meters away at (-48.0, -21.9).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.75552034 0.22427343] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.9401963  6.8826556] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.4520789  4.5318074] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.0368824 12.279299 ], 12.925849914550781 meters away.)"}
{"file_name": "images/scenario_420_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 6.5) m/s. Its current heading (yaw) is 1.64 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 25.7 meters away at (6.4, 24.9). A vehicle with ID 43 is 27.1 meters away at (11.5, -24.5). A unknown object with ID 46 is 27.4 meters away at (8.0, 26.2). A pedestrian with ID 47 is 34.6 meters away at (2.0, 34.5). A pedestrian with ID 9 is 34.9 meters away at (2.7, 34.8). A pedestrian with ID 8 is 35.6 meters away at (2.3, 35.6). A vehicle with ID 44 is 45.1 meters away at (17.1, 41.8). A vehicle with ID 49 is 47.9 meters away at (14.2, 45.7). A vehicle with ID 14 is 48.1 meters away at (32.7, 35.3). A vehicle with ID 52 is 50.5 meters away at (22.0, 45.5).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.04857699  0.03351125] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.01086041 0.03175835] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.0227016   0.05681201] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-0.1527208  -0.75701547] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 6.449984 24.851543], 25.67491912841797 meters away.)"}
{"file_name": "images/scenario_420_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 6.9) m/s. Its current heading (yaw) is 1.63 ", "actor_description": " The most relevant actors are: A pedestrian with ID 47 is 21.2 meters away at (2.8, 21.0). A vehicle with ID 12 is 21.4 meters away at (11.4, 18.1). A pedestrian with ID 9 is 21.5 meters away at (3.4, 21.2). A pedestrian with ID 8 is 22.5 meters away at (2.7, 22.3). A vehicle with ID 44 is 32.0 meters away at (17.7, 26.6). A vehicle with ID 34 is 34.6 meters away at (27.4, 21.1). A vehicle with ID 49 is 35.4 meters away at (14.9, 32.0). A vehicle with ID 52 is 39.1 meters away at (22.8, 31.8). A vehicle with ID 14 is 40.0 meters away at (33.6, 21.7). A vehicle with ID 43 is 40.0 meters away at (12.3, -38.1).", "velocity_description": "The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.01875455  0.01102727] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.00284114 0.016922  ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.01794954 0.04348838] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.22155881 -0.98394936] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 2.7602293 20.98244  ], 21.16321563720703 meters away.)"}
{"file_name": "images/scenario_420_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 7.0) m/s. Its current heading (yaw) is 1.61 ", "actor_description": " The most relevant actors are: A pedestrian with ID 47 is 7.9 meters away at (3.5, 7.1). A pedestrian with ID 9 is 8.5 meters away at (4.0, 7.5). A pedestrian with ID 8 is 9.1 meters away at (3.5, 8.5). A vehicle with ID 12 is 12.8 meters away at (12.1, 4.2). A vehicle with ID 44 is 22.3 meters away at (19.4, 11.0). A vehicle with ID 18 is 23.5 meters away at (22.7, 6.0). A vehicle with ID 49 is 24.0 meters away at (15.6, 18.2). A vehicle with ID 27 is 27.4 meters away at (20.9, 17.7). A unknown object with ID 42 is 27.6 meters away at (9.7, 25.9). A unknown object with ID 40 is 28.8 meters away at (8.6, 27.5).", "velocity_description": "The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.02257455 0.04121645] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.06378379  0.04737119] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00428521 -0.00103135] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.41879523 -0.6507055 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [3.4884124 7.1197243], 7.928398132324219 meters away.)"}
{"file_name": "images/scenario_420_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 7.4) m/s. Its current heading (yaw) is 1.63 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 7.3 meters away at (4.2, -6.0). A pedestrian with ID 9 is 8.1 meters away at (4.6, -6.7). A pedestrian with ID 47 is 8.4 meters away at (4.2, -7.3). A unknown object with ID 42 is 15.5 meters away at (10.4, 11.4). A unknown object with ID 40 is 16.0 meters away at (9.3, 13.1). A vehicle with ID 12 is 16.3 meters away at (12.8, -10.2). A vehicle with ID 49 is 16.7 meters away at (16.3, 3.7). A unknown object with ID 41 is 17.7 meters away at (9.3, 15.0). A unknown object with ID 7 is 19.4 meters away at (9.3, 17.0). A vehicle with ID 44 is 20.2 meters away at (19.9, -3.4).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00553107 -0.00056806] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00382667  0.00467694] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.01497082 -0.00962803] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-0.39727488  0.20479925] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 4.1674924 -5.9544487], 7.267974376678467 meters away.)"}
{"file_name": "images/scenario_421_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.0) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 97 is 8.9 meters away at (-4.1, -8.0). A vehicle with ID 19 is 15.0 meters away at (3.2, 14.7). A vehicle with ID 103 is 17.9 meters away at (3.0, 17.7). A vehicle with ID 95 is 19.7 meters away at (-17.9, -8.2). A vehicle with ID 20 is 21.5 meters away at (3.5, 21.2). A vehicle with ID 87 is 24.4 meters away at (-10.1, 22.2). A vehicle with ID 107 is 25.9 meters away at (-12.6, -22.7). A vehicle with ID 93 is 26.3 meters away at (-13.6, 22.5). A vehicle with ID 108 is 26.8 meters away at (-15.3, -22.0). A vehicle with ID 109 is 28.4 meters away at (-18.0, -21.9).", "velocity_description": "The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.0518045 -7.976284 ], 8.94640827178955 meters away.)"}
{"file_name": "images/scenario_421_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.0) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 97 is 9.4 meters away at (-5.0, -7.9). A vehicle with ID 19 is 14.9 meters away at (2.3, 14.7). A vehicle with ID 112 is 17.1 meters away at (-17.1, -0.2). A vehicle with ID 95 is 20.6 meters away at (-18.9, -8.3). A vehicle with ID 20 is 21.3 meters away at (2.6, 21.1). A vehicle with ID 87 is 24.8 meters away at (-11.0, 22.2). A vehicle with ID 107 is 26.4 meters away at (-13.7, -22.5). A vehicle with ID 93 is 26.8 meters away at (-14.5, 22.6). A vehicle with ID 108 is 27.4 meters away at (-16.3, -22.0). A unknown object with ID 47 is 27.9 meters away at (-12.9, -24.7).", "velocity_description": "The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [5.570431   0.02498892] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.047924  -7.9173803], 9.38969898223877 meters away.)"}
{"file_name": "images/scenario_421_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 0.4) m/s. Its current heading (yaw) is 0.15 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 9.5 meters away at (1.7, 9.3). A vehicle with ID 97 is 11.3 meters away at (-7.9, -8.1). A vehicle with ID 112 is 11.8 meters away at (-11.8, -0.2). A vehicle with ID 19 is 14.5 meters away at (-0.4, 14.5). A vehicle with ID 3 is 17.4 meters away at (-0.1, 17.4). A vehicle with ID 20 is 20.9 meters away at (0.1, 20.9). A vehicle with ID 95 is 23.1 meters away at (-21.5, -8.3). A vehicle with ID 87 is 25.9 meters away at (-13.6, 22.1). A vehicle with ID 107 is 28.1 meters away at (-16.4, -22.8). A vehicle with ID 93 is 28.2 meters away at (-17.1, 22.5).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [2.8072057  0.03247835] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.6774445 9.307499 ], 9.457449913024902 meters away.)"}
{"file_name": "images/scenario_421_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 3.3) m/s. Its current heading (yaw) is 0.77 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 8.1 meters away at (-5.4, 6.1). A vehicle with ID 19 is 13.4 meters away at (-7.2, 11.3). A vehicle with ID 112 is 14.1 meters away at (-13.7, -3.4). A vehicle with ID 3 is 16.0 meters away at (-7.1, 14.3). A vehicle with ID 97 is 18.6 meters away at (-14.8, -11.3). A vehicle with ID 20 is 19.1 meters away at (-6.9, 17.8). A vehicle with ID 87 is 28.0 meters away at (-20.6, 18.9). A vehicle with ID 73 is 30.2 meters away at (27.7, -12.2). A vehicle with ID 95 is 30.8 meters away at (-28.6, -11.4). A vehicle with ID 93 is 30.8 meters away at (-24.1, 19.2).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [2.509223   0.12499797] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-5.368129  6.071877], 8.104597091674805 meters away.)"}
{"file_name": "images/scenario_422_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 9.8 meters away at (-5.1, 8.3). A vehicle with ID 13 is 12.7 meters away at (9.2, -8.8). A vehicle with ID 20 is 19.8 meters away at (-10.1, 17.1). A unknown object with ID 17 is 25.7 meters away at (-21.4, -14.3). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 30.9 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.4 meters away at (-23.0, 21.4). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 21 is 36.9 meters away at (-27.5, 24.6).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.0873814  8.347879 ], 9.77591609954834 meters away.)"}
{"file_name": "images/scenario_422_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 9.3 meters away at (-4.8, 7.9). A vehicle with ID 13 is 12.8 meters away at (9.3, -8.9). A vehicle with ID 20 is 19.8 meters away at (-10.1, 17.1). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 31.0 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.3 meters away at (-23.0, 21.3). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 21 is 36.9 meters away at (-27.5, 24.6). A unknown object with ID 22 is 37.1 meters away at (-25.7, 26.7).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.15265839 -0.27451286] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.825085   7.9088387], 9.264512062072754 meters away.)"}
{"file_name": "images/scenario_422_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 8.7 meters away at (-4.5, 7.4). A vehicle with ID 13 is 12.8 meters away at (9.2, -8.8). A vehicle with ID 20 is 19.6 meters away at (-10.0, 16.8). A unknown object with ID 14 is 25.7 meters away at (-21.4, -14.3). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 30.9 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.3 meters away at (-23.0, 21.3). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 4 is 33.6 meters away at (23.0, -24.4).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.5362325  7.4153757], 8.692824363708496 meters away.)"}
{"file_name": "images/scenario_422_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 8.6 meters away at (-4.5, 7.4). A vehicle with ID 13 is 12.8 meters away at (9.2, -8.8). A vehicle with ID 20 is 19.8 meters away at (-10.3, 17.0). A unknown object with ID 14 is 25.7 meters away at (-21.4, -14.3). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 30.9 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.4 meters away at (-23.0, 21.3). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 23 is 37.1 meters away at (-25.7, 26.7).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.506473  7.360036], 8.630087852478027 meters away.)"}
{"file_name": "images/scenario_423_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 2.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 8.8 meters away at (-8.6, 1.5). A vehicle with ID 23 is 10.2 meters away at (-5.9, 8.3). A vehicle with ID 25 is 12.4 meters away at (-8.0, 9.5). A vehicle with ID 26 is 14.8 meters away at (-9.8, 11.0). A vehicle with ID 31 is 19.1 meters away at (-4.9, 18.4). A vehicle with ID 30 is 19.5 meters away at (-19.1, -3.8). A vehicle with ID 34 is 19.8 meters away at (-19.3, 4.2). A vehicle with ID 35 is 21.4 meters away at (-21.3, -2.0). A vehicle with ID 39 is 23.3 meters away at (-23.2, -0.5). A vehicle with ID 68 is 23.4 meters away at (21.8, 8.3).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.856729 15.066378]\n [10.25894  20.342752]\n [18.065788 27.094263]\n [ 8.206421 17.724003]\n [14.513732 12.821902]\n [19.64645  21.113468]\n [16.678951 28.806969]\n [22.229156 23.145445]\n [17.997156 27.458473]\n [14.519243 11.785988]]", "nav_goal": "(196.6276092529297, 185.92759704589844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-8.628687  1.474175], 8.75370979309082 meters away.)"}
{"file_name": "images/scenario_423_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.1) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 9.8 meters away at (-9.8, 0.1). A vehicle with ID 23 is 9.8 meters away at (-7.0, 6.9). A vehicle with ID 25 is 12.2 meters away at (-9.3, 8.0). A vehicle with ID 26 is 14.6 meters away at (-11.0, 9.6). A vehicle with ID 31 is 17.4 meters away at (-5.5, 16.5). A vehicle with ID 34 is 20.7 meters away at (-20.5, 2.9). A vehicle with ID 30 is 21.0 meters away at (-20.3, -5.2). A vehicle with ID 68 is 21.1 meters away at (19.6, 7.8). A vehicle with ID 12 is 21.3 meters away at (-5.1, 20.6). A vehicle with ID 35 is 22.8 meters away at (-22.5, -3.5).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 1.399081  -1.2891872] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-1.5231706  1.1561431] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 1.4077989 -1.2748101] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.856729 15.066378]\n [18.065788 27.094263]\n [14.513732 12.821902]\n [16.678951 28.806969]\n [17.997156 27.458473]\n [14.519243 11.785988]]", "nav_goal": "(196.6276092529297, 185.92759704589844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-9.791039   0.1174159], 9.791743278503418 meters away.)"}
{"file_name": "images/scenario_423_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 9.8 meters away at (-7.1, 6.8). A unknown object with ID 19 is 9.9 meters away at (-9.9, -0.0). A vehicle with ID 31 is 10.5 meters away at (1.1, 10.4). A vehicle with ID 25 is 12.2 meters away at (-9.3, 7.9). A vehicle with ID 26 is 14.6 meters away at (-11.1, 9.4). A vehicle with ID 12 is 16.9 meters away at (-1.0, 16.9). A vehicle with ID 68 is 18.5 meters away at (14.4, 11.7). A vehicle with ID 7 is 20.6 meters away at (-8.7, 18.7). A vehicle with ID 34 is 20.7 meters away at (-20.5, 2.7). A vehicle with ID 30 is 21.1 meters away at (-20.4, -5.3).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 4.9738936 -4.3448863] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 3.002005  -2.5464048] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-3.2930577  2.5527496] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 4.334188 -3.785738] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.856729 15.066378]\n [18.065788 27.094263]\n [14.513732 12.821902]\n [16.678951 28.806969]\n [17.997156 27.458473]\n [14.519243 11.785988]]", "nav_goal": "(196.6276092529297, 185.92759704589844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.0940332  6.7662096], 9.803412437438965 meters away.)"}
{"file_name": "images/scenario_423_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 9.1 meters away at (2.8, 8.7). A vehicle with ID 23 is 9.8 meters away at (-7.1, 6.7). A unknown object with ID 19 is 9.9 meters away at (-9.9, -0.1). A vehicle with ID 25 is 12.3 meters away at (-9.4, 7.9). A vehicle with ID 12 is 12.4 meters away at (6.1, 10.8). A vehicle with ID 31 is 13.6 meters away at (13.6, 0.0). A vehicle with ID 26 is 14.6 meters away at (-11.1, 9.4). A vehicle with ID 68 is 19.2 meters away at (6.4, 18.1). A vehicle with ID 62 is 20.6 meters away at (19.2, 7.7). A vehicle with ID 34 is 20.7 meters away at (-20.5, 2.7).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [ 7.021856 -5.898229] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.0623236 -3.448467 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 7.806793  -5.9039116] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-4.2790136  3.755732 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-3.8249252  3.195113 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.856729 15.066378]\n [18.065788 27.094263]\n [14.513732 12.821902]\n [16.678951 28.806969]\n [17.997156 27.458473]\n [14.519243 11.785988]]", "nav_goal": "(196.6276092529297, 185.92759704589844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.7773542 8.712646 ], 9.144610404968262 meters away.)"}
{"file_name": "images/scenario_424_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -1.1) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 6.3 meters away at (2.0, 5.9). A unknown object with ID 29 is 6.3 meters away at (3.9, 4.9). A unknown object with ID 32 is 7.5 meters away at (5.7, 4.9). A unknown object with ID 30 is 7.5 meters away at (2.4, 7.1). A unknown object with ID 34 is 8.1 meters away at (5.6, 5.9). A unknown object with ID 36 is 12.7 meters away at (-10.4, -7.2). A pedestrian with ID 35 is 12.8 meters away at (-12.0, -4.5). A vehicle with ID 33 is 15.8 meters away at (-14.2, 7.1). A vehicle with ID 42 is 17.4 meters away at (13.7, -10.6). A unknown object with ID 39 is 19.7 meters away at (-7.3, 18.3).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.02176467 0.00886232] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.694185   6.6766896] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-3.9732542 -4.2971973] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [2.0408149 5.912158 ], 6.254481315612793 meters away.)"}
{"file_name": "images/scenario_424_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -0.1) m/s. Its current heading (yaw) is -0.03 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 6.7 meters away at (0.7, 6.7). A unknown object with ID 29 is 6.8 meters away at (-1.1, 6.7). A unknown object with ID 34 is 7.7 meters away at (0.6, 7.7). A unknown object with ID 28 is 8.2 meters away at (-3.0, 7.7). A unknown object with ID 36 is 16.4 meters away at (-15.5, -5.4). A vehicle with ID 42 is 17.1 meters away at (0.8, -17.0). A pedestrian with ID 35 is 17.3 meters away at (-17.1, -2.6). A unknown object with ID 40 is 23.5 meters away at (-10.4, 21.0). A unknown object with ID 39 is 23.6 meters away at (-12.3, 20.1). A unknown object with ID 38 is 23.7 meters away at (-13.0, 19.8).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-3.936357  -4.1530166] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00348832  0.0240395 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [0.6556897 6.7147274], 6.746665000915527 meters away.)"}
{"file_name": "images/scenario_424_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 3.0) m/s. Its current heading (yaw) is 0.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 8.4 meters away at (-7.5, 4.0). A unknown object with ID 34 is 9.1 meters away at (-7.6, 5.0). A unknown object with ID 29 is 10.1 meters away at (-9.3, 4.0). A unknown object with ID 28 is 12.1 meters away at (-11.0, 4.9). A unknown object with ID 12 is 12.5 meters away at (-10.9, 6.0). A unknown object with ID 36 is 25.0 meters away at (-23.6, -8.3). A pedestrian with ID 35 is 25.8 meters away at (-25.2, -5.3). A unknown object with ID 18 is 25.9 meters away at (-24.1, -9.5). A unknown object with ID 38 is 27.3 meters away at (-21.4, 16.9). A pedestrian with ID 46 is 28.7 meters away at (4.4, -28.3).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.01140488  0.00023789] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.1555406  -0.47420612] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-7.455304  3.969009], 8.445980072021484 meters away.)"}
{"file_name": "images/scenario_424_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 4.7) m/s. Its current heading (yaw) is 0.81 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 16.4 meters away at (-16.2, -2.9). A unknown object with ID 32 is 16.5 meters away at (-16.0, -3.9). A unknown object with ID 23 is 16.9 meters away at (-16.5, -3.4). A vehicle with ID 21 is 17.8 meters away at (-17.6, -2.8). A unknown object with ID 29 is 18.3 meters away at (-17.8, -3.9). A unknown object with ID 10 is 18.6 meters away at (-18.3, -2.9). A unknown object with ID 12 is 19.4 meters away at (-19.4, -1.7). A unknown object with ID 28 is 19.9 meters away at (-19.7, -3.0). A unknown object with ID 5 is 24.0 meters away at (13.6, 19.8). A unknown object with ID 14 is 26.2 meters away at (15.6, 21.0).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-16.170794  -2.887745], 16.42661476135254 meters away.)"}
{"file_name": "images/scenario_425_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -1.7) m/s. Its current heading (yaw) is -0.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 38.9 meters away at (36.1, -14.6). A vehicle with ID 21 is 47.3 meters away at (46.2, 10.1). A vehicle with ID 10 is 70.2 meters away at (68.0, 17.8).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.5706099  6.636923 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [5.3954625 7.0909796] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.9856534 -7.384851 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(50.41122817993164, 207.09527587890625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 36.052837 -14.597363], 38.89588928222656 meters away.)"}
{"file_name": "images/scenario_425_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -1.7) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 29.8 meters away at (29.6, 3.0). A vehicle with ID 10 is 48.4 meters away at (47.5, 8.9). A vehicle with ID 13 is 54.2 meters away at (45.6, 29.2).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [5.0512476 7.329248 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.243391 -4.879969] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [5.8785686 8.7851305] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(50.41122817993164, 207.09527587890625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [29.615929   3.0108175], 29.768577575683594 meters away.)"}
{"file_name": "images/scenario_425_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -0.5) m/s. Its current heading (yaw) is -0.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 31.3 meters away at (31.0, 4.3). A vehicle with ID 11 is 38.5 meters away at (32.0, 21.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.5684083 -2.5559812] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.7342954 8.88386  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(50.41122817993164, 207.09527587890625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [31.027405  4.31067 ], 31.325416564941406 meters away.)"}
{"file_name": "images/scenario_425_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 2.3) m/s. Its current heading (yaw) is 0.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 18.4 meters away at (18.3, -0.5). A vehicle with ID 11 is 53.3 meters away at (35.5, 39.7). A vehicle with ID 17 is 77.9 meters away at (43.6, 64.6).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.635414  -0.6455356] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 5.580504 10.294783] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.9936905 7.5975842] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(50.41122817993164, 207.09527587890625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [18.346992  -0.5304079], 18.354658126831055 meters away.)"}
{"file_name": "images/scenario_426_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -4.0) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 8.0 meters away at (-2.8, 7.5). A vehicle with ID 39 is 10.6 meters away at (-6.9, 8.1). A vehicle with ID 44 is 14.9 meters away at (-13.5, 6.4). A vehicle with ID 50 is 18.0 meters away at (-17.7, 2.8). A vehicle with ID 41 is 18.3 meters away at (7.1, 16.9). A vehicle with ID 38 is 18.5 meters away at (-16.9, -7.4). A vehicle with ID 47 is 19.9 meters away at (4.6, 19.3). A vehicle with ID 33 is 22.1 meters away at (-18.7, 11.8). A vehicle with ID 54 is 22.4 meters away at (-22.3, -2.0). A vehicle with ID 49 is 22.6 meters away at (-9.0, 20.7).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-5.668081  -5.8043694] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-7.4574537 -7.974378 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.09845  -4.970275] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.2237515 -7.1339517] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-8.362818 -7.642723] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.58898 8.32708] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [8.864907 8.802949] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.47915  -35.170025]\n [-32.08893  -34.902103]\n [-32.418846 -35.555103]\n [-34.98654  -37.96785 ]\n [-36.074234 -18.266352]]", "nav_goal": "(200.78819274902344, -54.082801818847656)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.7546687  7.513427 ], 8.002486228942871 meters away.)"}
{"file_name": "images/scenario_426_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -3.5) m/s. Its current heading (yaw) is -1.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 11.9 meters away at (-11.7, 2.3). A vehicle with ID 41 is 13.5 meters away at (-0.6, 13.5). A vehicle with ID 47 is 13.8 meters away at (-8.3, 11.1). A vehicle with ID 44 is 17.5 meters away at (-10.4, 14.1). A vehicle with ID 50 is 18.0 meters away at (-14.7, 10.5). A vehicle with ID 39 is 18.7 meters away at (-18.7, -0.3). A vehicle with ID 54 is 20.1 meters away at (-19.3, 5.8). A unknown object with ID 22 is 25.4 meters away at (-16.5, -19.4). A vehicle with ID 73 is 27.0 meters away at (-8.4, 25.6). A vehicle with ID 51 is 27.4 meters away at (-11.3, -25.0).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-6.318328  -6.9454956] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.6120524 -5.9112997] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-7.8190093 -8.226459 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-7.423871 -8.386657] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [9.200654 8.92368 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.47915  -35.170025]\n [-32.08893  -34.902103]\n [-32.418846 -35.555103]\n [-34.98654  -37.96785 ]\n [-36.074234 -18.266352]]", "nav_goal": "(200.78819274902344, -54.082801818847656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.711343    2.2650843], 11.928376197814941 meters away.)"}
{"file_name": "images/scenario_426_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -2.0) m/s. Its current heading (yaw) is -1.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 14.1 meters away at (-12.6, 6.3). A vehicle with ID 50 is 21.7 meters away at (-14.6, 16.0). A vehicle with ID 44 is 22.1 meters away at (-10.3, 19.6). A vehicle with ID 54 is 22.2 meters away at (-19.2, 11.3). A vehicle with ID 51 is 22.4 meters away at (-11.1, -19.4). A vehicle with ID 47 is 23.3 meters away at (-23.3, -0.5). A vehicle with ID 36 is 25.4 meters away at (-24.3, -7.3). A vehicle with ID 14 is 27.8 meters away at (-19.5, 19.8). A cyclist with ID 5 is 29.3 meters away at (-25.8, 13.9). A vehicle with ID 32 is 31.8 meters away at (-27.0, 16.8).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [-6.7821383 -7.244346 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-7.409605 -8.954627] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-6.4650707 -8.31954  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [8.064913 8.359733] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [7.5838003 8.590298 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [8.535395 9.50795 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.47915  -35.170025]\n [-32.08893  -34.902103]\n [-32.418846 -35.555103]\n [-34.98654  -37.96785 ]\n [-36.074234 -18.266352]]", "nav_goal": "(200.78819274902344, -54.082801818847656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.57083    6.328929], 14.074129104614258 meters away.)"}
{"file_name": "images/scenario_426_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -1.5) m/s. Its current heading (yaw) is -1.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 20.0 meters away at (-11.9, -16.1). A vehicle with ID 54 is 24.6 meters away at (-19.8, 14.6). A vehicle with ID 50 is 24.7 meters away at (-15.2, 19.4). A vehicle with ID 44 is 25.4 meters away at (-11.0, 22.9). A vehicle with ID 41 is 28.5 meters away at (-27.5, -7.5). A cyclist with ID 21 is 29.2 meters away at (5.4, 28.7). A vehicle with ID 17 is 30.6 meters away at (-20.3, 22.9). A vehicle with ID 24 is 35.3 meters away at (-31.0, 16.9). A cyclist with ID 5 is 36.2 meters away at (-10.2, 34.7). A vehicle with ID 14 is 40.2 meters away at (-3.2, 40.0).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-7.3457656 -9.828839 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-12.805096 -12.307377] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [8.4085655 8.962028 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [7.6438193 8.824632 ] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [8.600896 8.816659] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [9.15481  8.495505] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.47915  -35.170025]\n [-32.08893  -34.902103]\n [-32.418846 -35.555103]\n [-34.98654  -37.96785 ]\n [-36.074234 -18.266352]]", "nav_goal": "(200.78819274902344, -54.082801818847656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.863426 -16.056429], 19.96371078491211 meters away.)"}
{"file_name": "images/scenario_427_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 5.1 meters away at (-3.1, 4.0). A vehicle with ID 39 is 6.5 meters away at (6.4, 0.4). A vehicle with ID 48 is 10.2 meters away at (8.1, 6.3). A vehicle with ID 34 is 10.6 meters away at (3.6, 10.0). A vehicle with ID 50 is 10.8 meters away at (-2.9, -10.4). A vehicle with ID 44 is 16.3 meters away at (2.3, 16.1). A pedestrian with ID 22 is 19.5 meters away at (15.0, 12.5). A vehicle with ID 54 is 28.6 meters away at (-5.0, -28.2). A vehicle with ID 20 is 28.9 meters away at (6.9, -28.0). A vehicle with ID 72 is 31.5 meters away at (15.1, 27.7).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.3860608 -1.2083827] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-0.34314165 -1.1474786 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.014924   0.09886741] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 5.8752785 -1.6789302] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.075619   1.0621016] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(220.09645080566406, -94.66671752929688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.1412594  4.004455 ], 5.089515686035156 meters away.)"}
{"file_name": "images/scenario_427_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.3) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 7.4 meters away at (-2.2, 7.1). A vehicle with ID 39 is 8.1 meters away at (7.4, 3.3). A vehicle with ID 34 is 11.5 meters away at (3.8, 10.8). A vehicle with ID 48 is 12.9 meters away at (9.0, 9.2). A vehicle with ID 50 is 13.1 meters away at (-3.7, -12.6). A vehicle with ID 44 is 19.3 meters away at (3.3, 19.0). A pedestrian with ID 22 is 22.1 meters away at (15.9, 15.4). A vehicle with ID 3 is 22.8 meters away at (-17.7, -14.4). A vehicle with ID 20 is 24.8 meters away at (4.9, -24.3). A vehicle with ID 54 is 30.9 meters away at (9.5, -29.4).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.4462454 -1.1779736] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.1196867 -3.416749 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.01249941  0.0108222 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 7.308527 -2.050196] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(220.09645080566406, -94.66671752929688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.2024846  7.0533867], 7.389262676239014 meters away.)"}
{"file_name": "images/scenario_427_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -2.3) m/s. Its current heading (yaw) is -1.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 12.3 meters away at (9.0, 8.5). A vehicle with ID 34 is 13.5 meters away at (4.3, 12.8). A vehicle with ID 50 is 17.5 meters away at (-5.1, -16.8). A vehicle with ID 48 is 17.9 meters away at (10.6, 14.5). A vehicle with ID 3 is 18.4 meters away at (-16.0, -9.1). A vehicle with ID 20 is 19.8 meters away at (6.1, -18.8). A vehicle with ID 52 is 19.8 meters away at (6.1, -18.8). A vehicle with ID 44 is 24.8 meters away at (4.9, 24.3). A vehicle with ID 5 is 30.6 meters away at (-5.4, -30.1). A vehicle with ID 4 is 31.7 meters away at (14.4, -28.2).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.8486479 -2.3608465] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.8450344 -5.7089086] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.44900146  0.13639885] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-0.94472414  0.2839775 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0.22228028 0.38535702] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(220.09645080566406, -94.66671752929688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.959181 8.500094], 12.349839210510254 meters away.)"}
{"file_name": "images/scenario_427_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 10.1 meters away at (3.1, 9.6). A vehicle with ID 39 is 14.0 meters away at (9.5, 10.3). A vehicle with ID 52 is 15.7 meters away at (2.2, -15.5). A vehicle with ID 3 is 17.0 meters away at (-15.4, -7.2). A vehicle with ID 48 is 19.8 meters away at (11.2, 16.3). A vehicle with ID 46 is 26.8 meters away at (5.5, 26.2). A vehicle with ID 1 is 26.8 meters away at (17.1, -20.7). A vehicle with ID 5 is 28.2 meters away at (-4.6, -27.8). A vehicle with ID 50 is 29.3 meters away at (-8.8, -27.9). A vehicle with ID 4 is 30.3 meters away at (14.9, -26.4).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.5990588 -1.7370163] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-3.8154314  1.1798378] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.8464782  1.3104516] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-2.0418015 -6.4461226] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(220.09645080566406, -94.66671752929688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.1054542 9.641539 ], 10.129319190979004 meters away.)"}
{"file_name": "images/scenario_428_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.4). A vehicle with ID 15 is 10.7 meters away at (8.1, -7.1). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 18 is 19.2 meters away at (-7.8, 17.6). A vehicle with ID 19 is 19.2 meters away at (16.4, -10.0). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.4, -12.5). A vehicle with ID 33 is 28.1 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.2, -16.1). A vehicle with ID 36 is 32.7 meters away at (27.7, -17.3).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-6.016942  -6.4424286] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.144625   1.3300117]\n [-7.4949193  3.6770802]]", "nav_goal": "(177.7493896484375, 122.38748931884766)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.808499  -2.4329457], 5.3889594078063965 meters away.)"}
{"file_name": "images/scenario_428_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.5). A vehicle with ID 15 is 10.7 meters away at (8.1, -7.1). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 19 is 19.3 meters away at (16.4, -10.0). A vehicle with ID 18 is 20.5 meters away at (-20.1, 4.1). A vehicle with ID 9 is 22.0 meters away at (-3.5, 21.7). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.4, -12.5). A vehicle with ID 33 is 28.0 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.2, -16.1).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-6.411912 -6.977424] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.6749654 -7.0078974] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.144625   1.3300117]\n [-7.4949193  3.6770802]]", "nav_goal": "(177.7493896484375, 122.38748931884766)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.7964973 -2.452704 ], 5.38722038269043 meters away.)"}
{"file_name": "images/scenario_428_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.4). A vehicle with ID 15 is 10.7 meters away at (8.1, -7.1). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 9 is 18.5 meters away at (-16.9, 7.5). A vehicle with ID 19 is 19.2 meters away at (16.4, -10.0). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.3, -12.4). A vehicle with ID 33 is 28.1 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.2, -16.1). A vehicle with ID 36 is 32.7 meters away at (27.7, -17.3).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.0749583 -7.5153637] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.144625   1.3300117]\n [-7.4949193  3.6770802]]", "nav_goal": "(177.7493896484375, 122.38748931884766)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.7678833 -2.4416358], 5.356705665588379 meters away.)"}
{"file_name": "images/scenario_428_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.4). A vehicle with ID 15 is 10.4 meters away at (7.7, -7.0). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 19 is 19.2 meters away at (16.4, -10.0). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.4, -12.4). A vehicle with ID 33 is 28.1 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.3, -16.1). A vehicle with ID 36 is 32.7 meters away at (27.7, -17.3). A vehicle with ID 38 is 34.3 meters away at (30.9, -14.9).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.144625   1.3300117]\n [-7.4949193  3.6770802]]", "nav_goal": "(177.7493896484375, 122.38748931884766)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.8185706 -2.4454598], 5.403600215911865 meters away.)"}
{"file_name": "images/scenario_429_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.6) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 8.2 meters away at (0.8, -8.1). A pedestrian with ID 45 is 9.6 meters away at (-6.8, 6.8). A vehicle with ID 50 is 11.7 meters away at (-9.4, -7.1). A vehicle with ID 33 is 24.0 meters away at (-15.4, 18.4). A vehicle with ID 54 is 32.2 meters away at (-10.4, 30.5). A vehicle with ID 55 is 34.5 meters away at (-13.9, 31.6). A pedestrian with ID 51 is 37.9 meters away at (-20.3, -32.1). A pedestrian with ID 24 is 38.0 meters away at (-20.9, -31.8). A pedestrian with ID 21 is 39.2 meters away at (-21.2, -33.0). A vehicle with ID 30 is 39.2 meters away at (-20.5, 33.4).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.0616039   0.20779842] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.46389335 -1.1917728 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.483858  -1.1773514] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.48424828 -1.1201969 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.129166 -63.84163 ]\n [-25.326155 -63.800106]]", "nav_goal": "(178.76490783691406, 87.32866668701172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.8405142 -8.112729 ], 8.156153678894043 meters away.)"}
{"file_name": "images/scenario_429_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 1.28 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 9.0 meters away at (-7.7, 4.6). A vehicle with ID 47 is 10.2 meters away at (0.1, -10.2). A vehicle with ID 50 is 13.7 meters away at (-10.1, -9.2). A vehicle with ID 33 is 23.0 meters away at (-16.2, 16.3). A unknown object with ID 26 is 24.6 meters away at (19.5, 15.0). A vehicle with ID 31 is 24.8 meters away at (24.8, 0.7). A vehicle with ID 52 is 28.2 meters away at (-9.1, -26.7). A vehicle with ID 54 is 30.5 meters away at (-11.1, 28.4). A vehicle with ID 55 is 33.0 meters away at (-14.6, 29.6). A vehicle with ID 28 is 34.3 meters away at (34.2, -2.7).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.01498017 -0.01295696] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [3.0755184 8.274203 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.129166 -63.84163 ]\n [-25.326155 -63.800106]]", "nav_goal": "(178.76490783691406, 87.32866668701172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.746578  4.634781], 9.027217864990234 meters away.)"}
{"file_name": "images/scenario_429_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.5) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 8.9 meters away at (-8.5, 2.5). A vehicle with ID 47 is 12.4 meters away at (-0.6, -12.4). A vehicle with ID 50 is 15.7 meters away at (-10.8, -11.4). A vehicle with ID 52 is 16.5 meters away at (-5.1, -15.7). A vehicle with ID 33 is 22.0 meters away at (-16.9, 14.0). A unknown object with ID 26 is 22.6 meters away at (18.7, 12.8). A vehicle with ID 31 is 24.1 meters away at (24.1, -1.4). A vehicle with ID 54 is 28.8 meters away at (-11.8, 26.3). A vehicle with ID 59 is 31.0 meters away at (-10.0, -29.3). A vehicle with ID 55 is 31.3 meters away at (-15.3, 27.3).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.00280508 -0.01905451] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [1.6637228 4.5661526] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [2.3998237 6.8737926] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.129166 -63.84163 ]\n [-25.326155 -63.800106]]", "nav_goal": "(178.76490783691406, 87.32866668701172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-8.526283   2.4544144], 8.872522354125977 meters away.)"}
{"file_name": "images/scenario_429_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 5.3) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 12.7 meters away at (-11.4, -5.5). A unknown object with ID 26 is 16.5 meters away at (15.9, 4.7). A vehicle with ID 52 is 16.6 meters away at (-5.1, -15.8). A vehicle with ID 47 is 20.6 meters away at (-3.5, -20.3). A vehicle with ID 33 is 20.7 meters away at (-19.7, 6.1). A vehicle with ID 31 is 23.3 meters away at (21.3, -9.4). A vehicle with ID 54 is 23.3 meters away at (-14.6, 18.2). A vehicle with ID 50 is 23.8 meters away at (-13.7, -19.4). A vehicle with ID 55 is 26.5 meters away at (-18.2, 19.4). A vehicle with ID 59 is 28.8 meters away at (-9.3, -27.2).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.00482487  0.00388643] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [1.519728  4.0921044] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [1.2145263 3.849464 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(178.76490783691406, 87.32866668701172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.387489  -5.547488], 12.666868209838867 meters away.)"}
{"file_name": "images/scenario_430_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A unknown object with ID 52 is 3.1 meters away at (-1.4, -2.7). A vehicle with ID 84 is 6.3 meters away at (2.6, 5.8). A unknown object with ID 49 is 6.7 meters away at (4.9, -4.7). A vehicle with ID 10 is 7.5 meters away at (-7.2, 2.1). A unknown object with ID 68 is 8.7 meters away at (6.1, -6.2). A vehicle with ID 15 is 9.0 meters away at (8.6, -2.4). A unknown object with ID 70 is 9.3 meters away at (5.3, -7.7). A vehicle with ID 78 is 10.2 meters away at (-10.1, -1.0). A vehicle with ID 81 is 10.5 meters away at (9.8, 3.8). A vehicle with ID 73 is 11.2 meters away at (7.3, 8.5).", "velocity_description": "The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-1.0074089   0.31483474] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.56544787 -0.15425421] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 56.91285   -9.652015]\n [ 56.430573 -11.880194]]", "nav_goal": "(154.89871215820312, -169.60934448242188)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.4238304 -2.7246213], 3.0742242336273193 meters away.)"}
{"file_name": "images/scenario_430_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A unknown object with ID 52 is 3.1 meters away at (-1.5, -2.7). A unknown object with ID 49 is 6.7 meters away at (4.8, -4.6). A unknown object with ID 32 is 6.9 meters away at (-6.5, -2.3). A vehicle with ID 84 is 7.4 meters away at (-2.0, 7.2). A vehicle with ID 10 is 7.7 meters away at (-7.4, 2.2). A unknown object with ID 68 is 8.6 meters away at (6.0, -6.2). A unknown object with ID 70 is 9.3 meters away at (5.2, -7.7). A vehicle with ID 81 is 10.1 meters away at (9.3, 4.0). A vehicle with ID 78 is 10.3 meters away at (-10.3, -0.9). A vehicle with ID 15 is 10.5 meters away at (10.1, -2.8).", "velocity_description": "The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-2.837812   0.8697727] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-1.1641588   0.34104064] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.0938569 -0.3173333] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 56.91285   -9.652015]\n [ 56.430573 -11.880194]]", "nav_goal": "(154.89871215820312, -169.60934448242188)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.4903761 -2.6983268], 3.08256196975708 meters away.)"}
{"file_name": "images/scenario_430_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -0.5) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 3.2 meters away at (0.2, -3.2). A unknown object with ID 49 is 5.4 meters away at (3.3, -4.2). A vehicle with ID 81 is 6.7 meters away at (3.4, 5.8). A unknown object with ID 68 is 7.4 meters away at (4.6, -5.7). A unknown object with ID 70 is 8.2 meters away at (3.8, -7.2). A vehicle with ID 10 is 9.1 meters away at (-8.7, 2.6). A vehicle with ID 73 is 10.6 meters away at (5.6, 9.0). A vehicle with ID 48 is 11.1 meters away at (8.6, -7.1). A vehicle with ID 78 is 11.8 meters away at (-11.8, -0.5). A vehicle with ID 84 is 12.5 meters away at (-8.5, 9.1).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-2.6547837  0.7558918] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-2.4273746  0.6586735] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 56.91285   -9.652015]\n [ 56.430573 -11.880194]]", "nav_goal": "(154.89871215820312, -169.60934448242188)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.20453918 -3.1948712 ], 3.2014119625091553 meters away.)"}
{"file_name": "images/scenario_430_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.4) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A unknown object with ID 49 is 3.5 meters away at (-2.4, -2.5). A unknown object with ID 68 is 4.1 meters away at (-1.2, -4.0). A unknown object with ID 24 is 5.8 meters away at (-5.6, -1.4). A unknown object with ID 70 is 5.8 meters away at (-2.0, -5.5). A vehicle with ID 48 is 6.0 meters away at (2.8, -5.3). A vehicle with ID 77 is 8.0 meters away at (6.3, 4.9). A vehicle with ID 73 is 10.7 meters away at (-0.1, 10.7). A unknown object with ID 55 is 11.9 meters away at (-11.9, 0.5). A vehicle with ID 81 is 12.1 meters away at (-7.9, 9.2). A vehicle with ID 10 is 14.4 meters away at (-13.7, 4.1).", "velocity_description": "The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-1.9708061   0.48774973] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-2.809104    0.72613454] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 1.4496235  -0.51433367] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 56.91285    -9.652015 ]\n [ 56.430573  -11.880194 ]\n [ 58.212803   -9.2349415]]", "nav_goal": "(154.89871215820312, -169.60934448242188)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.4390683 -2.482734 ], 3.480376720428467 meters away.)"}
{"file_name": "images/scenario_431_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 6.3) m/s. Its current heading (yaw) is 1.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 7.4 meters away at (-3.2, -6.7). A vehicle with ID 3 is 49.0 meters away at (48.9, 3.1). A vehicle with ID 8 is 57.0 meters away at (-2.0, -57.0).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.245595 -6.657276], 7.406295299530029 meters away.)"}
{"file_name": "images/scenario_431_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 6.8) m/s. Its current heading (yaw) is 1.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 19.7 meters away at (-2.2, -19.6). A vehicle with ID 3 is 50.8 meters away at (49.8, -9.9). A pedestrian with ID 2 is 62.4 meters away at (61.5, -10.2). A vehicle with ID 8 is 69.9 meters away at (-0.9, -69.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.3325864  -0.22392926] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -2.2004147 -19.56733  ], 19.690662384033203 meters away.)"}
{"file_name": "images/scenario_431_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 7.5) m/s. Its current heading (yaw) is 1.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 33.9 meters away at (-0.9, -33.9). A vehicle with ID 3 is 56.5 meters away at (51.1, -24.0). A pedestrian with ID 2 is 69.7 meters away at (65.1, -25.1).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.1919799  -0.27932674] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -0.9330869 -33.913765 ], 33.926597595214844 meters away.)"}
{"file_name": "images/scenario_431_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 7.5) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 48.9 meters away at (0.1, -48.9). A unknown object with ID 4 is 62.9 meters away at (-5.6, -62.6).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  0.05033398 -48.929375  ], 48.92940139770508 meters away.)"}
{"file_name": "images/scenario_432_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -3.8) m/s. Its current heading (yaw) is -0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 7.5 meters away at (0.8, 7.5). A vehicle with ID 37 is 10.7 meters away at (-3.5, 10.1). A vehicle with ID 36 is 15.5 meters away at (-8.0, 13.3). A vehicle with ID 7 is 28.5 meters away at (15.2, -24.1). A unknown object with ID 32 is 31.6 meters away at (31.5, -2.6). A unknown object with ID 42 is 34.2 meters away at (33.8, -5.1). A unknown object with ID 44 is 36.7 meters away at (35.7, -8.4). A unknown object with ID 45 is 38.4 meters away at (36.5, -11.9). A unknown object with ID 10 is 39.5 meters away at (36.4, -15.4). A vehicle with ID 46 is 46.5 meters away at (-11.3, -45.1).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.2497034 1.2782046] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.8432598 7.4977727], 7.545043468475342 meters away.)"}
{"file_name": "images/scenario_432_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -3.7) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 13.1 meters away at (-13.0, 0.9). A vehicle with ID 7 is 16.2 meters away at (6.4, -14.9). A vehicle with ID 38 is 17.7 meters away at (-9.4, 15.0). A vehicle with ID 37 is 22.5 meters away at (-13.9, 17.6). A unknown object with ID 42 is 23.7 meters away at (23.5, 2.4). A unknown object with ID 44 is 25.4 meters away at (25.4, -1.0). A unknown object with ID 45 is 26.5 meters away at (26.2, -4.4). A unknown object with ID 10 is 27.2 meters away at (26.1, -7.9). A vehicle with ID 36 is 27.8 meters away at (-18.4, 20.8). A vehicle with ID 46 is 43.4 meters away at (-21.7, -37.5).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0.6182709  0.70023364] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-13.031289     0.93808556], 13.065011024475098 meters away.)"}
{"file_name": "images/scenario_432_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -4.3) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 6.5 meters away at (-2.8, -5.9). A unknown object with ID 45 is 16.6 meters away at (16.2, 3.8). A unknown object with ID 44 is 17.0 meters away at (15.4, 7.2). A unknown object with ID 24 is 22.1 meters away at (-13.1, 17.9). A vehicle with ID 38 is 30.2 meters away at (-19.4, 23.1). A vehicle with ID 37 is 35.2 meters away at (-23.9, 25.8). A vehicle with ID 36 is 40.6 meters away at (-28.4, 29.0). A vehicle with ID 40 is 40.9 meters away at (-23.1, -33.8). A vehicle with ID 46 is 43.2 meters away at (-31.6, -29.5). A pedestrian with ID 11 is 44.3 meters away at (-20.1, -39.5).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0.50055784 0.42193353] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.53787196 -0.74623406] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.7654    -5.8876686], 6.5047736167907715 meters away.)"}
{"file_name": "images/scenario_432_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -5.2) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 12.9 meters away at (-12.0, 4.6). A unknown object with ID 45 is 14.5 meters away at (5.5, 13.5). A unknown object with ID 44 is 17.5 meters away at (4.8, 16.8). A vehicle with ID 6 is 18.4 meters away at (15.8, -9.4). A unknown object with ID 8 is 20.4 meters away at (2.9, 20.2). A unknown object with ID 24 is 36.3 meters away at (-23.7, 27.5). A vehicle with ID 40 is 41.5 meters away at (-33.7, -24.1). A vehicle with ID 38 is 44.5 meters away at (-30.1, 32.8). A vehicle with ID 46 is 46.6 meters away at (-42.3, -19.7). A vehicle with ID 48 is 47.6 meters away at (-37.6, -29.1).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [1.170895   0.47389016] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-4.895341   4.4565554] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-11.987501   4.647854], 12.857010841369629 meters away.)"}
{"file_name": "images/scenario_433_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 88 is 8.6 meters away at (-0.6, -8.6). A vehicle with ID 96 is 11.3 meters away at (1.5, 11.2). A vehicle with ID 73 is 11.3 meters away at (10.2, 4.9). A vehicle with ID 79 is 11.7 meters away at (-7.8, -8.7). A vehicle with ID 78 is 12.9 meters away at (6.3, 11.3). A vehicle with ID 90 is 12.9 meters away at (-5.6, 11.6). A vehicle with ID 100 is 13.4 meters away at (12.5, 4.9). A vehicle with ID 99 is 13.9 meters away at (8.7, 10.9). A vehicle with ID 80 is 15.5 meters away at (-12.6, -9.0). A vehicle with ID 89 is 16.1 meters away at (-10.2, 12.4).", "velocity_description": "The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(130.65731811523438, -179.53359985351562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.565505 -8.600557], 8.619129180908203 meters away.)"}
{"file_name": "images/scenario_433_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -0.4) m/s. Its current heading (yaw) is -0.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 5.3 meters away at (0.1, 5.3). A vehicle with ID 100 is 5.9 meters away at (2.4, 5.4). A vehicle with ID 74 is 8.7 meters away at (7.0, 5.2). A vehicle with ID 105 is 11.3 meters away at (3.4, 10.8). A vehicle with ID 99 is 11.4 meters away at (-1.3, 11.3). A vehicle with ID 78 is 12.2 meters away at (-3.8, 11.6). A vehicle with ID 77 is 12.6 meters away at (6.1, 11.0). A vehicle with ID 72 is 13.0 meters away at (12.2, 4.5). A vehicle with ID 88 is 13.5 meters away at (-10.7, -8.2). A vehicle with ID 96 is 14.3 meters away at (-8.5, 11.6).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(130.65731811523438, -179.53359985351562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.11852837 5.2812476 ], 5.2825775146484375 meters away.)"}
{"file_name": "images/scenario_433_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -0.5) m/s. Its current heading (yaw) is -0.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 5.7 meters away at (1.8, 5.4). A vehicle with ID 111 is 6.5 meters away at (4.0, 5.1). A vehicle with ID 74 is 6.9 meters away at (-3.4, 6.0). A vehicle with ID 71 is 8.2 meters away at (6.5, 5.0). A vehicle with ID 100 is 10.1 meters away at (-8.0, 6.2). A vehicle with ID 110 is 11.8 meters away at (0.3, 11.8). A vehicle with ID 73 is 12.0 meters away at (-10.3, 6.1). A vehicle with ID 50 is 12.1 meters away at (4.9, 11.0). A vehicle with ID 26 is 12.5 meters away at (7.2, 10.3). A vehicle with ID 77 is 12.6 meters away at (-4.3, 11.8).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(130.65731811523438, -179.53359985351562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.7692757 5.4443974], 5.724666118621826 meters away.)"}
{"file_name": "images/scenario_433_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -0.5) m/s. Its current heading (yaw) is -0.10 ", "actor_description": " The most relevant actors are: A cyclist with ID 66 is 4.9 meters away at (1.9, -4.5). A vehicle with ID 71 is 7.3 meters away at (-4.2, 6.0). A vehicle with ID 111 is 9.1 meters away at (-6.7, 6.1). A vehicle with ID 75 is 10.5 meters away at (2.5, -10.2). A vehicle with ID 23 is 10.9 meters away at (1.5, 10.8). A vehicle with ID 72 is 11.0 meters away at (-9.0, 6.4). A vehicle with ID 21 is 11.2 meters away at (3.8, 10.5). A vehicle with ID 25 is 11.3 meters away at (-1.0, 11.2). A vehicle with ID 26 is 11.8 meters away at (-3.5, 11.2). A vehicle with ID 70 is 12.6 meters away at (11.8, 4.3).", "velocity_description": "The cyclist with ID 66 is traveling at a (x, y) velocity of [-4.917349    0.30855948] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(130.65731811523438, -179.53359985351562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 1.9365425 -4.4564333], 4.859011650085449 meters away.)"}
{"file_name": "images/scenario_434_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.1) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 6.0 meters away at (5.4, -2.6). A unknown object with ID 54 is 8.7 meters away at (8.7, 0.1). A unknown object with ID 50 is 9.7 meters away at (9.6, 1.5). A pedestrian with ID 55 is 11.8 meters away at (5.2, -10.6). A pedestrian with ID 59 is 12.7 meters away at (6.1, -11.2). A pedestrian with ID 66 is 13.7 meters away at (13.1, -4.0). A pedestrian with ID 58 is 14.3 meters away at (3.2, -13.9). A pedestrian with ID 79 is 14.9 meters away at (4.1, -14.3). A pedestrian with ID 75 is 15.2 meters away at (8.7, -12.5). A vehicle with ID 68 is 15.5 meters away at (13.8, 7.1).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 0.00584729 -0.00694977] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.01260477 -0.00015365] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.00643754 -0.01425479] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00738425 -0.00515736] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.02990128 -0.00492725] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 0.00344568 -0.0024648 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.550494 -27.34498 ]\n [-18.872028 -23.352455]\n [-16.778086 -26.143362]\n [-16.207756 -26.520067]]", "nav_goal": "(-12.597518920898438, -20.240434646606445)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.4111934 -2.5595207], 5.985997200012207 meters away.)"}
{"file_name": "images/scenario_434_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.2) m/s. Its current heading (yaw) is -2.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 8.2 meters away at (8.0, 1.8). A pedestrian with ID 115 is 8.3 meters away at (1.6, -8.1). A unknown object with ID 5 is 8.4 meters away at (8.4, -0.3). A pedestrian with ID 55 is 10.0 meters away at (7.8, -6.3). A pedestrian with ID 59 is 11.0 meters away at (8.7, -6.7). A pedestrian with ID 58 is 11.2 meters away at (5.9, -9.5). A pedestrian with ID 56 is 11.8 meters away at (1.8, -11.6). A pedestrian with ID 79 is 12.0 meters away at (6.8, -9.9). A unknown object with ID 54 is 12.2 meters away at (11.3, 4.5). A pedestrian with ID 51 is 13.4 meters away at (5.4, -12.2).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [1.3911699 3.1958306] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.00819674 -0.00772972] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.0031257  -0.00694387] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00317633 -0.00319816] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.0133005 0.0300708] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.0173239  -0.00398676] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.21908617  0.00321951] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.550494 -27.34498 ]\n [-18.872028 -23.352455]\n [-16.778086 -26.143362]\n [-16.207756 -26.520067]]", "nav_goal": "(-12.597518920898438, -20.240434646606445)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [7.9958563 1.7652817], 8.188403129577637 meters away.)"}
{"file_name": "images/scenario_434_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -2.06 ", "actor_description": " The most relevant actors are: A pedestrian with ID 115 is 3.3 meters away at (3.3, -0.2). A vehicle with ID 46 is 8.9 meters away at (8.5, 2.7). A unknown object with ID 5 is 9.0 meters away at (8.9, 0.6). A pedestrian with ID 55 is 10.0 meters away at (8.3, -5.5). A pedestrian with ID 58 is 10.7 meters away at (6.3, -8.6). A pedestrian with ID 59 is 10.9 meters away at (9.2, -5.9). A pedestrian with ID 56 is 11.1 meters away at (2.3, -10.8). A pedestrian with ID 79 is 11.6 meters away at (7.3, -9.1). A pedestrian with ID 51 is 12.2 meters away at (5.3, -11.0). A pedestrian with ID 75 is 13.9 meters away at (11.8, -7.3).", "velocity_description": "The pedestrian with ID 115 is traveling at a (x, y) velocity of [0.13293432 3.3335772 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.00735713 0.01604667] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00547339  0.00199927] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.00331814 -0.00597579] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.00303795 0.00141069] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.00419645 -0.00263967] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.08712938  0.08985886] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 0.00816484 -0.00265942] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.550494 -27.34498 ]\n [-18.872028 -23.352455]\n [-16.778086 -26.143362]\n [-16.207756 -26.520067]]", "nav_goal": "(-12.597518920898438, -20.240434646606445)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 3.3095613  -0.20706749], 3.316032648086548 meters away.)"}
{"file_name": "images/scenario_434_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -2.06 ", "actor_description": " The most relevant actors are: A pedestrian with ID 115 is 7.6 meters away at (3.4, 6.8). A vehicle with ID 46 is 9.1 meters away at (8.7, 2.9). A unknown object with ID 5 is 9.2 meters away at (9.1, 0.9). A pedestrian with ID 55 is 9.9 meters away at (8.5, -5.2). A pedestrian with ID 58 is 10.6 meters away at (6.5, -8.4). A pedestrian with ID 56 is 10.8 meters away at (2.5, -10.5). A pedestrian with ID 59 is 11.0 meters away at (9.4, -5.7). A pedestrian with ID 51 is 11.3 meters away at (5.0, -10.1). A pedestrian with ID 79 is 11.6 meters away at (7.5, -8.8). A pedestrian with ID 57 is 12.0 meters away at (2.6, -11.7).", "velocity_description": "The pedestrian with ID 115 is traveling at a (x, y) velocity of [0.37844995 3.4351587 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.02374119 0.02051135] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.03298526 0.02698207] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.0121855   0.05698994] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.01996538 0.02220559] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.2240427   0.26833794] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.06438303 0.04243091] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.18669699  0.7385976 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.550494 -27.34498 ]\n [-18.872028 -23.352455]\n [-16.778086 -26.143362]\n [-16.207756 -26.520067]]", "nav_goal": "(-12.597518920898438, -20.240434646606445)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [3.4023466 6.8234625], 7.624670505523682 meters away.)"}
{"file_name": "images/scenario_435_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -0.6) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 7.9 meters away at (-7.4, 2.6). A vehicle with ID 59 is 9.6 meters away at (-9.6, 0.3). A vehicle with ID 63 is 11.1 meters away at (10.0, -4.7). A pedestrian with ID 60 is 11.8 meters away at (7.7, 8.9). A vehicle with ID 62 is 15.6 meters away at (-15.4, 2.3). A vehicle with ID 64 is 15.6 meters away at (3.1, -15.3). A unknown object with ID 67 is 19.3 meters away at (14.5, -12.6). A unknown object with ID 68 is 19.5 meters away at (12.3, -15.2). A vehicle with ID 66 is 19.6 meters away at (12.9, 14.7). A unknown object with ID 69 is 20.3 meters away at (14.3, -14.4).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-2.1354058 -6.7847676] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [1.1556447 0.7824649] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.6717529296875, 58.12187194824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.4192777  2.5861487], 7.857089042663574 meters away.)"}
{"file_name": "images/scenario_435_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -1.4) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 12.8 meters away at (-12.0, 4.4). A vehicle with ID 64 is 13.5 meters away at (-1.7, -13.4). A pedestrian with ID 60 is 14.0 meters away at (4.5, 13.3). A unknown object with ID 67 is 14.4 meters away at (9.6, -10.8). A vehicle with ID 59 is 14.6 meters away at (-14.4, 2.1). A vehicle with ID 63 is 17.3 meters away at (0.6, -17.3). A vehicle with ID 66 is 18.5 meters away at (8.1, 16.7). A vehicle with ID 56 is 19.5 meters away at (19.4, -2.7). A vehicle with ID 49 is 20.1 meters away at (-3.9, -19.7). A vehicle with ID 62 is 20.7 meters away at (-20.2, 4.2).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.5614459  -0.25721088] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.4885784 1.3658152] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-2.565293 -7.266891] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.6717529296875, 58.12187194824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.025675   4.40116 ], 12.805743217468262 meters away.)"}
{"file_name": "images/scenario_435_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -2.6) m/s. Its current heading (yaw) is -0.50 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 11.0 meters away at (11.0, 1.0). A vehicle with ID 64 is 13.9 meters away at (-10.0, -9.7). A vehicle with ID 55 is 15.0 meters away at (14.9, -2.1). A vehicle with ID 14 is 18.8 meters away at (-17.5, 7.0). A unknown object with ID 43 is 19.1 meters away at (18.5, -4.7). A vehicle with ID 49 is 20.0 meters away at (-12.0, -16.0). A vehicle with ID 72 is 20.1 meters away at (7.6, -18.6). A pedestrian with ID 60 is 20.1 meters away at (-3.0, 19.9). A vehicle with ID 66 is 20.3 meters away at (-0.3, 20.3). A vehicle with ID 73 is 22.4 meters away at (10.2, -19.9).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 2.1478055 -0.9428972] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.33260605 1.3762971 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.6717529296875, 58.12187194824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.959672   1.0483055], 11.00969409942627 meters away.)"}
{"file_name": "images/scenario_435_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -3.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 6.5 meters away at (5.4, 3.6). A vehicle with ID 56 is 6.8 meters away at (1.5, 6.7). A unknown object with ID 43 is 9.1 meters away at (9.0, 1.0). A vehicle with ID 72 is 13.0 meters away at (-1.9, -12.9). A vehicle with ID 52 is 13.1 meters away at (12.9, -2.3). A vehicle with ID 73 is 14.3 meters away at (0.7, -14.3). A vehicle with ID 19 is 17.2 meters away at (11.6, -12.7). A vehicle with ID 51 is 18.5 meters away at (17.5, -6.0). A vehicle with ID 64 is 20.0 meters away at (-19.5, -4.1). A vehicle with ID 54 is 23.9 meters away at (21.9, -9.4).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.6717529296875, 58.12187194824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.3847294 3.609583 ], 6.4826226234436035 meters away.)"}
{"file_name": "images/scenario_436_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.9, -3.8) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 16.7 meters away at (-15.6, -5.8). A pedestrian with ID 25 is 19.0 meters away at (7.6, 17.4). A vehicle with ID 20 is 20.9 meters away at (-18.2, 10.4). A vehicle with ID 17 is 24.1 meters away at (-24.1, 1.4). A vehicle with ID 30 is 29.8 meters away at (20.8, -21.3). A vehicle with ID 18 is 29.9 meters away at (-29.6, 4.0). A vehicle with ID 19 is 30.0 meters away at (-30.0, 0.4). A pedestrian with ID 22 is 41.6 meters away at (-33.8, 24.3). A pedestrian with ID 24 is 43.1 meters away at (-35.1, 25.0). A pedestrian with ID 23 is 43.3 meters away at (-35.7, 24.5).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.8393447  1.2319739] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.224319    0.02039452] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 6.078787  -2.1686654] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.67501724  0.27572635] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-8.163638   3.5271819] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.01676396 -0.00852301] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.02231368 -0.01863465] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.05526181 0.03292827] m/s.", "light_description": "There are active red lights at the following coordinates: [[-36.337288   15.131517 ]\n [-36.222645   15.363029 ]\n [-22.21569    -3.460019 ]\n [-25.919424    1.8855392]\n [-38.1309     12.165972 ]\n [-22.428123   -3.3195968]\n [-22.82701    -4.9579897]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-15.635194  -5.848593], 16.69327163696289 meters away.)"}
{"file_name": "images/scenario_436_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.6, -4.0) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 14.5 meters away at (-12.7, -7.0). A pedestrian with ID 31 is 24.3 meters away at (24.3, 0.6). A vehicle with ID 6 is 25.2 meters away at (18.9, 16.7). A vehicle with ID 20 is 29.3 meters away at (-25.7, 14.1). A pedestrian with ID 32 is 35.5 meters away at (35.3, -3.2). A vehicle with ID 21 is 39.5 meters away at (-39.3, 4.1). A vehicle with ID 17 is 44.2 meters away at (-43.2, 9.4). A vehicle with ID 19 is 49.4 meters away at (-48.7, 8.3). A vehicle with ID 18 is 49.7 meters away at (-48.3, 11.8). A pedestrian with ID 22 is 61.6 meters away at (-52.6, 32.1).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [-6.458287   2.6254613] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.2484697   0.54418254] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 5.039524  -1.8882052] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.9386202   0.50489825] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.6676035  0.6835052] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.03226604 -0.01822168] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.21569    -3.460019 ]\n [-25.919424    1.8855392]\n [-22.428123   -3.3195968]\n [-22.82701    -4.9579897]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.654371  -7.044799], 14.483173370361328 meters away.)"}
{"file_name": "images/scenario_436_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.4, -3.7) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A pedestrian with ID 31 is 9.9 meters away at (2.7, 9.5). A pedestrian with ID 32 is 15.3 meters away at (14.2, 5.5). A vehicle with ID 6 is 24.6 meters away at (-0.4, 24.6). A vehicle with ID 20 is 41.9 meters away at (-36.5, 20.7). A vehicle with ID 30 is 43.1 meters away at (-42.7, 5.2). A pedestrian with ID 2 is 43.6 meters away at (42.8, -8.1). A pedestrian with ID 8 is 44.0 meters away at (43.3, -7.4). A pedestrian with ID 11 is 44.4 meters away at (43.9, -6.8). A vehicle with ID 1 is 61.4 meters away at (61.4, -3.0). A vehicle with ID 21 is 61.7 meters away at (-60.4, 12.7).", "velocity_description": "The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.5154345  0.6382318] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.0333683  0.5509716] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [3.0984643 1.1412694] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-4.4362617  1.8866034] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1570297   0.46977496] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.090097   0.4966674] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0828309  0.5343513] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.633098  -2.5992522] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.45361125  0.19415958] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.21569    -3.460019 ]\n [-25.919424    1.8855392]\n [-22.428123   -3.3195968]\n [-22.82701    -4.9579897]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [2.7475471 9.548944 ], 9.936365127563477 meters away.)"}
{"file_name": "images/scenario_436_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.6, -3.4) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 15.4 meters away at (-7.0, 13.7). A pedestrian with ID 2 is 21.7 meters away at (21.7, 0.7). A pedestrian with ID 8 is 22.1 meters away at (22.1, 1.4). A pedestrian with ID 3 is 22.6 meters away at (22.6, 1.9). A pedestrian with ID 11 is 22.8 meters away at (22.7, 2.1). A pedestrian with ID 31 is 26.2 meters away at (-19.3, 17.8). A cyclist with ID 5 is 32.5 meters away at (-29.9, 12.9). A vehicle with ID 1 is 40.0 meters away at (39.9, -1.9). A pedestrian with ID 16 is 42.7 meters away at (42.3, -6.1). A vehicle with ID 20 is 60.5 meters away at (-51.7, 31.4).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.1535373   0.46836168] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.99672604  0.92876214] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.0325365  0.8503008] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.96051323  0.9318389 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0712497   0.83107173] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.2161281   0.47509944] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-2.194607   0.5265211] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.4051234 -3.068602 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.4326459   0.60800356] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0.80158883 1.441419  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-7.040062 13.730066], 15.429750442504883 meters away.)"}
{"file_name": "images/scenario_437_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -0.2) m/s. Its current heading (yaw) is -0.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 6.3 meters away at (-1.6, 6.1). A vehicle with ID 9 is 23.3 meters away at (-21.8, 8.1). A vehicle with ID 11 is 28.0 meters away at (-18.3, 21.1). A vehicle with ID 12 is 42.3 meters away at (-31.7, -28.0).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.2757291 9.140488 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(143.89422607421875, -234.025146484375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.5553465  6.057948 ], 6.254425525665283 meters away.)"}
{"file_name": "images/scenario_437_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -0.2) m/s. Its current heading (yaw) is -0.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 17.3 meters away at (-16.0, 6.7). A vehicle with ID 11 is 39.4 meters away at (-32.8, 21.8). A vehicle with ID 9 is 46.4 meters away at (-36.2, 29.0). A vehicle with ID 1 is 67.5 meters away at (41.7, -53.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.35268798 10.854843  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(143.89422607421875, -234.025146484375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-15.974418   6.721396], 17.330873489379883 meters away.)"}
{"file_name": "images/scenario_437_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -0.5) m/s. Its current heading (yaw) is -0.08 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 7.9 meters away at (2.2, -7.6). A vehicle with ID 8 is 29.4 meters away at (-28.6, 7.1). A vehicle with ID 11 is 50.5 meters away at (-45.4, 22.1). A vehicle with ID 1 is 60.2 meters away at (29.3, -52.6). A vehicle with ID 2 is 72.0 meters away at (33.8, -63.6). A vehicle with ID 9 is 72.5 meters away at (-50.2, 52.3).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.2744186 12.22338  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(143.89422607421875, -234.025146484375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.2107086 -7.6203823], 7.934573650360107 meters away.)"}
{"file_name": "images/scenario_437_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -3.8) m/s. Its current heading (yaw) is -0.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 39.7 meters away at (-38.1, 11.0). A vehicle with ID 1 is 52.4 meters away at (19.9, -48.5). A vehicle with ID 11 is 60.9 meters away at (-55.0, 26.1). A vehicle with ID 2 is 64.4 meters away at (24.2, -59.7). A unknown object with ID 4 is 67.1 meters away at (-66.6, 8.0).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(143.89422607421875, -234.025146484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-38.12783   10.991898], 39.680641174316406 meters away.)"}
{"file_name": "images/scenario_438_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 2.3) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 7.6 meters away at (-4.5, 6.1). A cyclist with ID 64 is 18.7 meters away at (-3.2, 18.4). A vehicle with ID 11 is 19.4 meters away at (-16.2, 10.8). A pedestrian with ID 51 is 20.1 meters away at (12.7, 15.6). A pedestrian with ID 56 is 32.9 meters away at (-32.9, 0.2). A pedestrian with ID 66 is 33.7 meters away at (-15.1, 30.1). A unknown object with ID 53 is 33.9 meters away at (31.7, 11.9). A pedestrian with ID 71 is 36.5 meters away at (-19.7, 30.7). A pedestrian with ID 69 is 38.4 meters away at (-23.7, 30.3). A pedestrian with ID 70 is 38.9 meters away at (-23.4, 31.1).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [ 5.7751627 -2.4337876] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.02818712 -0.00222563] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.6270902 -1.4314792] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [1.4286563 0.4818489] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.5183507  -0.39959013] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.01343578 0.02028641] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.00554957  0.008573  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-52.295113  35.020397]\n [-41.877247  21.774422]\n [-54.088722  32.05485 ]\n [-38.385944  16.569286]]", "nav_goal": "(-302.9105529785156, 128.3285369873047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.5487804  6.0564837], 7.574457168579102 meters away.)"}
{"file_name": "images/scenario_438_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 1.9) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 5.8 meters away at (5.5, 1.9). A vehicle with ID 11 is 8.9 meters away at (-6.0, 6.6). A pedestrian with ID 56 is 24.6 meters away at (-23.8, -6.4). A pedestrian with ID 51 is 25.5 meters away at (22.8, 11.4). A pedestrian with ID 66 is 26.7 meters away at (-2.4, 26.6). A pedestrian with ID 1 is 28.9 meters away at (-26.8, -10.7). A vehicle with ID 60 is 38.7 meters away at (36.0, -14.3). A pedestrian with ID 62 is 38.9 meters away at (-37.9, 8.4). A pedestrian with ID 67 is 39.9 meters away at (-38.3, 11.5). A pedestrian with ID 68 is 41.1 meters away at (-39.5, 11.6).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.5442535 -1.1046201] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.00055064 -0.00052593] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [1.3971187  0.38155523] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.8060528 1.0629448] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-9.830444   3.9214532] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.01226553  0.01639932] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.54290754 0.8892593 ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.4970408  0.84909654] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.25659   38.506405]\n [-52.295113  35.020397]\n [-52.18047   35.25191 ]\n [-38.17351   16.428864]\n [-41.877247  21.774422]\n [-54.088722  32.05485 ]\n [-38.385944  16.569286]\n [-38.784832  14.930892]]", "nav_goal": "(-302.9105529785156, 128.3285369873047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.483593  1.9074221], 5.805863380432129 meters away.)"}
{"file_name": "images/scenario_438_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 1.0) m/s. Its current heading (yaw) is 2.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 4.0 meters away at (0.3, 4.0). A vehicle with ID 13 is 12.0 meters away at (12.0, -0.8). A pedestrian with ID 56 is 21.6 meters away at (-18.7, -10.9). A pedestrian with ID 1 is 22.7 meters away at (-19.1, -12.2). A vehicle with ID 60 is 27.3 meters away at (25.4, -10.1). A pedestrian with ID 62 is 32.0 meters away at (-31.5, 5.9). A pedestrian with ID 67 is 33.0 meters away at (-31.4, 9.9). A pedestrian with ID 68 is 33.9 meters away at (-32.4, 9.9). A cyclist with ID 42 is 36.0 meters away at (36.0, 1.9). A pedestrian with ID 3 is 38.9 meters away at (-24.5, 30.1).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9966365 -0.7996915] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.70627004 0.50996125] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-7.4120336  3.0339692] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.01150675  0.02108091] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.02363333 0.10277531] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.04113223 0.12350079] m/s.The cyclist with ID 42 is traveling at a (x, y) velocity of [ 5.734937  -2.4702573] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.05924274 0.16437681] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.25659   38.506405]\n [-52.295113  35.020397]\n [-52.18047   35.25191 ]\n [-38.17351   16.428864]\n [-41.877247  21.774422]\n [-54.088722  32.05485 ]\n [-38.385944  16.569286]\n [-38.784832  14.930892]]", "nav_goal": "(-302.9105529785156, 128.3285369873047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.30908966 3.9701443 ], 3.9821579456329346 meters away.)"}
{"file_name": "images/scenario_438_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.2) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 4.1 meters away at (2.9, 2.9). A vehicle with ID 13 is 14.6 meters away at (14.5, -2.0). A vehicle with ID 60 is 16.9 meters away at (15.7, -6.2). A pedestrian with ID 1 is 19.4 meters away at (-15.2, -12.1). A pedestrian with ID 56 is 22.5 meters away at (-18.0, -13.6). A pedestrian with ID 62 is 29.3 meters away at (-28.9, 4.9). A pedestrian with ID 67 is 30.3 meters away at (-29.0, 8.9). A pedestrian with ID 68 is 31.1 meters away at (-29.7, 9.1). A pedestrian with ID 3 is 36.4 meters away at (-21.9, 29.1). A pedestrian with ID 6 is 37.2 meters away at (-22.5, 29.7).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-4.719453   1.9711034] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.8961506 0.5207848] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.6982769 -1.0831268] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.0021064  0.00055902] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.01481347  0.01009802] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.00353522 0.0377564 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.06556889 -0.04072983] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.0711239 -0.0445818] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.25659   38.506405]\n [-52.295113  35.020397]\n [-52.18047   35.25191 ]\n [-38.17351   16.428864]\n [-41.877247  21.774422]\n [-54.088722  32.05485 ]\n [-38.385944  16.569286]\n [-38.784832  14.930892]]", "nav_goal": "(-302.9105529785156, 128.3285369873047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.8754597 2.8547602], 4.05190372467041 meters away.)"}
{"file_name": "images/scenario_439_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 7.3) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 7.7 meters away at (0.9, -7.7). A pedestrian with ID 19 is 13.5 meters away at (-11.3, -7.3). A vehicle with ID 26 is 13.7 meters away at (12.8, -4.9). A cyclist with ID 21 is 14.0 meters away at (7.0, -12.1). A pedestrian with ID 22 is 14.1 meters away at (-12.7, -6.1). A vehicle with ID 4 is 15.4 meters away at (-3.8, -14.9). A vehicle with ID 24 is 16.3 meters away at (10.1, -12.7). A vehicle with ID 27 is 17.2 meters away at (14.8, -8.8). A vehicle with ID 30 is 17.4 meters away at (17.4, -1.1). A vehicle with ID 11 is 19.2 meters away at (-16.5, 9.9).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [1.4390122 6.0164003] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00164801  0.00592303] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.02084466 -0.00405002] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.01109849  0.01029364] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.06117142  7.260426  ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.7851462  0.25003564] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -5.141401  -27.934235 ]\n [ -7.9023805 -22.386465 ]\n [  6.392515   -9.117528 ]\n [-10.733296  -18.8113   ]\n [ 11.240831  -16.066328 ]\n [ 14.055844  -19.473452 ]\n [ -5.1877055 -28.179909 ]\n [  8.891822  -12.291781 ]\n [ -1.3963293 -28.817959 ]\n [  2.8117702  -5.5223494]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.86154866 -7.6895347 ], 7.737648963928223 meters away.)"}
{"file_name": "images/scenario_439_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 8.4) m/s. Its current heading (yaw) is 1.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 10.0 meters away at (-0.8, -10.0). A vehicle with ID 4 is 16.2 meters away at (-7.7, -14.2). A vehicle with ID 11 is 18.9 meters away at (-18.2, -5.0). A vehicle with ID 33 is 19.8 meters away at (16.1, -11.5). A vehicle with ID 30 is 20.0 meters away at (10.7, -16.9). A vehicle with ID 26 is 21.5 meters away at (6.1, -20.7). A vehicle with ID 31 is 23.0 meters away at (13.3, -18.8). A vehicle with ID 27 is 25.9 meters away at (8.0, -24.7). A cyclist with ID 21 is 28.1 meters away at (0.2, -28.1). A vehicle with ID 24 is 28.7 meters away at (3.4, -28.5).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [3.3086889 7.9344764] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [3.1388202 9.323023 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.1651626 0.7237699] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00753877  0.01325977] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -5.141401  -27.934235 ]\n [ -7.9023805 -22.386465 ]\n [  6.392515   -9.117528 ]\n [-10.733296  -18.8113   ]\n [ 11.240831  -16.066328 ]\n [ 14.055844  -19.473452 ]\n [ -5.1877055 -28.179909 ]\n [  8.891822  -12.291781 ]\n [ -1.3963293 -28.817959 ]\n [  2.8117702  -5.5223494]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.7598629 -9.995047 ], 10.02388858795166 meters away.)"}
{"file_name": "images/scenario_439_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 8.5) m/s. Its current heading (yaw) is 1.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 9.4 meters away at (-0.8, -9.4). A vehicle with ID 4 is 13.1 meters away at (-7.5, -10.8). A vehicle with ID 16 is 25.3 meters away at (19.5, 16.2). A vehicle with ID 33 is 29.6 meters away at (8.4, -28.3). A vehicle with ID 11 is 29.6 meters away at (-21.6, -20.3). A vehicle with ID 30 is 33.9 meters away at (3.0, -33.7). A vehicle with ID 31 is 36.1 meters away at (5.5, -35.7). A vehicle with ID 26 is 37.6 meters away at (-1.6, -37.5). A vehicle with ID 27 is 41.6 meters away at (0.3, -41.6). A cyclist with ID 21 is 45.4 meters away at (-7.3, -44.8).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [4.4581327 9.567975 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 4.4292064 10.871948 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-4.5317016 -6.5333095] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.6203327 1.2157305] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.01544852 0.00903072] m/s.", "light_description": "There are active red lights at the following coordinates: [[  6.392515   -9.117528 ]\n [ 11.240831  -16.066328 ]\n [ 14.055844  -19.473452 ]\n [  8.891822  -12.291781 ]\n [  2.8117702  -5.5223494]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.7763691 -9.388329 ], 9.420374870300293 meters away.)"}
{"file_name": "images/scenario_439_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 8.5) m/s. Its current heading (yaw) is 1.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 6.1 meters away at (0.7, -6.1). A vehicle with ID 4 is 8.6 meters away at (-6.4, -5.7). A vehicle with ID 16 is 13.8 meters away at (2.4, -13.6). A vehicle with ID 11 is 42.0 meters away at (-25.0, -33.8). A vehicle with ID 33 is 45.2 meters away at (-0.3, -45.2). A vehicle with ID 30 is 51.0 meters away at (-5.7, -50.6). A vehicle with ID 31 is 52.8 meters away at (-3.2, -52.7). A vehicle with ID 26 is 55.4 meters away at (-10.3, -54.4). A vehicle with ID 27 is 59.1 meters away at (-8.4, -58.5). A vehicle with ID 24 is 63.8 meters away at (-13.0, -62.4).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.9694953 10.842867 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 5.6340613 11.249788 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-3.7928958 -6.2884364] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.859211  2.3780622] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  6.392515   -9.117528 ]\n [ 11.240831  -16.066328 ]\n [ 14.055844  -19.473452 ]\n [  8.891822  -12.291781 ]\n [  2.8117702  -5.5223494]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.68406487 -6.0509567 ], 6.089500904083252 meters away.)"}
{"file_name": "images/scenario_440_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.9) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 8.9 meters away at (0.3, 8.9). A vehicle with ID 38 is 9.4 meters away at (7.8, 5.1). A vehicle with ID 43 is 13.8 meters away at (-4.3, -13.1). A vehicle with ID 41 is 14.2 meters away at (2.1, 14.0). A vehicle with ID 54 is 17.5 meters away at (-17.3, -2.4). A vehicle with ID 46 is 20.7 meters away at (4.0, 20.3). A vehicle with ID 45 is 23.3 meters away at (-23.3, -0.4). A vehicle with ID 50 is 26.0 meters away at (13.9, 22.0). A vehicle with ID 35 is 26.6 meters away at (14.0, -22.7). A vehicle with ID 52 is 26.8 meters away at (6.4, 26.0).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 7.4356027 -2.302476 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(95.73072814941406, 65.7050552368164)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.31883258 8.86572   ], 8.871451377868652 meters away.)"}
{"file_name": "images/scenario_440_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -3.8) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 13.6 meters away at (9.0, 10.2). A vehicle with ID 37 is 14.1 meters away at (1.5, 14.0). A vehicle with ID 54 is 16.5 meters away at (-16.2, 2.7). A vehicle with ID 41 is 19.5 meters away at (3.3, 19.2). A vehicle with ID 43 is 21.2 meters away at (15.4, -14.5). A vehicle with ID 45 is 22.7 meters away at (-22.1, 4.8). A vehicle with ID 35 is 23.2 meters away at (15.0, -17.7). A vehicle with ID 56 is 25.7 meters away at (-11.5, -23.0). A vehicle with ID 46 is 25.9 meters away at (5.3, 25.4). A vehicle with ID 34 is 26.1 meters away at (23.5, -11.4).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [10.9535   -3.967156] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(95.73072814941406, 65.7050552368164)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 9.014469 10.169458], 13.589648246765137 meters away.)"}
{"file_name": "images/scenario_440_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -3.4) m/s. Its current heading (yaw) is -0.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 15.5 meters away at (12.0, -9.8). A vehicle with ID 38 is 19.0 meters away at (6.0, 18.0). A vehicle with ID 34 is 20.7 meters away at (20.4, -3.6). A vehicle with ID 56 is 21.0 meters away at (-14.5, -15.1). A vehicle with ID 37 is 21.9 meters away at (-1.5, 21.8). A vehicle with ID 54 is 22.0 meters away at (-19.3, 10.5). A vehicle with ID 59 is 23.9 meters away at (-7.6, -22.7). A vehicle with ID 41 is 27.1 meters away at (0.3, 27.1). A vehicle with ID 45 is 28.3 meters away at (-25.4, 12.5). A vehicle with ID 62 is 31.9 meters away at (-31.5, 5.2).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(95.73072814941406, 65.7050552368164)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.959477 -9.80428 ], 15.46457290649414 meters away.)"}
{"file_name": "images/scenario_440_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -1.8) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 6.3 meters away at (4.2, -4.8). A vehicle with ID 34 is 12.6 meters away at (12.5, 1.5). A unknown object with ID 10 is 22.3 meters away at (22.3, -0.5). A vehicle with ID 38 is 23.1 meters away at (-1.9, 23.0). A vehicle with ID 59 is 23.4 meters away at (-15.4, -17.7). A unknown object with ID 25 is 24.5 meters away at (24.4, -2.2). A vehicle with ID 56 is 24.5 meters away at (-22.3, -10.2). A vehicle with ID 37 is 28.4 meters away at (-9.4, 26.8). A vehicle with ID 54 is 31.3 meters away at (-27.3, 15.3). A vehicle with ID 41 is 32.9 meters away at (-7.7, 32.0).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(95.73072814941406, 65.7050552368164)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.1603193 -4.7535725], 6.317017555236816 meters away.)"}
{"file_name": "images/scenario_441_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 3.4) m/s. Its current heading (yaw) is 0.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 20.5 meters away at (19.6, 5.9). A vehicle with ID 16 is 53.4 meters away at (38.2, -37.3). A vehicle with ID 15 is 62.7 meters away at (30.5, 54.8).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 3.5215182 -1.8862048] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 56.539165 -34.979298]\n [ 56.103485 -35.526722]\n [ 56.103485 -35.526722]\n [ 56.37238  -35.53056 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [19.605238  5.909051], 20.476381301879883 meters away.)"}
{"file_name": "images/scenario_441_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 4.4) m/s. Its current heading (yaw) is 0.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 52.1 meters away at (22.8, 46.9). A vehicle with ID 3 is 58.4 meters away at (22.4, 53.9). A vehicle with ID 16 is 58.5 meters away at (34.8, -47.1). A vehicle with ID 6 is 59.3 meters away at (35.5, -47.5).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.3871526  -0.18988498] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 0.28611967 -0.13526553] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 56.539165 -34.979298]\n [ 56.103485 -35.526722]\n [ 56.103485 -35.526722]\n [ 56.37238  -35.53056 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [22.78741 46.87639], 52.121604919433594 meters away.)"}
{"file_name": "images/scenario_441_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 4.7) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 40.3 meters away at (14.5, 37.6). A vehicle with ID 3 is 46.9 meters away at (14.2, 44.7). A vehicle with ID 2 is 58.7 meters away at (14.0, 57.0).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [14.545387 37.629814], 40.343170166015625 meters away.)"}
{"file_name": "images/scenario_441_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 4.1) m/s. Its current heading (yaw) is 0.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 15.7 meters away at (-12.6, -9.4). A vehicle with ID 15 is 29.7 meters away at (7.7, 28.7). A vehicle with ID 3 is 36.4 meters away at (7.3, 35.7). A vehicle with ID 2 is 48.5 meters away at (7.1, 48.0).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-12.606044  -9.373014], 15.708779335021973 meters away.)"}
{"file_name": "images/scenario_442_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (1.5, 4.3). A vehicle with ID 19 is 6.1 meters away at (6.0, 0.5). A vehicle with ID 20 is 7.4 meters away at (-6.1, 4.3). A vehicle with ID 22 is 8.3 meters away at (-2.8, 7.9). A pedestrian with ID 21 is 8.5 meters away at (6.9, 5.0). A vehicle with ID 23 is 8.9 meters away at (6.8, -5.7). A pedestrian with ID 24 is 9.6 meters away at (7.6, 5.9). A vehicle with ID 25 is 10.8 meters away at (10.3, -3.2). A vehicle with ID 29 is 19.5 meters away at (-12.4, 15.0). A vehicle with ID 31 is 21.7 meters away at (-16.9, 13.5).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01135834  0.00320067] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01398084  0.0070322 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.446262 -32.676567]\n [ 26.998318 -18.404205]\n [ 21.789259 -30.43209 ]\n [ 25.611483 -16.6915  ]\n [ 23.451773 -33.712482]\n [ 19.311243 -28.496391]\n [ 26.929688 -18.039995]]", "nav_goal": "(-212.17581176757812, 1.001775860786438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.4638866 4.307956 ], 4.549884796142578 meters away.)"}
{"file_name": "images/scenario_442_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (1.5, 4.3). A vehicle with ID 19 is 6.1 meters away at (6.1, 0.4). A vehicle with ID 20 is 7.4 meters away at (-6.0, 4.3). A vehicle with ID 22 is 8.3 meters away at (-2.7, 7.8). A pedestrian with ID 21 is 8.5 meters away at (6.9, 5.0). A vehicle with ID 23 is 8.7 meters away at (6.7, -5.6). A pedestrian with ID 24 is 9.6 meters away at (7.6, 5.8). A vehicle with ID 25 is 10.9 meters away at (10.4, -3.3). A vehicle with ID 29 is 19.4 meters away at (-12.4, 15.0). A vehicle with ID 31 is 21.6 meters away at (-16.8, 13.5).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00219905 0.00141916] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.00598651 -0.00237063] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.446262 -32.676567]\n [ 26.998318 -18.404205]\n [ 21.789259 -30.43209 ]\n [ 25.611483 -16.6915  ]\n [ 23.451773 -33.712482]\n [ 19.311243 -28.496391]\n [ 26.929688 -18.039995]]", "nav_goal": "(-212.17581176757812, 1.001775860786438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.5100596 4.261913 ], 4.521523952484131 meters away.)"}
{"file_name": "images/scenario_442_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (1.5, 4.2). A vehicle with ID 19 is 6.1 meters away at (6.1, 0.4). A vehicle with ID 20 is 7.4 meters away at (-6.0, 4.3). A vehicle with ID 22 is 8.3 meters away at (-2.7, 7.8). A pedestrian with ID 21 is 8.6 meters away at (7.0, 5.0). A vehicle with ID 23 is 8.7 meters away at (6.7, -5.7). A pedestrian with ID 24 is 9.6 meters away at (7.7, 5.8). A vehicle with ID 25 is 10.9 meters away at (10.4, -3.3). A vehicle with ID 29 is 19.4 meters away at (-12.3, 15.0). A vehicle with ID 31 is 21.6 meters away at (-16.8, 13.6).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00548387 0.00019069] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.00029569 -0.0038182 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.446262 -32.676567]\n [ 26.998318 -18.404205]\n [ 21.789259 -30.43209 ]\n [ 25.611483 -16.6915  ]\n [ 23.451773 -33.712482]\n [ 19.311243 -28.496391]\n [ 26.929688 -18.039995]]", "nav_goal": "(-212.17581176757812, 1.001775860786438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.5335314 4.2357755], 4.5048322677612305 meters away.)"}
{"file_name": "images/scenario_442_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (1.5, 4.2). A vehicle with ID 19 is 6.1 meters away at (6.1, 0.4). A vehicle with ID 20 is 7.4 meters away at (-6.0, 4.2). A vehicle with ID 22 is 8.3 meters away at (-2.7, 7.8). A pedestrian with ID 21 is 8.5 meters away at (7.0, 5.0). A vehicle with ID 23 is 8.8 meters away at (6.7, -5.7). A pedestrian with ID 24 is 9.6 meters away at (7.7, 5.8). A vehicle with ID 25 is 10.9 meters away at (10.4, -3.3). A vehicle with ID 29 is 19.4 meters away at (-12.3, 14.9). A vehicle with ID 31 is 21.6 meters away at (-16.8, 13.5).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00205246 -0.00099321] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.00104338 0.00027305] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.446262 -32.676567]\n [ 26.998318 -18.404205]\n [ 21.789259 -30.43209 ]\n [ 25.611483 -16.6915  ]\n [ 23.451773 -33.712482]\n [ 19.311243 -28.496391]\n [ 26.929688 -18.039995]]", "nav_goal": "(-212.17581176757812, 1.001775860786438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.5371133 4.234488 ], 4.504842281341553 meters away.)"}
{"file_name": "images/scenario_443_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -1.9) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 14.2 meters away at (-3.5, -13.7). A pedestrian with ID 29 is 19.0 meters away at (-19.0, 0.3). A pedestrian with ID 31 is 19.5 meters away at (-19.5, 1.2). A pedestrian with ID 33 is 26.2 meters away at (25.4, -6.5). A vehicle with ID 20 is 76.0 meters away at (68.2, -33.5).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.00647206 -0.02078516] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.00692207 -0.01033636] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.00644018 -0.01111284] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.0149838  -0.00824594] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [1.975204 1.878439] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(99.7522964477539, -200.38165283203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -3.4788704 -13.720438 ], 14.154608726501465 meters away.)"}
{"file_name": "images/scenario_443_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -2.0) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 16.1 meters away at (15.9, -2.7). A pedestrian with ID 28 is 16.2 meters away at (-12.7, -10.0). A pedestrian with ID 29 is 28.5 meters away at (-28.2, 4.1). A pedestrian with ID 31 is 29.2 meters away at (-28.8, 4.9). A pedestrian with ID 1 is 35.5 meters away at (35.2, -4.7). A unknown object with ID 25 is 39.5 meters away at (32.8, -22.0). A vehicle with ID 20 is 70.9 meters away at (65.8, -26.3). A pedestrian with ID 7 is 70.9 meters away at (59.7, -38.2).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.10142671  0.02237431] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.12601636  0.04034248] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.13006459 -0.00360027] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.14619622  0.01631551] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.02781579  0.00130874] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [5.3391156 0.835897 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.0705785  -0.04796028] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(99.7522964477539, -200.38165283203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [15.88266   -2.6834288], 16.107751846313477 meters away.)"}
{"file_name": "images/scenario_443_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -1.8) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 6.8 meters away at (6.8, 0.9). A pedestrian with ID 28 is 22.6 meters away at (-21.7, -6.2). A pedestrian with ID 1 is 26.2 meters away at (26.1, -0.9). A pedestrian with ID 31 is 38.7 meters away at (-37.8, 8.6). A pedestrian with ID 7 is 63.4 meters away at (53.1, -34.7). A pedestrian with ID 14 is 74.0 meters away at (70.9, -21.3). A vehicle with ID 20 is 75.0 meters away at (70.9, -24.3).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.04425021 0.0022077 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00508755 -0.01692413] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00609467 -0.00782152] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.00319931 -0.00286751] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.2325464  -0.49552852] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00582599 -0.0122691 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 7.890112  -2.3921738] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(99.7522964477539, -200.38165283203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [6.7578297  0.94767475], 6.823954105377197 meters away.)"}
{"file_name": "images/scenario_443_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.3) m/s. Its current heading (yaw) is -0.29 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 4.2 meters away at (-1.7, 3.8). A pedestrian with ID 1 is 17.6 meters away at (17.5, 2.0). A pedestrian with ID 28 is 30.5 meters away at (-30.3, -3.1). A unknown object with ID 27 is 31.8 meters away at (-26.6, 17.4). A pedestrian with ID 7 is 56.8 meters away at (47.0, -31.9). A pedestrian with ID 14 is 64.9 meters away at (62.2, -18.6).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.03707421 -0.00985444] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00107164 -0.00956922] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.01242194 -0.01183594] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.341538   -0.27603787] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.02453136 -0.08637562] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(99.7522964477539, -200.38165283203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-1.7158203  3.8484764], 4.213645935058594 meters away.)"}
{"file_name": "images/scenario_444_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -2.6) m/s. Its current heading (yaw) is -1.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 28.4 meters away at (-15.4, 23.8). A vehicle with ID 11 is 31.0 meters away at (0.2, 31.0). A vehicle with ID 12 is 34.1 meters away at (-17.2, 29.4). A vehicle with ID 13 is 44.9 meters away at (-20.8, 39.8). A vehicle with ID 15 is 51.5 meters away at (-8.2, 50.8). A vehicle with ID 17 is 63.9 meters away at (-15.9, 61.9). A vehicle with ID 18 is 77.1 meters away at (-31.5, 70.4).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-15.416499  23.815948], 28.370193481445312 meters away.)"}
{"file_name": "images/scenario_444_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -3.0) m/s. Its current heading (yaw) is -0.94 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 34.4 meters away at (-10.1, 32.9). A vehicle with ID 9 is 35.2 meters away at (-19.2, 29.5). A vehicle with ID 12 is 40.9 meters away at (-21.1, 35.1). A vehicle with ID 13 is 51.7 meters away at (-24.6, 45.4). A vehicle with ID 17 is 70.4 meters away at (-19.8, 67.6).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-10.064066  32.9338  ], 34.437198638916016 meters away.)"}
{"file_name": "images/scenario_444_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -3.6) m/s. Its current heading (yaw) is -1.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 43.3 meters away at (-23.9, 36.1). A vehicle with ID 12 is 48.9 meters away at (-25.7, 41.6). A vehicle with ID 13 is 59.7 meters away at (-29.3, 52.0).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-23.867516  36.092438], 43.27033996582031 meters away.)"}
{"file_name": "images/scenario_444_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -4.4) m/s. Its current heading (yaw) is -1.15 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 37.3 meters away at (-11.2, 35.6). A vehicle with ID 9 is 52.3 meters away at (-28.1, 44.1). A vehicle with ID 7 is 53.1 meters away at (-9.6, 52.2). A vehicle with ID 12 is 57.9 meters away at (-29.9, 49.6). A vehicle with ID 13 is 68.7 meters away at (-33.6, 60.0). A vehicle with ID 1 is 76.9 meters away at (29.4, -71.0).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-11.172082  35.61628 ], 37.32740020751953 meters away.)"}
{"file_name": "images/scenario_445_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -1.6) m/s. Its current heading (yaw) is -1.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 20.7 meters away at (-1.4, 20.7).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [1.7021737 8.125086 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.3960313 20.651785 ], 20.698915481567383 meters away.)"}
{"file_name": "images/scenario_445_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -2.3) m/s. Its current heading (yaw) is -0.50 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 42.2 meters away at (-4.5, 42.0).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0.14003488 8.243564  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.492998 41.952675], 42.19258117675781 meters away.)"}
{"file_name": "images/scenario_445_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -0.4) m/s. Its current heading (yaw) is -0.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 62.7 meters away at (-16.7, 60.4).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.6973608  8.224676 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-16.717464  60.447716], 62.71682357788086 meters away.)"}
{"file_name": "images/scenario_445_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -0.6) m/s. Its current heading (yaw) is -0.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 36.3 meters away at (-35.3, -8.6). A unknown object with ID 9 is 62.6 meters away at (62.4, -4.2). A unknown object with ID 4 is 63.5 meters away at (63.3, -5.4). A unknown object with ID 2 is 65.4 meters away at (-63.4, -16.2).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-35.307274   -8.6183195], 36.34389877319336 meters away.)"}
{"file_name": "images/scenario_446_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -3.5) m/s. Its current heading (yaw) is -2.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 12.4 meters away at (7.0, 10.3). A cyclist with ID 15 is 28.7 meters away at (-3.9, -28.4). A unknown object with ID 13 is 32.1 meters away at (32.1, -0.4). A unknown object with ID 10 is 34.3 meters away at (-2.0, -34.3). A vehicle with ID 19 is 36.8 meters away at (-7.0, -36.1). A vehicle with ID 22 is 39.2 meters away at (7.4, -38.5). A vehicle with ID 23 is 39.7 meters away at (39.6, -2.4). A vehicle with ID 25 is 42.2 meters away at (42.0, -4.0). A vehicle with ID 16 is 46.5 meters away at (45.6, -9.0). A vehicle with ID 27 is 55.5 meters away at (-9.9, -54.6).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.9959316  4.6934314] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [-2.3631558  1.3250209] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.16356064 -1.6686629 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-73.27515411376953, 9.18662166595459)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.003544 10.279905], 12.43889331817627 meters away.)"}
{"file_name": "images/scenario_446_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.4) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A cyclist with ID 15 is 22.2 meters away at (-5.0, -21.6). A vehicle with ID 11 is 26.2 meters away at (-7.1, 25.2). A unknown object with ID 10 is 29.3 meters away at (1.1, -29.3). A vehicle with ID 19 is 31.5 meters away at (-3.9, -31.2). A vehicle with ID 22 is 35.2 meters away at (10.5, -33.6). A unknown object with ID 4 is 36.6 meters away at (36.5, 3.3). A vehicle with ID 23 is 42.8 meters away at (42.7, 2.7). A vehicle with ID 25 is 45.1 meters away at (45.1, 1.1). A vehicle with ID 16 is 49.1 meters away at (48.6, -6.8). A vehicle with ID 27 is 50.3 meters away at (-6.9, -49.8).", "velocity_description": "The cyclist with ID 15 is traveling at a (x, y) velocity of [-2.5293446  -0.09871572] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.96759   5.045999] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.24661906 -1.6717877 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-73.27515411376953, 9.18662166595459)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ -5.001274 -21.609348], 22.1805477142334 meters away.)"}
{"file_name": "images/scenario_446_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.10 ", "actor_description": " The most relevant actors are: A cyclist with ID 15 is 26.6 meters away at (-9.2, -24.9). A unknown object with ID 10 is 28.8 meters away at (1.4, -28.7). A vehicle with ID 19 is 30.8 meters away at (-3.6, -30.6). A vehicle with ID 22 is 34.7 meters away at (10.9, -32.9). A unknown object with ID 3 is 34.8 meters away at (0.3, -34.8). A unknown object with ID 4 is 37.0 meters away at (36.8, 3.8). A unknown object with ID 7 is 38.8 meters away at (38.8, 1.3). A vehicle with ID 23 is 43.2 meters away at (43.0, 3.4). A vehicle with ID 11 is 43.3 meters away at (-24.5, 35.8). A vehicle with ID 25 is 45.6 meters away at (45.5, 1.7).", "velocity_description": "The cyclist with ID 15 is traveling at a (x, y) velocity of [-1.6063159 -2.8628175] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.662984   4.7782283] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-73.27515411376953, 9.18662166595459)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ -9.153608 -24.94821 ], 26.57445526123047 meters away.)"}
{"file_name": "images/scenario_446_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.10 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 28.7 meters away at (1.5, -28.7). A vehicle with ID 19 is 30.8 meters away at (-3.5, -30.6). A cyclist with ID 15 is 33.4 meters away at (-12.2, -31.1). A vehicle with ID 22 is 34.6 meters away at (10.9, -32.9). A unknown object with ID 4 is 37.0 meters away at (36.8, 3.9). A unknown object with ID 7 is 38.9 meters away at (38.9, 1.4). A vehicle with ID 23 is 43.2 meters away at (43.1, 3.5). A vehicle with ID 25 is 45.5 meters away at (45.5, 1.7). A vehicle with ID 27 is 49.4 meters away at (-6.4, -49.0). A vehicle with ID 6 is 53.7 meters away at (-10.6, -52.6).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [-1.2643708 -3.3554995] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-73.27515411376953, 9.18662166595459)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  1.4661932 -28.663279 ], 28.700754165649414 meters away.)"}
{"file_name": "images/scenario_447_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -5.5) m/s. Its current heading (yaw) is -0.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 55 is 4.6 meters away at (-2.1, -4.1). A unknown object with ID 54 is 7.2 meters away at (-7.2, 0.6). A unknown object with ID 49 is 12.5 meters away at (10.9, -6.1). A unknown object with ID 60 is 17.7 meters away at (10.9, -13.9). A pedestrian with ID 37 is 23.4 meters away at (23.1, -3.5). A vehicle with ID 53 is 24.9 meters away at (-20.8, 13.7). A unknown object with ID 47 is 25.2 meters away at (20.7, -14.4). A unknown object with ID 65 is 29.8 meters away at (19.9, -22.2). A vehicle with ID 56 is 32.3 meters away at (-27.0, 17.8). A unknown object with ID 48 is 36.8 meters away at (29.6, -21.9).", "velocity_description": "The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.01829869 0.0074093 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(225.4859619140625, -86.85039520263672)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.1129904 -4.0641804], 4.580643177032471 meters away.)"}
{"file_name": "images/scenario_447_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -5.5) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 60 is 3.3 meters away at (-1.5, -2.9). A unknown object with ID 49 is 5.1 meters away at (-1.5, 4.9). A unknown object with ID 47 is 8.9 meters away at (8.2, -3.4). A unknown object with ID 65 is 13.4 meters away at (7.4, -11.2). A unknown object with ID 55 is 16.1 meters away at (-14.5, 6.9). A unknown object with ID 48 is 20.3 meters away at (17.1, -11.0). A unknown object with ID 50 is 20.5 meters away at (13.4, -15.5). A pedestrian with ID 39 is 25.8 meters away at (-9.0, 24.2). A unknown object with ID 2 is 32.3 meters away at (22.4, -23.2). A unknown object with ID 67 is 35.8 meters away at (29.0, -21.1).", "velocity_description": "The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.03358045 -0.01201584] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(225.4859619140625, -86.85039520263672)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.5491772 -2.8773613], 3.2678980827331543 meters away.)"}
{"file_name": "images/scenario_447_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -4.9) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 65 is 4.6 meters away at (-4.5, -1.0). A unknown object with ID 48 is 5.2 meters away at (5.1, -0.7). A unknown object with ID 50 is 5.5 meters away at (1.4, -5.3). A unknown object with ID 47 is 7.8 meters away at (-3.7, 6.8). A vehicle with ID 5 is 11.3 meters away at (11.2, -1.1). A unknown object with ID 60 is 15.3 meters away at (-13.4, 7.4). A unknown object with ID 2 is 16.7 meters away at (10.5, -13.0). A unknown object with ID 49 is 20.3 meters away at (-13.4, 15.2). A unknown object with ID 52 is 28.0 meters away at (23.3, -15.6). A vehicle with ID 4 is 36.8 meters away at (11.6, -34.9).", "velocity_description": "The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(225.4859619140625, -86.85039520263672)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.4848022 -0.9581661], 4.586015224456787 meters away.)"}
{"file_name": "images/scenario_447_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -3.7) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 4.2 meters away at (0.1, -4.2). A unknown object with ID 1 is 6.9 meters away at (6.6, -2.1). A vehicle with ID 5 is 7.7 meters away at (0.5, 7.6). A unknown object with ID 48 is 9.6 meters away at (-5.3, 8.0). A unknown object with ID 50 is 9.6 meters away at (-9.0, 3.5). A unknown object with ID 52 is 14.5 meters away at (12.8, -6.8). A unknown object with ID 65 is 16.9 meters away at (-14.9, 7.8). A unknown object with ID 47 is 21.0 meters away at (-14.1, 15.6). A vehicle with ID 4 is 26.1 meters away at (1.2, -26.1). A pedestrian with ID 34 is 26.9 meters away at (-9.9, 25.0).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.17109662 -0.12054946] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(225.4859619140625, -86.85039520263672)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.0510025 -4.1835976], 4.183908462524414 meters away.)"}
{"file_name": "images/scenario_448_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 22.6 meters away at (-9.8, -20.4). A unknown object with ID 42 is 26.7 meters away at (-4.2, 26.4). A unknown object with ID 43 is 27.3 meters away at (-2.3, 27.2). A unknown object with ID 44 is 27.4 meters away at (1.1, 27.4). A vehicle with ID 48 is 29.5 meters away at (10.7, 27.4). A cyclist with ID 49 is 30.3 meters away at (8.2, 29.2). A pedestrian with ID 46 is 31.0 meters away at (-22.0, -21.8). A vehicle with ID 47 is 36.2 meters away at (-20.2, 30.1). A unknown object with ID 50 is 39.0 meters away at (-24.4, 30.4). A unknown object with ID 51 is 40.2 meters away at (-25.0, 31.5).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [1.3317267 2.7898057] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-1.6112111 -2.706333 ] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.7899718 -3.3097532] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.50818515 -0.9692783 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[5.6142697 5.0594215]\n [3.0145102 7.448639 ]\n [2.5621278 7.6234846]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ -9.764292 -20.361984], 22.58211326599121 meters away.)"}
{"file_name": "images/scenario_448_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 2.5) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 18.9 meters away at (4.9, 18.2). A vehicle with ID 45 is 19.6 meters away at (-8.9, -17.5). A cyclist with ID 49 is 20.1 meters away at (2.3, 20.0). A unknown object with ID 42 is 24.3 meters away at (-6.3, 23.4). A unknown object with ID 44 is 24.5 meters away at (-0.8, 24.4). A unknown object with ID 43 is 24.7 meters away at (-4.4, 24.3). A vehicle with ID 47 is 35.1 meters away at (-22.3, 27.0). A unknown object with ID 51 is 39.4 meters away at (-27.2, 28.4). A unknown object with ID 22 is 39.8 meters away at (-27.0, 29.3). A vehicle with ID 54 is 42.5 meters away at (16.3, 39.2).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [-2.64026  -4.702936] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [1.6600695 3.3183258] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-2.1343699 -3.032467 ] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-2.786692 -4.606292] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.9294863 18.203169 ], 18.858821868896484 meters away.)"}
{"file_name": "images/scenario_448_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 0.5) m/s. Its current heading (yaw) is 0.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 9.8 meters away at (-9.7, 1.4). A cyclist with ID 49 is 13.1 meters away at (-9.6, 9.0). A vehicle with ID 45 is 18.2 meters away at (-12.5, -13.2). A unknown object with ID 44 is 22.2 meters away at (-8.5, 20.5). A unknown object with ID 43 is 23.5 meters away at (-12.1, 20.2). A unknown object with ID 42 is 23.9 meters away at (-14.0, 19.4). A vehicle with ID 54 is 25.3 meters away at (2.7, 25.1). A vehicle with ID 23 is 36.1 meters away at (-20.3, -29.8). A vehicle with ID 47 is 37.9 meters away at (-30.1, 23.0). A vehicle with ID 18 is 42.5 meters away at (12.3, 40.7).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [-3.926745 -7.534487] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-2.1498141 -3.610872 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [2.542575  5.1386747] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-3.4628918 -6.149341 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [1.591124 3.80762 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-2.8428936 -4.8726807] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-9.702922   1.4462295], 9.810111045837402 meters away.)"}
{"file_name": "images/scenario_448_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.8) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 18.5 meters away at (-18.5, 1.2). A pedestrian with ID 17 is 21.3 meters away at (-16.5, -13.6). A vehicle with ID 54 is 21.6 meters away at (-16.7, 13.7). A unknown object with ID 34 is 22.4 meters away at (18.9, -12.1). A unknown object with ID 27 is 23.9 meters away at (20.3, -12.7). A cyclist with ID 49 is 25.3 meters away at (-24.8, 4.9). A unknown object with ID 30 is 28.1 meters away at (24.1, -14.5). A unknown object with ID 44 is 30.9 meters away at (-20.0, 23.5). A vehicle with ID 23 is 32.4 meters away at (-27.8, -16.7). A pedestrian with ID 53 is 32.8 meters away at (32.8, -1.0).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [3.487342  6.5184817] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.6107512 1.5696698] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-4.095175 -8.015667] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.767969 -3.44054 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [2.775654  6.1240497] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.60482997 0.4442798 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-18.473215    1.2003951], 18.512174606323242 meters away.)"}
{"file_name": "images/scenario_449_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -2.1) m/s. Its current heading (yaw) is -0.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 10.1 meters away at (10.1, 0.2). A vehicle with ID 33 is 21.5 meters away at (3.6, -21.2). A vehicle with ID 9 is 21.6 meters away at (3.5, 21.3). A vehicle with ID 45 is 23.3 meters away at (1.4, -23.3). A unknown object with ID 41 is 23.5 meters away at (-23.1, -4.2). A vehicle with ID 36 is 24.1 meters away at (-13.1, 20.2). A vehicle with ID 42 is 24.2 meters away at (-20.3, 13.1). A vehicle with ID 43 is 25.9 meters away at (-19.6, 16.9). A vehicle with ID 54 is 26.6 meters away at (23.8, -11.8). A vehicle with ID 47 is 29.7 meters away at (15.1, 25.6).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [-1.9926428  1.5998425] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.8085134 -4.4077854] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.4130738  4.527182 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-3.3152418  2.707642 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [1.1593356 1.3526378] m/s.", "light_description": "There are active red lights at the following coordinates: [[-1.0802478  8.578825 ]\n [-3.132767   5.960076 ]\n [ 8.307262   9.349543 ]\n [10.889968  11.381517 ]]", "nav_goal": "(228.9550018310547, -186.81361389160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [10.131404    0.18728465], 10.133134841918945 meters away.)"}
{"file_name": "images/scenario_449_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.5) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 8.0 meters away at (8.0, 0.3). A vehicle with ID 44 is 9.2 meters away at (-1.9, 9.0). A vehicle with ID 33 is 15.5 meters away at (-6.1, -14.3). A vehicle with ID 45 is 18.3 meters away at (-8.3, -16.3). A vehicle with ID 9 is 20.9 meters away at (-10.3, 18.2). A vehicle with ID 64 is 25.7 meters away at (22.9, -11.7). A vehicle with ID 26 is 28.4 meters away at (1.1, -28.4). A vehicle with ID 30 is 31.9 meters away at (-2.4, -31.8). A vehicle with ID 55 is 32.0 meters away at (-5.0, 31.6). A unknown object with ID 41 is 33.1 meters away at (-33.0, 2.9).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [-2.5003834  2.1503413] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.59413046 -6.2651086 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-4.0208178  3.4989364] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-3.6563098 -3.6852229] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-1.0802478  8.578825 ]\n [-3.132767   5.960076 ]\n [ 8.307262   9.349543 ]\n [10.889968  11.381517 ]]", "nav_goal": "(228.9550018310547, -186.81361389160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [8.041233   0.29677105], 8.046708106994629 meters away.)"}
{"file_name": "images/scenario_449_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -5.8) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 6.3 meters away at (4.7, 4.2). A vehicle with ID 54 is 15.0 meters away at (-6.9, 13.4). A vehicle with ID 33 is 18.4 meters away at (-18.0, -3.9). A vehicle with ID 26 is 21.0 meters away at (-10.9, -17.9). A vehicle with ID 45 is 21.1 meters away at (-20.3, -5.9). A vehicle with ID 22 is 23.7 meters away at (-22.3, -8.0). A vehicle with ID 44 is 24.1 meters away at (-14.0, 19.6). A vehicle with ID 9 is 24.1 meters away at (-18.9, 15.1). A vehicle with ID 30 is 25.8 meters away at (-14.4, -21.4). A vehicle with ID 32 is 28.4 meters away at (-25.5, -12.5).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [-2.2137663  1.9885598] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.2375601   0.21896362] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 4.2852225 -7.092274 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[102.511505  -74.069084 ]\n [ -1.0802478   8.578825 ]\n [ -3.132767    5.960076 ]\n [  8.307262    9.349543 ]\n [102.13454   -74.630325 ]\n [ 10.889968   11.381517 ]]", "nav_goal": "(228.9550018310547, -186.81361389160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.7099934 4.239872 ], 6.337235450744629 meters away.)"}
{"file_name": "images/scenario_449_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -6.9) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 23.6 meters away at (-13.0, 19.6). A vehicle with ID 9 is 25.0 meters away at (-20.8, 13.8). A vehicle with ID 26 is 26.1 meters away at (-25.6, -5.2). A vehicle with ID 39 is 26.7 meters away at (25.5, -7.9). A vehicle with ID 30 is 30.3 meters away at (-29.1, -8.6). A vehicle with ID 18 is 32.6 meters away at (-30.6, -11.3). A vehicle with ID 33 is 33.9 meters away at (-32.7, 8.8). A vehicle with ID 54 is 34.0 meters away at (-21.8, 26.1). A vehicle with ID 10 is 35.2 meters away at (28.6, -20.5). A vehicle with ID 45 is 35.7 meters away at (-35.0, 6.9).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [-0.62768906  0.5362459 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.897365 -6.999583] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.7304406 -2.3442879] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[102.511505  -74.069084 ]\n [ -1.0802478   8.578825 ]\n [ -3.132767    5.960076 ]\n [  8.307262    9.349543 ]\n [102.13454   -74.630325 ]\n [ 10.889968   11.381517 ]\n [108.59739   -69.5941   ]]", "nav_goal": "(228.9550018310547, -186.81361389160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-13.04604  19.62003], 23.56151008605957 meters away.)"}
{"file_name": "images/scenario_450_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A pedestrian with ID 18 is 9.7 meters away at (3.7, -8.9). A pedestrian with ID 19 is 9.8 meters away at (2.7, -9.4). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A pedestrian with ID 12 is 15.6 meters away at (11.4, -10.7). A vehicle with ID 51 is 16.6 meters away at (-6.6, -15.3). A vehicle with ID 50 is 24.8 meters away at (-23.4, -8.3). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.2 meters away at (16.3, 23.0).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0562505   0.13500424] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.101671    0.25271234] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.8306593 -0.0803606] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-7.756901   3.6241276] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-8.853189   3.2098763] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.387315   -9.341041 ]\n [ -5.92187   -10.985463 ]\n [ -7.250176  -10.340366 ]\n [ -1.1294698 -13.275007 ]\n [ -6.9020133 -10.505204 ]]", "nav_goal": "(-133.12181091308594, -10.509531021118164)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.6305041 7.3445473], 7.801405429840088 meters away.)"}
{"file_name": "images/scenario_450_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A pedestrian with ID 18 is 8.3 meters away at (1.6, -8.1). A pedestrian with ID 19 is 8.7 meters away at (0.7, -8.6). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A vehicle with ID 58 is 17.4 meters away at (-2.9, -17.1). A vehicle with ID 51 is 24.2 meters away at (-22.4, -9.1). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.3 meters away at (16.3, 23.0). A vehicle with ID 23 is 32.1 meters away at (14.9, -28.4).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0712124   0.49990824] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0433942   0.34003562] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-7.1663814  3.8795264] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-8.033895   2.7845416] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-7.865677   6.5374894] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.387315   -9.341041 ]\n [ -5.92187   -10.985463 ]\n [ -7.250176  -10.340366 ]\n [ -1.1294698 -13.275007 ]\n [ -6.9020133 -10.505204 ]]", "nav_goal": "(-133.12181091308594, -10.509531021118164)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.634853 7.344283], 7.802624225616455 meters away.)"}
{"file_name": "images/scenario_450_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 7.2 meters away at (-0.5, -7.1). A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A pedestrian with ID 19 is 8.3 meters away at (-1.4, -8.1). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A vehicle with ID 23 is 17.3 meters away at (-0.5, -17.3). A vehicle with ID 58 is 19.8 meters away at (-16.6, -10.9). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.3 meters away at (16.4, 23.1). A vehicle with ID 41 is 32.3 meters away at (18.6, -26.4).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0577968   0.51498747] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.107154   0.3324281] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-7.398509   4.1204524] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.4878893  2.4550395] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.387315   -9.341041 ]\n [ -5.92187   -10.985463 ]\n [ -7.250176  -10.340366 ]\n [ -1.1294698 -13.275007 ]\n [ -6.9020133 -10.505204 ]]", "nav_goal": "(-133.12181091308594, -10.509531021118164)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-0.54736024 -7.1487885 ], 7.169712543487549 meters away.)"}
{"file_name": "images/scenario_450_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 6.6 meters away at (-2.7, -6.0). A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A pedestrian with ID 19 is 8.1 meters away at (-3.5, -7.3). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A vehicle with ID 23 is 18.1 meters away at (-14.0, -11.5). A vehicle with ID 20 is 24.5 meters away at (7.3, -23.3). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.2 meters away at (16.4, 23.0). A vehicle with ID 58 is 29.4 meters away at (-28.7, -6.5).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.177208    0.49959984] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.056869   0.4850633] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-6.3104978  2.3327367] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-6.1658483  4.255794 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-5.193434   1.7730246] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.387315   -9.341041 ]\n [ -5.92187   -10.985463 ]\n [ -7.250176  -10.340366 ]\n [ -1.1294698 -13.275007 ]\n [ -6.9020133 -10.505204 ]]", "nav_goal": "(-133.12181091308594, -10.509531021118164)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-2.6521707 -6.0179324], 6.576436519622803 meters away.)"}
{"file_name": "images/scenario_451_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 2.1) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 25.3 meters away at (-11.6, -22.4). A vehicle with ID 22 is 26.7 meters away at (-15.0, -22.1). A vehicle with ID 21 is 32.3 meters away at (-14.7, 28.8). A vehicle with ID 25 is 33.7 meters away at (-26.8, -20.4). A unknown object with ID 28 is 35.6 meters away at (15.8, 31.9). A unknown object with ID 29 is 36.8 meters away at (25.9, 26.1). A unknown object with ID 30 is 37.9 meters away at (25.8, 27.7). A vehicle with ID 20 is 40.9 meters away at (-25.1, 32.3). A vehicle with ID 10 is 42.3 meters away at (42.2, -2.0). A vehicle with ID 31 is 42.4 meters away at (41.5, 9.1).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.8801062 1.0201837] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.805763 -56.572845]\n [-52.153923 -56.408005]\n [-50.82562  -57.053104]\n [-53.29106  -55.40868 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.630775 -22.433855], 25.269601821899414 meters away.)"}
{"file_name": "images/scenario_451_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 25.9 meters away at (-12.0, -23.0). A vehicle with ID 22 is 30.1 meters away at (-17.3, -24.7). A vehicle with ID 21 is 31.1 meters away at (-16.9, 26.1). A unknown object with ID 28 is 32.3 meters away at (13.6, 29.3). A unknown object with ID 29 is 33.4 meters away at (23.7, 23.5). A unknown object with ID 30 is 34.4 meters away at (23.6, 25.1). A vehicle with ID 18 is 36.6 meters away at (-21.5, -29.6). A vehicle with ID 25 is 37.1 meters away at (-29.1, -23.1). A unknown object with ID 7 is 37.7 meters away at (28.0, 25.3). A vehicle with ID 1 is 38.5 meters away at (-32.3, 20.9).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.96385384 1.0396892 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.805763 -56.572845]\n [-52.153923 -56.408005]\n [-50.82562  -57.053104]\n [-53.29106  -55.40868 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.990246 -22.971024], 25.91204071044922 meters away.)"}
{"file_name": "images/scenario_451_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.6) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 26.5 meters away at (-11.8, -23.8). A unknown object with ID 28 is 29.1 meters away at (12.1, 26.4). A vehicle with ID 21 is 29.8 meters away at (-18.4, 23.5). A unknown object with ID 29 is 30.2 meters away at (22.2, 20.5). A unknown object with ID 30 is 31.3 meters away at (22.1, 22.1). A vehicle with ID 22 is 33.4 meters away at (-19.1, -27.3). A vehicle with ID 5 is 37.9 meters away at (37.8, 3.2). A vehicle with ID 1 is 38.6 meters away at (-33.9, 18.4). A vehicle with ID 10 is 39.1 meters away at (38.3, -7.6). A vehicle with ID 20 is 39.5 meters away at (-28.7, 27.1).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.9323562 0.8917673] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.832369 -23.765985], 26.5485782623291 meters away.)"}
{"file_name": "images/scenario_451_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 4.5) m/s. Its current heading (yaw) is 2.03 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 22.6 meters away at (12.6, 18.7). A vehicle with ID 21 is 23.9 meters away at (-18.0, 15.8). A pedestrian with ID 23 is 30.9 meters away at (-9.4, -29.5). A vehicle with ID 20 is 34.3 meters away at (-28.3, 19.5). A vehicle with ID 1 is 35.1 meters away at (-33.5, 10.7). A vehicle with ID 33 is 36.8 meters away at (23.0, 28.7). A vehicle with ID 5 is 38.4 meters away at (38.2, -4.5). A vehicle with ID 22 is 39.7 meters away at (-18.6, -35.0). A vehicle with ID 10 is 41.8 meters away at (38.9, -15.3). A vehicle with ID 25 is 45.0 meters away at (-30.4, -33.3).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [1.1166182 1.0176777] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [12.602041 18.736351], 22.58013153076172 meters away.)"}
{"file_name": "images/scenario_452_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -4.2) m/s. Its current heading (yaw) is -1.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 88 is 13.1 meters away at (12.9, -1.9). A vehicle with ID 98 is 13.1 meters away at (8.1, 10.3). A vehicle with ID 86 is 15.6 meters away at (15.4, -2.2). A vehicle with ID 104 is 16.9 meters away at (13.9, 9.6). A pedestrian with ID 102 is 17.2 meters away at (10.6, 13.4). A vehicle with ID 90 is 18.5 meters away at (15.9, -9.4). A pedestrian with ID 63 is 18.7 meters away at (12.9, 13.5). A vehicle with ID 106 is 18.9 meters away at (16.5, 9.2). A pedestrian with ID 92 is 20.0 meters away at (14.2, 14.1). A vehicle with ID 89 is 20.3 meters away at (18.2, -8.9).", "velocity_description": "The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [ 0.01079105 -0.0288444 ] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [ 0.0081305 -0.0155644] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.934593  -1.9295645], 13.077726364135742 meters away.)"}
{"file_name": "images/scenario_452_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -2.5) m/s. Its current heading (yaw) is -1.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 88 is 12.3 meters away at (11.5, 4.4). A vehicle with ID 86 is 14.6 meters away at (14.0, 4.0). A vehicle with ID 90 is 14.8 meters away at (14.5, -3.2). A vehicle with ID 89 is 17.0 meters away at (16.8, -2.6). A vehicle with ID 98 is 17.9 meters away at (6.7, 16.6). A vehicle with ID 57 is 19.1 meters away at (18.7, 3.7). A vehicle with ID 104 is 20.2 meters away at (12.5, 15.9). A vehicle with ID 106 is 21.6 meters away at (15.0, 15.5). A pedestrian with ID 102 is 21.8 meters away at (9.2, 19.7). A vehicle with ID 58 is 21.8 meters away at (21.5, 3.8).", "velocity_description": "The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.02921306  0.04614693] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.488862  4.385071], 12.29726791381836 meters away.)"}
{"file_name": "images/scenario_452_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -2.1) m/s. Its current heading (yaw) is -0.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 90 is 12.7 meters away at (12.6, 1.5). A vehicle with ID 88 is 13.2 meters away at (9.5, 9.1). A vehicle with ID 86 is 14.9 meters away at (12.1, 8.8). A vehicle with ID 89 is 15.0 meters away at (14.9, 2.1). A vehicle with ID 57 is 18.7 meters away at (16.8, 8.2). A vehicle with ID 58 is 21.5 meters away at (19.6, 8.6). A vehicle with ID 98 is 21.9 meters away at (4.9, 21.3). A vehicle with ID 104 is 23.2 meters away at (10.6, 20.6). A vehicle with ID 101 is 23.3 meters away at (19.3, -13.0). A vehicle with ID 28 is 23.4 meters away at (21.8, 8.4).", "velocity_description": "The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.572756  1.530077], 12.66551685333252 meters away.)"}
{"file_name": "images/scenario_452_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -0.9) m/s. Its current heading (yaw) is -0.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 90 is 9.2 meters away at (7.6, 5.1). A vehicle with ID 89 is 11.4 meters away at (9.9, 5.7). A vehicle with ID 88 is 13.4 meters away at (4.6, 12.6). A vehicle with ID 86 is 14.2 meters away at (7.1, 12.3). A vehicle with ID 57 is 16.8 meters away at (11.9, 11.9). A vehicle with ID 101 is 17.2 meters away at (14.3, -9.4). A vehicle with ID 58 is 19.0 meters away at (14.6, 12.1). A vehicle with ID 100 is 19.0 meters away at (16.8, -9.0). A vehicle with ID 28 is 20.6 meters away at (16.9, 11.8). A pedestrian with ID 112 is 21.3 meters away at (16.6, -13.4).", "velocity_description": "The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [ 0.67381215 -1.0559591 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [7.608756  5.0934734], 9.156234741210938 meters away.)"}
{"file_name": "images/scenario_453_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 3.4) m/s. Its current heading (yaw) is 1.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 19.3 meters away at (7.9, 17.6). A vehicle with ID 6 is 19.9 meters away at (7.4, -18.4).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.469969   6.0008526] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 7.911248 17.582527], 19.28038215637207 meters away.)"}
{"file_name": "images/scenario_453_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 2.9) m/s. Its current heading (yaw) is 1.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 13.6 meters away at (4.6, -12.8). A vehicle with ID 7 is 15.1 meters away at (9.5, 11.7).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.9453002  5.290415 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  4.5986757 -12.798022 ], 13.599161148071289 meters away.)"}
{"file_name": "images/scenario_453_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 4.5) m/s. Its current heading (yaw) is 1.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 11.0 meters away at (2.1, -10.8). A vehicle with ID 7 is 11.2 meters away at (10.4, 4.1).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.1352243  4.246447 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.1082542 -10.84038  ], 11.043485641479492 meters away.)"}
{"file_name": "images/scenario_453_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 5.0) m/s. Its current heading (yaw) is 1.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 12.1 meters away at (10.7, -5.5). A vehicle with ID 6 is 13.5 meters away at (2.7, -13.3). A unknown object with ID 2 is 49.6 meters away at (16.0, -46.9).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [1.5063467 2.917092 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [10.7190075 -5.510336 ], 12.052424430847168 meters away.)"}
{"file_name": "images/scenario_454_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 3.5) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A cyclist with ID 79 is 12.4 meters away at (-10.7, 6.4). A pedestrian with ID 83 is 14.7 meters away at (-7.0, 12.9). A unknown object with ID 82 is 15.0 meters away at (-11.4, 9.7). A vehicle with ID 91 is 18.8 meters away at (-16.4, -9.3). A unknown object with ID 84 is 19.5 meters away at (-15.5, 11.9). A vehicle with ID 86 is 22.2 meters away at (14.2, 17.0). A vehicle with ID 80 is 23.5 meters away at (-22.6, 6.6). A pedestrian with ID 85 is 27.6 meters away at (-13.1, -24.3). A vehicle with ID 92 is 30.3 meters away at (-30.0, -4.3). A pedestrian with ID 90 is 31.5 meters away at (-15.8, -27.3).", "velocity_description": "The cyclist with ID 79 is traveling at a (x, y) velocity of [-4.0507226  2.567261 ] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.26285583 -0.74779934] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [ 6.52956   -4.5875487] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [-9.919358   7.4542947] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.10370236 -0.03204589] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.15545647 0.7644757 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-253.251953125, 155.5500030517578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-10.657828   6.360756], 12.411628723144531 meters away.)"}
{"file_name": "images/scenario_454_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 5.0) m/s. Its current heading (yaw) is 1.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 83 is 11.5 meters away at (-11.0, 3.1). A vehicle with ID 86 is 12.9 meters away at (9.8, 8.4). A unknown object with ID 82 is 16.1 meters away at (-16.0, 1.9). A unknown object with ID 84 is 20.4 meters away at (-20.0, 4.0). A vehicle with ID 24 is 23.5 meters away at (14.7, 18.4). A pedestrian with ID 50 is 24.1 meters away at (-2.1, 24.0). A cyclist with ID 79 is 24.2 meters away at (-23.7, 4.8). A vehicle with ID 91 is 28.2 meters away at (-8.1, -27.0). A vehicle with ID 92 is 36.7 meters away at (-34.7, -12.0). A pedestrian with ID 85 is 37.1 meters away at (-18.3, -32.2).", "velocity_description": "The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.13759297 -0.7671048 ] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.09244613 -0.03351555] m/s.The cyclist with ID 79 is traveling at a (x, y) velocity of [-3.7932987  3.4660814] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [ 6.963271  -5.1379375] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.04030086  0.0468455 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-253.251953125, 155.5500030517578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.022857    3.1237736], 11.456933975219727 meters away.)"}
{"file_name": "images/scenario_454_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 7.4) m/s. Its current heading (yaw) is 1.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 86 is 4.9 meters away at (2.6, -4.2). A vehicle with ID 24 is 9.6 meters away at (7.7, 5.8). A pedestrian with ID 83 is 21.0 meters away at (-17.8, -11.1). A unknown object with ID 82 is 25.6 meters away at (-23.2, -10.7). A unknown object with ID 84 is 28.6 meters away at (-27.3, -8.5). A vehicle with ID 44 is 32.4 meters away at (10.3, 30.7). A vehicle with ID 78 is 33.0 meters away at (19.3, 26.8). A cyclist with ID 79 is 39.8 meters away at (-39.8, -1.2). A unknown object with ID 60 is 45.1 meters away at (16.1, -42.1). A vehicle with ID 92 is 48.6 meters away at (-41.9, -24.6).", "velocity_description": "The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.01122544 -0.63113695] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-4.7128906 -7.5375423] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 79 is traveling at a (x, y) velocity of [-4.2800922  3.4180658] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-253.251953125, 155.5500030517578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.5855293 -4.159031 ], 4.89719295501709 meters away.)"}
{"file_name": "images/scenario_454_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 8.6) m/s. Its current heading (yaw) is 1.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 7.4 meters away at (-7.4, -0.8). A vehicle with ID 24 is 10.3 meters away at (-1.1, -10.3). A vehicle with ID 78 is 15.2 meters away at (10.7, 10.8). A vehicle with ID 73 is 21.1 meters away at (-6.3, -20.2). A vehicle with ID 38 is 29.4 meters away at (11.0, 27.2). A pedestrian with ID 11 is 36.6 meters away at (7.3, 35.9). A pedestrian with ID 9 is 38.8 meters away at (9.2, 37.7). A pedestrian with ID 83 is 39.2 meters away at (-27.8, -27.6). A vehicle with ID 23 is 41.2 meters away at (20.0, 36.0). A unknown object with ID 82 is 41.8 meters away at (-32.0, -26.8).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [-4.1169906 -7.3487287] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.6311004 -6.8775597] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.62038565 -1.164922  ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.6454239 -1.0886956] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.8945442  0.5758531] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [3.0063012 5.1380124] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[64.69349  87.216736]\n [64.52801  86.49684 ]\n [64.44549  86.84549 ]\n [47.56982  96.33579 ]\n [44.045277 96.32327 ]]", "nav_goal": "(-253.251953125, 155.5500030517578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.405219 -0.780468], 7.446233749389648 meters away.)"}
{"file_name": "images/scenario_455_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 3.6) m/s. Its current heading (yaw) is 2.02 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 33.1 meters away at (23.9, -23.0). A vehicle with ID 13 is 39.3 meters away at (21.9, -32.6). A vehicle with ID 9 is 47.4 meters away at (27.5, -38.7). A pedestrian with ID 8 is 47.6 meters away at (32.0, -35.2). A vehicle with ID 12 is 64.8 meters away at (43.6, -48.0).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.6287359 -0.6666522] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 23.859743 -23.008368], 33.1462287902832 meters away.)"}
{"file_name": "images/scenario_455_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 2.7) m/s. Its current heading (yaw) is 2.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 25.2 meters away at (-8.3, 23.8). A vehicle with ID 13 is 46.6 meters away at (25.6, -38.9). A vehicle with ID 9 is 54.7 meters away at (31.2, -44.9). A pedestrian with ID 8 is 56.8 meters away at (37.1, -43.0). A vehicle with ID 12 is 71.9 meters away at (47.2, -54.3).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.7124797 -0.6877716] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.3395195 23.783203 ], 25.202943801879883 meters away.)"}
{"file_name": "images/scenario_455_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 1.5) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 52.5 meters away at (29.6, -43.4). A vehicle with ID 9 is 60.8 meters away at (35.3, -49.5). A pedestrian with ID 8 is 64.9 meters away at (42.3, -49.1). A vehicle with ID 12 is 77.9 meters away at (51.2, -58.8).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.65512717 -0.86884046] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 29.55983  -43.433735], 52.538299560546875 meters away.)"}
{"file_name": "images/scenario_455_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 0.5) m/s. Its current heading (yaw) is 2.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 56.8 meters away at (34.5, -45.2). A vehicle with ID 9 is 65.2 meters away at (40.1, -51.3). A pedestrian with ID 8 is 71.6 meters away at (48.4, -52.8). A vehicle with ID 12 is 82.6 meters away at (56.1, -60.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.80186576 -0.76912314] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 34.457893 -45.21107 ], 56.84529113769531 meters away.)"}
{"file_name": "images/scenario_456_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -5.2) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 7.8 meters away at (7.3, 2.7). A pedestrian with ID 51 is 9.1 meters away at (9.1, 0.6). A vehicle with ID 48 is 21.5 meters away at (-13.8, 16.5). A vehicle with ID 53 is 30.0 meters away at (-25.9, -15.1). A vehicle with ID 23 is 31.8 meters away at (-11.6, 29.7). A vehicle with ID 44 is 33.4 meters away at (-9.7, 31.9). A vehicle with ID 57 is 36.5 meters away at (-3.5, -36.3). A unknown object with ID 54 is 47.0 meters away at (-31.5, 34.9). A unknown object with ID 55 is 48.8 meters away at (-32.9, 36.1). A vehicle with ID 9 is 65.6 meters away at (1.6, -65.6).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [0.7101568  0.31407022] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-6.9224095  6.0225964] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(236.62928771972656, -52.89229965209961)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [7.2614985 2.7391348], 7.760941982269287 meters away.)"}
{"file_name": "images/scenario_456_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -4.0) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A pedestrian with ID 51 is 10.0 meters away at (-1.3, 9.9). A vehicle with ID 49 is 12.3 meters away at (-3.5, 11.8). A vehicle with ID 57 is 30.9 meters away at (-14.6, -27.3). A vehicle with ID 23 is 44.9 meters away at (-22.5, 38.8). A vehicle with ID 48 is 54.9 meters away at (-39.4, 38.2). A unknown object with ID 54 is 61.1 meters away at (-42.3, 44.1). A unknown object with ID 55 is 62.9 meters away at (-43.8, 45.2). A vehicle with ID 52 is 77.9 meters away at (-59.4, 50.5).", "velocity_description": "The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.1576978  -0.11328094] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-7.710572  6.610237] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.672144 -5.837334] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(236.62928771972656, -52.89229965209961)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-1.2586803  9.941615 ], 10.020977020263672 meters away.)"}
{"file_name": "images/scenario_456_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -1.7) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A pedestrian with ID 51 is 17.4 meters away at (-7.9, 15.5). A pedestrian with ID 8 is 19.6 meters away at (-8.4, 17.7). A vehicle with ID 49 is 20.2 meters away at (-10.3, 17.4). A vehicle with ID 57 is 30.4 meters away at (-21.4, -21.6). A vehicle with ID 23 is 53.4 meters away at (-29.4, 44.6). A vehicle with ID 52 is 68.9 meters away at (-52.6, 44.5). A vehicle with ID 25 is 69.3 meters away at (-52.8, 44.8). A unknown object with ID 54 is 69.9 meters away at (-49.0, 49.8). A unknown object with ID 55 is 71.6 meters away at (-50.4, 50.9). A vehicle with ID 26 is 75.6 meters away at (73.6, -17.3).", "velocity_description": "The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.0270409  -0.01698466] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.01247595 -0.00020806] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.6483235 -5.850379 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 6.6665664 -5.8708596] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(236.62928771972656, -52.89229965209961)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-7.852625 15.511031], 17.38550567626953 meters away.)"}
{"file_name": "images/scenario_456_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 51 is 19.7 meters away at (-9.6, 17.1). A pedestrian with ID 8 is 21.7 meters away at (-10.3, 19.1). A vehicle with ID 49 is 22.0 meters away at (-11.8, 18.6). A vehicle with ID 52 is 53.5 meters away at (-41.0, 34.4). A vehicle with ID 25 is 54.0 meters away at (-41.4, 34.7). A pedestrian with ID 35 is 65.4 meters away at (-31.9, -57.1). A vehicle with ID 32 is 67.4 meters away at (-29.2, -60.7). A vehicle with ID 26 is 73.8 meters away at (72.0, -16.0). A vehicle with ID 1 is 76.1 meters away at (67.8, -34.6). A vehicle with ID 19 is 78.3 meters away at (72.5, -29.4).", "velocity_description": "The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.19251394  0.36205095] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.12767796  0.00272119] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.467214  -5.5172834] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 6.5131607 -5.5496974] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.8026433 0.9788231] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(236.62928771972656, -52.89229965209961)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-9.6339035 17.134628 ], 19.65725326538086 meters away.)"}
{"file_name": "images/scenario_457_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -7.2) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 34 is 6.6 meters away at (6.2, 2.3). A pedestrian with ID 32 is 7.1 meters away at (6.2, 3.5). A pedestrian with ID 33 is 7.3 meters away at (6.7, 3.0). A vehicle with ID 55 is 19.6 meters away at (-18.3, -6.9). A cyclist with ID 35 is 20.6 meters away at (-17.3, 11.2). A pedestrian with ID 37 is 24.0 meters away at (-2.6, 23.8). A pedestrian with ID 36 is 26.7 meters away at (9.4, 25.0). A vehicle with ID 39 is 28.0 meters away at (-26.4, 9.4). A vehicle with ID 38 is 28.9 meters away at (25.6, 13.4). A unknown object with ID 40 is 31.2 meters away at (0.2, 31.2).", "velocity_description": "The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7504119  -0.22126758] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.61825526 -0.23788229] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.6803408 -0.2603572] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0.91826487 1.460054  ] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-7.8725586 -0.5082339] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00209917  0.00415112] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.78826237 -0.02175873] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-8.967905  -0.3973816] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  9.638023    -0.43188092]\n [  9.628223    -0.14739768]\n [  9.658364     0.2871958 ]\n [  9.639319    -0.4606078 ]\n [-29.163015   -23.009684  ]\n [  9.639319    -0.46060702]\n [-29.451275   -22.862432  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [6.196024 2.301835], 6.609777450561523 meters away.)"}
{"file_name": "images/scenario_457_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -7.7) m/s. Its current heading (yaw) is -2.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 12.8 meters away at (-8.7, 9.3). A pedestrian with ID 34 is 22.1 meters away at (14.1, 17.0). A pedestrian with ID 33 is 23.1 meters away at (14.9, 17.7). A pedestrian with ID 32 is 24.0 meters away at (15.1, 18.6). A cyclist with ID 35 is 35.0 meters away at (-23.7, 25.7). A pedestrian with ID 37 is 39.4 meters away at (6.4, 38.9). A vehicle with ID 39 is 43.2 meters away at (-35.5, 24.6). A vehicle with ID 38 is 44.8 meters away at (34.6, 28.4). A pedestrian with ID 36 is 45.6 meters away at (20.7, 40.6). A unknown object with ID 18 is 49.9 meters away at (-46.2, 18.9).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.14301553 -0.07498743] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.1725562  -0.08827829] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.06558649  0.00909447] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-7.7167716  -0.27711964] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01068114  0.01329342] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-9.05408    0.1309416] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.371916   0.31004608] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  9.638023    -0.43188092]\n [  9.628223    -0.14739768]\n [  9.658364     0.2871958 ]\n [  9.639319    -0.4606078 ]\n [-29.163015   -23.009684  ]\n [  9.639319    -0.46060702]\n [-29.451275   -22.862432  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.721342  9.318861], 12.763345718383789 meters away.)"}
{"file_name": "images/scenario_457_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -8.1) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 25.1 meters away at (0.2, 25.1). A vehicle with ID 22 is 33.0 meters away at (-25.1, -21.4). A pedestrian with ID 34 is 40.3 meters away at (23.2, 32.9). A unknown object with ID 19 is 40.4 meters away at (-11.8, -38.7). A pedestrian with ID 32 is 41.5 meters away at (23.7, 34.1). A cyclist with ID 35 is 50.8 meters away at (-30.0, 41.0). A pedestrian with ID 37 is 56.7 meters away at (15.3, 54.6). A pedestrian with ID 36 is 65.2 meters away at (32.6, 56.5). A vehicle with ID 54 is 69.1 meters away at (-29.7, -62.4). A pedestrian with ID 44 is 71.7 meters away at (47.3, 53.8).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [3.330036 6.219037] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.05161916  0.19327173] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.01780399 -0.00776258] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-7.209697  -0.0107267] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.0190464  -0.02622473] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.5141335  0.11899189] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ -6.1354413 -13.857021 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.17144588 -0.1127594 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-29.163015 -23.009684]\n [-29.451275 -22.862432]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.16314316 25.065845  ], 25.066377639770508 meters away.)"}
{"file_name": "images/scenario_457_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -8.4) m/s. Its current heading (yaw) is -2.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 13.0 meters away at (-9.1, 9.2). A unknown object with ID 19 is 22.3 meters away at (-2.9, -22.1). A vehicle with ID 28 is 32.0 meters away at (-23.9, -21.2). A vehicle with ID 55 is 42.6 meters away at (9.0, 41.7). A pedestrian with ID 34 is 59.3 meters away at (32.3, 49.7). A pedestrian with ID 32 is 60.2 meters away at (32.5, 50.7).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [3.604868  6.9899783] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [3.7153695 7.6270556] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.01868679 -0.00843703] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.03786307 -0.01183915] m/s.", "light_description": "There are active red lights at the following coordinates: [[-29.163015 -23.009684]\n [-29.451275 -22.862432]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.131779  9.183903], 12.95119571685791 meters away.)"}
{"file_name": "images/scenario_458_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, -4.8) m/s. Its current heading (yaw) is -2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 3.3 meters away at (1.6, -2.9). A unknown object with ID 10 is 6.2 meters away at (-6.1, -0.5). A vehicle with ID 24 is 6.6 meters away at (3.4, -5.7). A vehicle with ID 29 is 12.6 meters away at (-6.7, -10.7). A vehicle with ID 32 is 14.8 meters away at (-5.5, -13.7). A unknown object with ID 22 is 15.1 meters away at (12.7, -8.3). A unknown object with ID 11 is 20.4 meters away at (20.3, -1.3). A vehicle with ID 33 is 21.7 meters away at (-14.4, -16.3). A vehicle with ID 39 is 29.3 meters away at (-17.6, -23.5). A vehicle with ID 36 is 29.6 meters away at (-20.4, -21.4).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [1.5944432 1.6644524] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [2.0131896 2.0225222] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.69731045 -7.120917  ]\n [26.333366   -9.030437  ]\n [ 0.45941538 -6.6100945 ]\n [18.948797   -4.763316  ]\n [-1.6419976  -0.05683509]\n [-1.4722773  -0.18854743]]", "nav_goal": "(-237.94647216796875, -182.40757751464844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.6103773 -2.8894649], 3.307918071746826 meters away.)"}
{"file_name": "images/scenario_458_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, -5.8) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 5.3 meters away at (-0.1, -5.3). A vehicle with ID 29 is 7.5 meters away at (7.5, 0.4). A vehicle with ID 39 is 9.7 meters away at (-0.1, -9.7). A vehicle with ID 32 is 10.9 meters away at (10.9, -0.7). A vehicle with ID 36 is 12.0 meters away at (-6.0, -10.4). A vehicle with ID 23 is 17.7 meters away at (15.8, 8.1). A vehicle with ID 24 is 18.4 meters away at (17.6, 5.3). A vehicle with ID 6 is 19.4 meters away at (-9.0, -17.2). A vehicle with ID 40 is 19.5 meters away at (-11.7, -15.7). A vehicle with ID 21 is 48.3 meters away at (37.9, 29.9).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [1.2862767 1.2853961] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [2.3378568 2.4117367] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.3471305   0.38286692] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.69731045 -7.120917  ]\n [26.333366   -9.030437  ]\n [ 0.45941538 -6.6100945 ]\n [18.948797   -4.763316  ]\n [-1.6419976  -0.05683509]\n [-1.4722773  -0.18854743]]", "nav_goal": "(-237.94647216796875, -182.40757751464844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.05095863 -5.276348  ], 5.276594161987305 meters away.)"}
{"file_name": "images/scenario_458_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, -6.2) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 4.4 meters away at (3.0, -3.2). A vehicle with ID 36 is 9.0 meters away at (8.8, 2.1). A vehicle with ID 6 is 9.7 meters away at (9.6, -1.3). A unknown object with ID 12 is 14.6 meters away at (2.5, -14.4). A vehicle with ID 33 is 16.4 meters away at (14.7, 7.3). A vehicle with ID 39 is 18.2 meters away at (17.5, 5.2). A vehicle with ID 17 is 24.0 meters away at (-14.9, -18.8). A vehicle with ID 29 is 25.7 meters away at (22.3, 12.9). A vehicle with ID 32 is 28.6 meters away at (26.0, 11.9). A vehicle with ID 23 is 37.0 meters away at (30.6, 20.8).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [1.0099711 1.1310427] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-0.20435399  0.25759068] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0.75106215 0.9377088 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [5.293625  4.0657215] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.20149957  0.24824132] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.333366   -9.030437  ]\n [18.948797   -4.763316  ]\n [-1.6419976  -0.05683509]\n [-1.4722773  -0.18854743]]", "nav_goal": "(-237.94647216796875, -182.40757751464844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.0071487 -3.1857204], 4.380839824676514 meters away.)"}
{"file_name": "images/scenario_458_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, -6.5) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 10.7 meters away at (-4.9, -9.4). A vehicle with ID 17 is 11.4 meters away at (11.4, 1.2). A unknown object with ID 12 is 17.9 meters away at (17.8, -1.2). A vehicle with ID 40 is 20.9 meters away at (18.3, 10.1). A unknown object with ID 20 is 24.2 meters away at (23.9, 3.7). A vehicle with ID 36 is 28.7 meters away at (24.1, 15.6). A vehicle with ID 6 is 31.0 meters away at (27.5, 14.3). A vehicle with ID 33 is 36.6 meters away at (30.1, 20.8). A vehicle with ID 39 is 39.2 meters away at (34.2, 19.2). A vehicle with ID 29 is 45.9 meters away at (37.5, 26.4).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [4.9230356 4.71399  ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.4778185 3.1574614] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.2942838   0.30867842] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.6628699 0.9568016] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-1.6419976  -0.05683509]\n [-1.4722773  -0.18854743]]", "nav_goal": "(-237.94647216796875, -182.40757751464844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.949936 -9.440193], 10.659226417541504 meters away.)"}
{"file_name": "images/scenario_459_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 6.0) m/s. Its current heading (yaw) is 2.26 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 40.1 meters away at (-38.4, 11.4). A vehicle with ID 37 is 40.2 meters away at (25.6, -31.1). A unknown object with ID 12 is 41.8 meters away at (-39.9, 12.4). A vehicle with ID 45 is 44.7 meters away at (-42.8, 13.1). A vehicle with ID 46 is 48.3 meters away at (-47.4, 9.5). A vehicle with ID 47 is 49.3 meters away at (-47.1, 14.5). A vehicle with ID 28 is 53.7 meters away at (-53.5, 4.7). A vehicle with ID 29 is 54.0 meters away at (-53.2, 9.5). A vehicle with ID 49 is 54.6 meters away at (-52.6, 14.6). A vehicle with ID 20 is 60.4 meters away at (39.2, -46.0).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-6.8553114  8.268706 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-7.9457583 10.62417  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.84868   41.447872]\n [-56.402805  58.57558 ]\n [-57.66599   57.69908 ]\n [-30.257883  36.74139 ]\n [-30.257883  36.74139 ]\n [-48.50937   34.38379 ]\n [-48.747265  34.89461 ]\n [-50.67896   41.31616 ]]", "nav_goal": "(-231.22213745117188, -97.65692138671875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-38.4272   11.39747], 40.081817626953125 meters away.)"}
{"file_name": "images/scenario_459_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 3.1) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 31.1 meters away at (-31.0, 2.3). A vehicle with ID 37 is 32.7 meters away at (20.7, -25.2). A unknown object with ID 12 is 32.7 meters away at (-32.5, 3.3). A vehicle with ID 45 is 35.4 meters away at (-35.2, 4.0). A vehicle with ID 46 is 40.0 meters away at (-40.0, 0.3). A vehicle with ID 47 is 40.0 meters away at (-39.7, 5.4). A vehicle with ID 49 is 45.5 meters away at (-45.1, 5.4). A vehicle with ID 29 is 45.7 meters away at (-45.7, 0.3). A vehicle with ID 20 is 46.1 meters away at (31.0, -34.1). A vehicle with ID 28 is 46.2 meters away at (-46.0, -4.5).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-5.304925  6.507153] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-7.820344 10.333342] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.84868   41.447872]\n [-56.402805  58.57558 ]\n [-57.66599   57.69908 ]\n [-30.257883  36.74139 ]\n [-30.257883  36.74139 ]\n [-48.50937   34.38379 ]\n [-48.747265  34.89461 ]\n [-50.67896   41.31616 ]]", "nav_goal": "(-231.22213745117188, -97.65692138671875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-30.999542    2.3101826], 31.08550453186035 meters away.)"}
{"file_name": "images/scenario_459_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 23.0 meters away at (14.5, -17.8). A vehicle with ID 20 is 25.4 meters away at (18.3, -17.6). A unknown object with ID 2 is 28.1 meters away at (-28.1, -1.3). A unknown object with ID 12 is 29.5 meters away at (-29.5, -0.3). A vehicle with ID 45 is 32.3 meters away at (-32.3, 0.4). A vehicle with ID 47 is 36.8 meters away at (-36.7, 1.9). A vehicle with ID 46 is 37.2 meters away at (-37.1, -3.2). A vehicle with ID 22 is 41.7 meters away at (-34.4, 23.5). A vehicle with ID 49 is 42.3 meters away at (-42.3, 1.9). A vehicle with ID 29 is 43.0 meters away at (-42.9, -3.2).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [-3.5979939  4.3479943] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-7.786723   9.6942425] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.13028872 -7.7700906 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.84868   41.447872]\n [-30.257883  36.74139 ]\n [-30.257883  36.74139 ]\n [-48.50937   34.38379 ]\n [-48.747265  34.89461 ]\n [-50.67896   41.31616 ]]", "nav_goal": "(-231.22213745117188, -97.65692138671875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 14.544231 -17.782145], 22.972578048706055 meters away.)"}
{"file_name": "images/scenario_459_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 3.3 meters away at (3.2, 1.0). A vehicle with ID 7 is 13.7 meters away at (-11.0, 8.1). A vehicle with ID 37 is 14.7 meters away at (9.3, -11.5). A unknown object with ID 2 is 27.7 meters away at (-27.7, -1.8). A unknown object with ID 12 is 29.1 meters away at (-29.1, -0.8). A vehicle with ID 13 is 31.1 meters away at (21.5, -22.5). A vehicle with ID 45 is 31.9 meters away at (-31.9, -0.1). A vehicle with ID 47 is 36.3 meters away at (-36.3, 1.3). A vehicle with ID 46 is 36.9 meters away at (-36.7, -3.8). A vehicle with ID 22 is 41.1 meters away at (-40.3, 8.2).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [-7.407418  9.251341] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 11.525486 -14.070024] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.9114523  2.347373 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.7250648  9.808136 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-6.236202 -6.778306] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.84868   41.447872]\n [-30.257883  36.74139 ]\n [-30.257883  36.74139 ]\n [-48.50937   34.38379 ]\n [-48.747265  34.89461 ]\n [-50.67896   41.31616 ]]", "nav_goal": "(-231.22213745117188, -97.65692138671875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.17692 0.97822], 3.3241140842437744 meters away.)"}
{"file_name": "images/scenario_460_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -4.0) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 26.4 meters away at (11.9, -23.6). A pedestrian with ID 21 is 26.8 meters away at (13.0, -23.4). A pedestrian with ID 22 is 29.7 meters away at (-28.4, -8.6). A pedestrian with ID 31 is 30.5 meters away at (-3.7, -30.3). A pedestrian with ID 27 is 35.7 meters away at (-35.2, -6.3). A pedestrian with ID 37 is 39.6 meters away at (11.6, -37.8). A pedestrian with ID 36 is 40.9 meters away at (13.4, -38.6). A pedestrian with ID 32 is 41.4 meters away at (8.6, -40.5). A pedestrian with ID 38 is 44.9 meters away at (9.6, -43.9). A pedestrian with ID 35 is 69.6 meters away at (11.1, 68.7).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.31669647  1.1171739 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.22933662  1.0553031 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.11051466 1.5324954 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9329673 -1.172822 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.162952   0.7808345] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.11652353 -0.6478111 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.02907242 0.65201384] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.9169184   0.39763144] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.17931081 -0.33989075] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.22053073 1.038627  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 11.8503475 -23.62424  ], 26.429821014404297 meters away.)"}
{"file_name": "images/scenario_460_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.2) m/s. Its current heading (yaw) is -1.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 20.3 meters away at (12.0, -16.4). A pedestrian with ID 21 is 20.4 meters away at (12.7, -15.9). A pedestrian with ID 31 is 26.9 meters away at (-1.1, -26.8). A pedestrian with ID 22 is 27.4 meters away at (-27.4, -0.4). A pedestrian with ID 36 is 35.2 meters away at (13.8, -32.4). A pedestrian with ID 32 is 35.3 meters away at (7.0, -34.6). A pedestrian with ID 27 is 35.3 meters away at (-35.3, 1.2). A pedestrian with ID 37 is 35.7 meters away at (11.9, -33.7). A pedestrian with ID 38 is 40.3 meters away at (10.0, -39.0). A vehicle with ID 5 is 61.5 meters away at (-57.9, 20.7).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.48027885  0.93644994] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.51055026  1.0384837 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3052925  -0.27540633] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.23070338 1.3670502 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.16676739  0.6735576 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.308133    0.60423034] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.43948507  1.179087  ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.24200349 -0.3740557 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.01251989 -0.02331977] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 11.962422 -16.425993], 20.320255279541016 meters away.)"}
{"file_name": "images/scenario_460_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.2) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 17.3 meters away at (11.1, -13.2). A pedestrian with ID 21 is 17.3 meters away at (11.8, -12.6). A pedestrian with ID 31 is 26.6 meters away at (1.9, -26.5). A pedestrian with ID 22 is 27.1 meters away at (-26.8, 3.7). A pedestrian with ID 32 is 32.4 meters away at (4.4, -32.1). A pedestrian with ID 36 is 33.2 meters away at (14.1, -30.0). A pedestrian with ID 37 is 35.0 meters away at (11.4, -33.0). A pedestrian with ID 27 is 35.8 meters away at (-35.4, 5.2). A pedestrian with ID 2 is 36.4 meters away at (-32.3, 16.6). A pedestrian with ID 38 is 39.2 meters away at (10.3, -37.8).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.5441182  1.2086747] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.5415941  1.1255689] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.2958351 -0.4355625] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.13639294  1.4633836 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.2338564  0.8296268] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.16917796 0.53912085] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.36738828 -0.10795078] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.35279572  1.3115305 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.663835   -0.93716174] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.05223001 0.02748059] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 11.115189 -13.206379], 17.261398315429688 meters away.)"}
{"file_name": "images/scenario_460_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 14.8 meters away at (10.3, -10.6). A pedestrian with ID 21 is 15.1 meters away at (11.0, -10.3). A vehicle with ID 39 is 21.1 meters away at (3.9, 20.7). A pedestrian with ID 22 is 27.6 meters away at (-26.8, 6.7). A pedestrian with ID 31 is 27.9 meters away at (4.8, -27.5). A pedestrian with ID 32 is 30.3 meters away at (1.9, -30.3). A pedestrian with ID 36 is 32.6 meters away at (14.5, -29.2). A pedestrian with ID 2 is 34.1 meters away at (-30.7, 14.9). A pedestrian with ID 37 is 35.0 meters away at (10.9, -33.2). A pedestrian with ID 27 is 36.7 meters away at (-35.8, 8.0).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.3194008  1.2210767] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.2747668  1.2066962] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -0.16978477 -10.2855625 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.02977933  1.5064014 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.414823   -0.60101354] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.1835555  0.7507556] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.08958292 0.23054829] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0041888 -0.7525185] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.25687677 -0.08567316] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.34626973  1.2907461 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 10.28897 -10.5879 ], 14.763689041137695 meters away.)"}
{"file_name": "images/scenario_461_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.6) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 7.0 meters away at (-3.1, -6.3). A vehicle with ID 58 is 8.6 meters away at (-8.0, -3.2). A vehicle with ID 55 is 11.4 meters away at (6.7, -9.2). A pedestrian with ID 46 is 11.7 meters away at (5.8, 10.1). A unknown object with ID 64 is 11.9 meters away at (-2.2, -11.7). A unknown object with ID 56 is 12.9 meters away at (7.5, 10.5). A unknown object with ID 65 is 13.1 meters away at (0.2, -13.1). A unknown object with ID 63 is 13.2 meters away at (4.8, 12.3). A unknown object with ID 52 is 13.4 meters away at (10.1, 8.8). A vehicle with ID 82 is 13.5 meters away at (-13.5, 0.4).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-0.69624156 -1.8120193 ] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.9191139  -0.69792193] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(10.163456916809082, -2.5455198287963867)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.0801926 -6.264783 ], 6.981052398681641 meters away.)"}
{"file_name": "images/scenario_461_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -1.2) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 8.0 meters away at (-7.0, -3.9). A vehicle with ID 55 is 11.0 meters away at (0.9, -10.9). A unknown object with ID 64 is 11.2 meters away at (-6.4, -9.2). A unknown object with ID 65 is 11.4 meters away at (-4.1, -10.7). A unknown object with ID 45 is 11.5 meters away at (-9.0, -7.1). A pedestrian with ID 46 is 11.7 meters away at (4.3, 10.8). A vehicle with ID 58 is 11.9 meters away at (-11.9, -0.7). A unknown object with ID 52 is 12.8 meters away at (6.1, 11.2). A pedestrian with ID 62 is 12.8 meters away at (8.4, 9.7). A unknown object with ID 73 is 13.2 meters away at (-3.9, -12.6).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-0.98139143 -1.5982856 ] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.1886604  -0.77587897] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.02080347 -0.00159615] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(10.163456916809082, -2.5455198287963867)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.0265436 -3.8585653], 8.01628589630127 meters away.)"}
{"file_name": "images/scenario_461_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -0.1) m/s. Its current heading (yaw) is -0.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 46 is 11.0 meters away at (1.7, 10.9). A pedestrian with ID 79 is 11.3 meters away at (9.1, 6.6). A pedestrian with ID 62 is 11.6 meters away at (3.3, 11.1). A vehicle with ID 49 is 12.3 meters away at (-12.1, -2.4). A pedestrian with ID 72 is 12.6 meters away at (4.4, 11.8). A unknown object with ID 52 is 12.6 meters away at (1.1, 12.6). A pedestrian with ID 89 is 12.7 meters away at (4.0, -12.0). A unknown object with ID 65 is 13.0 meters away at (-9.1, -9.3). A vehicle with ID 55 is 13.1 meters away at (-5.7, -11.7). A unknown object with ID 64 is 13.8 meters away at (-11.5, -7.7).", "velocity_description": "The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.1858991  -0.67805266] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2077191  0.8527158] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.06350597  0.10139132] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.8219398   0.03977703] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.94460255 -0.71828294] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-0.22715954 -0.41590425] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(10.163456916809082, -2.5455198287963867)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 1.6957626 10.891608 ], 11.022828102111816 meters away.)"}
{"file_name": "images/scenario_461_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 0.2) m/s. Its current heading (yaw) is 0.29 ", "actor_description": " The most relevant actors are: A pedestrian with ID 79 is 8.2 meters away at (3.1, 7.6). A pedestrian with ID 46 is 8.9 meters away at (0.3, 8.9). A pedestrian with ID 62 is 10.5 meters away at (-1.2, 10.4). A pedestrian with ID 72 is 11.0 meters away at (-0.5, 11.0). A unknown object with ID 52 is 12.4 meters away at (-2.3, 12.2). A unknown object with ID 61 is 13.5 meters away at (0.7, 13.5). A pedestrian with ID 89 is 13.8 meters away at (-1.2, -13.8). A unknown object with ID 56 is 14.7 meters away at (-4.9, 13.9). A pedestrian with ID 91 is 15.0 meters away at (-0.8, -15.0). A vehicle with ID 49 is 15.7 meters away at (-15.4, -3.0).", "velocity_description": "The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2995718   0.61406946] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.8916445  -0.96637356] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.75946057 -0.3922062 ] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.6218357  -0.39119813] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.8229407 -0.7160702] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.85467446 -0.7063169 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(10.163456916809082, -2.5455198287963867)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [3.0623407 7.571332 ], 8.167190551757812 meters away.)"}
{"file_name": "images/scenario_462_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -3.6) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 84 is 5.8 meters away at (-2.1, -5.4). A vehicle with ID 85 is 6.4 meters away at (-6.0, -2.2). A pedestrian with ID 95 is 8.3 meters away at (-6.8, -4.8). A vehicle with ID 83 is 9.5 meters away at (2.2, -9.2). A vehicle with ID 98 is 12.6 meters away at (-9.5, -8.3). A unknown object with ID 57 is 13.1 meters away at (5.1, -12.0). A vehicle with ID 86 is 13.5 meters away at (13.5, -0.6). A vehicle with ID 107 is 13.9 meters away at (-6.3, -12.4). A pedestrian with ID 91 is 14.0 meters away at (-14.0, 0.5). A unknown object with ID 124 is 14.0 meters away at (7.4, -11.9).", "velocity_description": "The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-0.78864425  0.74064815] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.9886389  0.7782773] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-44.620586  36.69113 ]\n [-43.68409   37.485306]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.0982313 -5.445288 ], 5.83555793762207 meters away.)"}
{"file_name": "images/scenario_462_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -3.3) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A unknown object with ID 124 is 4.9 meters away at (0.1, -4.9). A vehicle with ID 83 is 5.6 meters away at (-5.1, -2.4). A cyclist with ID 70 is 7.2 meters away at (0.0, -7.2). A unknown object with ID 30 is 8.4 meters away at (3.2, -7.8). A vehicle with ID 86 is 8.8 meters away at (6.2, 6.3). A vehicle with ID 84 is 9.5 meters away at (-9.4, 1.4). A unknown object with ID 41 is 10.1 meters away at (3.6, 9.4). A vehicle with ID 87 is 11.2 meters away at (11.1, 2.0). A pedestrian with ID 25 is 11.9 meters away at (8.6, 8.3). A vehicle with ID 125 is 12.2 meters away at (-8.0, -9.3).", "velocity_description": "The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [ 0.00017023 -0.00308541] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.80728924 -0.7983627 ] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 0.07282829 -4.9393463 ], 4.939883232116699 meters away.)"}
{"file_name": "images/scenario_462_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -3.0) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 3.5 meters away at (-1.9, -3.0). A unknown object with ID 30 is 3.7 meters away at (-3.4, -1.4). A unknown object with ID 10 is 4.3 meters away at (-0.2, -4.3). A unknown object with ID 60 is 5.0 meters away at (-5.0, -0.2). A cyclist with ID 70 is 6.6 meters away at (-6.6, -0.8). A unknown object with ID 124 is 6.7 meters away at (-6.5, 1.4). A unknown object with ID 72 is 7.6 meters away at (2.7, -7.1). A pedestrian with ID 71 is 8.8 meters away at (-7.4, -4.8). A vehicle with ID 87 is 9.4 meters away at (4.5, 8.2). A vehicle with ID 88 is 9.8 meters away at (8.4, 4.9).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00694765  0.0155957 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [0.02386211 0.02848199] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.9708546  0.8587611] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-1.8556938 -2.9776402], 3.5085525512695312 meters away.)"}
{"file_name": "images/scenario_462_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -2.6) m/s. Its current heading (yaw) is -0.76 ", "actor_description": " The most relevant actors are: A unknown object with ID 72 is 3.4 meters away at (-3.1, -1.4). A pedestrian with ID 68 is 3.5 meters away at (-1.6, -3.1). A unknown object with ID 5 is 4.4 meters away at (0.0, -4.4). A pedestrian with ID 7 is 4.5 meters away at (-2.6, -3.6). A unknown object with ID 10 is 6.3 meters away at (-6.1, 1.4). A unknown object with ID 2 is 7.9 meters away at (3.2, -7.3). A unknown object with ID 30 is 10.2 meters away at (-9.3, 4.2). A vehicle with ID 88 is 10.8 meters away at (2.6, 10.5). A vehicle with ID 1 is 13.0 meters away at (5.5, -11.8). A pedestrian with ID 15 is 13.3 meters away at (-12.4, 4.8).", "velocity_description": "The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.00010468 -0.00266017] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.02740241 0.00404289] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00173263 -0.00875184] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-3.1031075 -1.4409008], 3.421325922012329 meters away.)"}
{"file_name": "images/scenario_463_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 1.3) m/s. Its current heading (yaw) is 2.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 18.0 meters away at (9.9, -15.0). A vehicle with ID 12 is 18.0 meters away at (-15.0, -10.1). A vehicle with ID 13 is 19.9 meters away at (12.3, -15.6). A vehicle with ID 11 is 20.0 meters away at (-17.7, -9.4). A vehicle with ID 14 is 21.8 meters away at (14.6, -16.2). A vehicle with ID 17 is 23.2 meters away at (-22.4, 6.1). A vehicle with ID 15 is 24.3 meters away at (17.3, -17.0). A unknown object with ID 5 is 38.0 meters away at (-29.5, 23.9). A vehicle with ID 19 is 44.5 meters away at (22.5, -38.3). A vehicle with ID 20 is 45.8 meters away at (25.3, -38.3).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.5346203  1.9957114] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  9.864634 -15.047102], 17.992395401000977 meters away.)"}
{"file_name": "images/scenario_463_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 0.5) m/s. Its current heading (yaw) is 2.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 10.5 meters away at (-2.3, -10.3). A vehicle with ID 12 is 14.4 meters away at (-8.2, -11.8). A vehicle with ID 11 is 15.6 meters away at (-10.9, -11.1). A vehicle with ID 16 is 23.7 meters away at (16.6, -16.9). A vehicle with ID 13 is 25.8 meters away at (19.1, -17.4). A vehicle with ID 14 is 28.0 meters away at (21.4, -18.0). A vehicle with ID 15 is 30.5 meters away at (24.0, -18.8). A unknown object with ID 5 is 31.8 meters away at (-22.9, 22.1). A vehicle with ID 17 is 33.0 meters away at (-31.4, 10.1). A vehicle with ID 19 is 49.7 meters away at (29.3, -40.1).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-9.150262  4.01738 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -2.3223858 -10.263006 ], 10.522489547729492 meters away.)"}
{"file_name": "images/scenario_463_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 14.0 meters away at (-6.9, -12.2). A vehicle with ID 11 is 15.0 meters away at (-9.7, -11.5). A vehicle with ID 16 is 24.9 meters away at (17.9, -17.3). A vehicle with ID 13 is 27.0 meters away at (20.3, -17.8). A vehicle with ID 14 is 29.2 meters away at (22.7, -18.4). A unknown object with ID 5 is 30.7 meters away at (-21.8, 21.7). A vehicle with ID 15 is 31.6 meters away at (25.3, -19.1). A unknown object with ID 8 is 33.1 meters away at (29.4, -15.3). A vehicle with ID 19 is 50.7 meters away at (30.6, -40.5). A vehicle with ID 20 is 52.3 meters away at (33.3, -40.4).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -6.921028 -12.162164], 13.993529319763184 meters away.)"}
{"file_name": "images/scenario_463_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 0.8) m/s. Its current heading (yaw) is 2.86 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 11.4 meters away at (1.6, -11.3). A vehicle with ID 12 is 13.5 meters away at (-4.3, -12.8). A vehicle with ID 11 is 14.1 meters away at (-7.0, -12.2). A unknown object with ID 4 is 15.8 meters away at (-0.2, 15.8). A vehicle with ID 16 is 27.3 meters away at (20.5, -18.1). A unknown object with ID 5 is 28.3 meters away at (-18.9, 21.0). A vehicle with ID 13 is 29.5 meters away at (23.0, -18.5). A vehicle with ID 14 is 31.7 meters away at (25.3, -19.1). A vehicle with ID 15 is 34.2 meters away at (27.8, -19.8). A vehicle with ID 19 is 52.9 meters away at (33.1, -41.3).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  1.5639038 -11.341442 ], 11.448760032653809 meters away.)"}
{"file_name": "images/scenario_464_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 5.2) m/s. Its current heading (yaw) is 0.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 64 is 9.4 meters away at (7.9, -5.0). A vehicle with ID 62 is 14.0 meters away at (2.3, 13.8). A unknown object with ID 23 is 18.7 meters away at (13.1, 13.4). A vehicle with ID 61 is 20.7 meters away at (6.7, 19.6). A vehicle with ID 21 is 23.3 meters away at (17.0, 15.9). A vehicle with ID 66 is 26.0 meters away at (17.5, -19.2). A vehicle with ID 58 is 28.7 meters away at (12.4, 25.9). A vehicle with ID 67 is 29.6 meters away at (11.4, -27.3). A vehicle with ID 24 is 30.2 meters away at (21.2, 21.5). A pedestrian with ID 65 is 30.9 meters away at (7.6, -29.9).", "velocity_description": "The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.7457064  0.11404263] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.405944 -0.322483] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 7.9067206 -5.004831 ], 9.357593536376953 meters away.)"}
{"file_name": "images/scenario_464_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.3) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 3.3 meters away at (0.6, -3.3). A vehicle with ID 62 is 6.2 meters away at (-5.0, 3.7). A unknown object with ID 23 is 6.6 meters away at (5.9, 3.1). A vehicle with ID 61 is 9.5 meters away at (-0.6, 9.5). A pedestrian with ID 35 is 11.1 meters away at (-3.3, -10.6). A vehicle with ID 21 is 11.3 meters away at (9.7, 5.9). A pedestrian with ID 64 is 14.7 meters away at (1.9, -14.6). A vehicle with ID 58 is 16.5 meters away at (5.0, 15.7). A vehicle with ID 24 is 18.0 meters away at (14.0, 11.4). A unknown object with ID 13 is 20.3 meters away at (8.2, 18.6).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.04806679 0.00144304] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.44231278 0.3368624 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 0.63749695 -3.2752209 ], 3.336686134338379 meters away.)"}
{"file_name": "images/scenario_464_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.4) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 5.0 meters away at (1.0, -4.9). A vehicle with ID 24 is 5.2 meters away at (5.2, 0.6). A vehicle with ID 58 is 6.3 meters away at (-3.8, 5.0). A unknown object with ID 13 is 7.8 meters away at (-0.6, 7.8). A unknown object with ID 23 is 8.2 meters away at (-2.9, -7.6). A unknown object with ID 14 is 8.6 meters away at (-1.4, 8.5). A vehicle with ID 61 is 9.5 meters away at (-9.4, -1.3). A unknown object with ID 43 is 11.0 meters away at (10.4, 3.6). A unknown object with ID 11 is 11.8 meters away at (2.4, 11.6). A unknown object with ID 26 is 12.3 meters away at (1.7, 12.2).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.9729061 -4.857155 ], 4.953635215759277 meters away.)"}
{"file_name": "images/scenario_464_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.2) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 48 is 5.9 meters away at (5.2, -2.9). A vehicle with ID 22 is 6.1 meters away at (5.8, 1.9). A unknown object with ID 10 is 6.3 meters away at (-4.4, 4.6). A unknown object with ID 11 is 6.4 meters away at (-6.3, 1.0). A unknown object with ID 26 is 7.3 meters away at (-7.1, 1.6). A unknown object with ID 43 is 7.3 meters away at (1.8, -7.1). A unknown object with ID 13 is 9.7 meters away at (-9.3, -2.8). A unknown object with ID 14 is 10.3 meters away at (-10.1, -2.1). A vehicle with ID 24 is 10.5 meters away at (-3.5, -9.9). A vehicle with ID 20 is 11.2 meters away at (9.5, 6.0).", "velocity_description": "The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 5.181988  -2.8534584], 5.915676116943359 meters away.)"}
{"file_name": "images/scenario_465_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 8.0) m/s. Its current heading (yaw) is 1.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 11.4 meters away at (5.2, -10.1). A vehicle with ID 6 is 11.4 meters away at (-3.5, -10.9). A vehicle with ID 2 is 11.7 meters away at (-11.4, 2.6). A vehicle with ID 61 is 15.1 meters away at (7.0, -13.4). A vehicle with ID 55 is 17.2 meters away at (2.5, -17.0). A pedestrian with ID 62 is 17.9 meters away at (-15.5, -9.1). A vehicle with ID 101 is 19.2 meters away at (14.6, 12.5). A pedestrian with ID 53 is 19.3 meters away at (-13.5, -13.8). A vehicle with ID 66 is 19.4 meters away at (12.1, -15.2). A pedestrian with ID 56 is 19.9 meters away at (-14.2, -13.9).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [2.9129016 8.092131 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [1.5849135  0.73553663] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.52439475 -0.5957968 ] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [-3.41683  -7.675974] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.02991488 0.03970431] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.02179596 0.01950776] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.192227  -35.64867  ]\n [ -8.953207  -30.1009   ]\n [  5.3416886 -16.831963 ]\n [-11.784123  -26.525736 ]\n [-11.729658  -14.540002 ]\n [ -9.006767   -9.649817 ]\n [ -6.2385316 -35.894344 ]\n [ -2.4471555 -36.532394 ]\n [ -8.030724   -7.12449  ]\n [-10.817671  -11.773462 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [  5.23183 -10.11365], 11.386744499206543 meters away.)"}
{"file_name": "images/scenario_465_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 8.8) m/s. Its current heading (yaw) is 1.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 11.5 meters away at (-4.1, -10.7). A vehicle with ID 101 is 15.2 meters away at (2.2, -15.1). A unknown object with ID 100 is 19.4 meters away at (1.2, 19.3). A vehicle with ID 2 is 20.8 meters away at (-16.3, -12.9). A unknown object with ID 35 is 22.3 meters away at (3.1, 22.1). A vehicle with ID 3 is 25.9 meters away at (-10.1, -23.9). A vehicle with ID 59 is 26.9 meters away at (-2.2, -26.8). A vehicle with ID 23 is 28.1 meters away at (27.5, 6.0). A vehicle with ID 72 is 29.1 meters away at (9.9, -27.4). A vehicle with ID 15 is 29.2 meters away at (-24.7, -15.5).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [3.9840581 9.112459 ] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [-1.3549925 -3.0058248] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [1.7859141  0.90129536] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [3.137212 9.685409] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-3.225435  -6.8934608] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [1.5753999 0.3631384] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.192227  -35.64867  ]\n [ -8.953207  -30.1009   ]\n [  5.3416886 -16.831963 ]\n [-11.784123  -26.525736 ]\n [-11.729658  -14.540002 ]\n [ -9.006767   -9.649817 ]\n [ -6.2385316 -35.894344 ]\n [ -2.4471555 -36.532394 ]\n [ -8.030724   -7.12449  ]\n [-10.817671  -11.773462 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ -4.1050253 -10.704403 ], 11.464530944824219 meters away.)"}
{"file_name": "images/scenario_465_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 8.9) m/s. Its current heading (yaw) is 1.07 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 7.2 meters away at (-6.4, 3.4). A unknown object with ID 35 is 7.3 meters away at (-5.8, 4.4). A unknown object with ID 100 is 7.9 meters away at (-7.7, 1.7). A vehicle with ID 6 is 10.2 meters away at (-3.7, -9.5). A vehicle with ID 27 is 19.6 meters away at (17.8, 8.1). A vehicle with ID 36 is 19.8 meters away at (16.8, -10.4). A vehicle with ID 3 is 23.9 meters away at (-11.6, -20.9). A vehicle with ID 23 is 27.9 meters away at (12.5, -24.9). A vehicle with ID 2 is 33.3 meters away at (-18.9, -27.4). A vehicle with ID 101 is 36.7 meters away at (-7.9, -35.8).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [5.6693864 9.978632 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ -7.5053916 -11.97756  ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-4.8964124 -9.157471 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 4.098333 10.779382] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-2.7046535 -6.1475015] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [4.4728947 3.0909622] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  5.3416886 -16.831963 ]\n [-11.729658  -14.540002 ]\n [ -9.006767   -9.649817 ]\n [ 10.190005  -23.780764 ]\n [ 13.005018  -27.187887 ]\n [  7.840996  -20.006218 ]\n [ -8.030724   -7.12449  ]\n [-10.817671  -11.773462 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-6.3694763  3.395462 ], 7.217990875244141 meters away.)"}
{"file_name": "images/scenario_465_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 9.1) m/s. Its current heading (yaw) is 1.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 7.0 meters away at (-1.0, -6.9). A vehicle with ID 48 is 16.8 meters away at (16.6, -2.6). A unknown object with ID 35 is 21.3 meters away at (-16.3, -13.8). A vehicle with ID 3 is 21.8 meters away at (-12.8, -17.7). A unknown object with ID 100 is 24.5 meters away at (-18.1, -16.5). A vehicle with ID 27 is 33.0 meters away at (-5.4, -32.5). A pedestrian with ID 44 is 35.2 meters away at (10.7, 33.6). A vehicle with ID 2 is 39.6 meters away at (-19.5, -34.4). A vehicle with ID 36 is 45.6 meters away at (-2.4, -45.5). A vehicle with ID 31 is 46.8 meters away at (39.7, 24.7).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 7.3348064 11.128429 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ -8.416186 -12.626744] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.2526336 10.567182 ] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ -5.0273304 -10.174292 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.6621673 1.0058875] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [5.350085  7.9235735] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.4706411 -7.3843036] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ -8.527446 -12.617939] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.9981766 -6.9343414], 7.005815505981445 meters away.)"}
{"file_name": "images/scenario_466_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.1) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 6.2 meters away at (0.6, 6.2). A vehicle with ID 36 is 9.3 meters away at (-4.5, 8.1). A unknown object with ID 29 is 11.0 meters away at (4.4, 10.1). A vehicle with ID 44 is 13.6 meters away at (-2.7, -13.4). A vehicle with ID 38 is 14.1 meters away at (-10.0, 10.0). A vehicle with ID 46 is 16.2 meters away at (2.8, -16.0). A vehicle with ID 39 is 19.0 meters away at (-15.9, -10.3). A vehicle with ID 8 is 21.2 meters away at (14.1, 15.8). A vehicle with ID 56 is 21.3 meters away at (1.3, -21.3). A vehicle with ID 42 is 23.6 meters away at (-18.0, -15.2).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.6597442626953, 160.40321350097656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.6282855 6.1762   ], 6.208074569702148 meters away.)"}
{"file_name": "images/scenario_466_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 0.2) m/s. Its current heading (yaw) is 0.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 7.8 meters away at (-3.7, 6.9). A vehicle with ID 36 is 12.5 meters away at (-8.9, 8.8). A vehicle with ID 44 is 14.6 meters away at (-7.2, -12.6). A vehicle with ID 46 is 15.4 meters away at (-1.8, -15.3). A vehicle with ID 38 is 18.0 meters away at (-14.5, 10.7). A vehicle with ID 8 is 19.1 meters away at (9.7, 16.4). A vehicle with ID 56 is 20.9 meters away at (-3.3, -20.6). A vehicle with ID 39 is 22.6 meters away at (-20.5, -9.5). A vehicle with ID 47 is 24.8 meters away at (15.6, -19.2). A vehicle with ID 49 is 25.4 meters away at (22.6, -11.6).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.6597442626953, 160.40321350097656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.7341254  6.855589 ], 7.806586265563965 meters away.)"}
{"file_name": "images/scenario_466_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 3.9) m/s. Its current heading (yaw) is 0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 12.6 meters away at (0.9, 12.6). A vehicle with ID 35 is 13.0 meters away at (-12.6, 3.1). A vehicle with ID 36 is 18.6 meters away at (-17.9, 5.1). A vehicle with ID 49 is 20.6 meters away at (13.6, -15.4). A vehicle with ID 46 is 21.9 meters away at (-10.6, -19.2). A unknown object with ID 16 is 22.2 meters away at (3.1, 22.0). A unknown object with ID 53 is 22.6 meters away at (21.4, -7.2). A vehicle with ID 44 is 23.0 meters away at (-16.1, -16.5). A vehicle with ID 47 is 24.1 meters away at (6.8, -23.1). A vehicle with ID 38 is 24.4 meters away at (-23.4, 6.9).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.6597442626953, 160.40321350097656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.8994703 12.601913 ], 12.633973121643066 meters away.)"}
{"file_name": "images/scenario_466_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 5.1) m/s. Its current heading (yaw) is 1.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 7.3 meters away at (-6.2, 3.9). A vehicle with ID 3 is 15.8 meters away at (-2.1, 15.6). A vehicle with ID 1 is 20.3 meters away at (-0.6, 20.2). A vehicle with ID 35 is 20.5 meters away at (-19.7, -5.6). A vehicle with ID 30 is 20.9 meters away at (8.9, -18.9). A pedestrian with ID 28 is 21.2 meters away at (10.1, 18.7). A pedestrian with ID 33 is 21.3 meters away at (10.7, 18.5). A unknown object with ID 12 is 24.6 meters away at (13.8, 20.4). A vehicle with ID 49 is 25.0 meters away at (6.5, -24.1). A vehicle with ID 36 is 25.2 meters away at (-24.9, -3.6).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-3.1300979  1.1903981] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.01856405 -0.00753258] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01110669 -0.00239674] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[50.265163 88.3496  ]\n [47.306126 90.50406 ]\n [45.921604 90.74827 ]]", "nav_goal": "(163.6597442626953, 160.40321350097656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.186493   3.9237928], 7.325902462005615 meters away.)"}
{"file_name": "images/scenario_467_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -1.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 4.5 meters away at (-2.8, 3.5). A cyclist with ID 62 is 7.3 meters away at (-5.6, -4.7). A pedestrian with ID 56 is 13.1 meters away at (11.4, -6.5). A pedestrian with ID 57 is 17.7 meters away at (0.1, 17.7). A unknown object with ID 19 is 18.6 meters away at (14.9, -11.1). A unknown object with ID 28 is 19.0 meters away at (16.6, -9.4). A unknown object with ID 31 is 19.2 meters away at (16.0, -10.6). A unknown object with ID 29 is 19.9 meters away at (17.2, -10.0). A unknown object with ID 30 is 20.4 meters away at (17.0, -11.2). A pedestrian with ID 59 is 21.9 meters away at (-1.7, 21.8).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 62 is traveling at a (x, y) velocity of [ 6.227948  -2.0975475] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.00029115 -0.00158164] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.0113383  0.01747818] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.0145132  0.01819238] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.7896142  3.5374217], 4.505030632019043 meters away.)"}
{"file_name": "images/scenario_467_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.4) m/s. Its current heading (yaw) is -1.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 6.0 meters away at (-2.4, 5.5). A cyclist with ID 62 is 10.9 meters away at (7.3, -8.2). A pedestrian with ID 56 is 12.6 meters away at (11.8, -4.4). A unknown object with ID 19 is 17.9 meters away at (15.4, -9.1). A unknown object with ID 28 is 18.6 meters away at (17.0, -7.4). A unknown object with ID 31 is 18.7 meters away at (16.5, -8.9). A unknown object with ID 15 is 19.3 meters away at (16.7, -9.7). A unknown object with ID 29 is 19.4 meters away at (17.6, -8.0). A unknown object with ID 30 is 19.6 meters away at (17.0, -9.8). A vehicle with ID 67 is 21.1 meters away at (-7.6, 19.7).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 62 is traveling at a (x, y) velocity of [ 6.4079356 -2.6497738] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.06533301 -0.03771198] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 2.6781652 -1.082371 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.395687  5.476414], 5.9774932861328125 meters away.)"}
{"file_name": "images/scenario_467_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -2.4) m/s. Its current heading (yaw) is -1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 8.5 meters away at (-2.1, 8.2). A unknown object with ID 19 is 15.8 meters away at (14.9, -5.4). A unknown object with ID 31 is 16.8 meters away at (16.0, -5.0). A unknown object with ID 28 is 16.9 meters away at (16.5, -3.7). A unknown object with ID 15 is 17.3 meters away at (16.2, -6.0). A unknown object with ID 14 is 17.7 meters away at (16.7, -5.8). A unknown object with ID 29 is 17.7 meters away at (17.2, -4.3). A unknown object with ID 30 is 17.9 meters away at (17.0, -5.4). A unknown object with ID 38 is 20.0 meters away at (-7.8, -18.5). A vehicle with ID 67 is 22.2 meters away at (-4.8, 21.7).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.4625511 -1.004031 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 0.6012118  -0.40168592] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.12229   8.210481], 8.48033618927002 meters away.)"}
{"file_name": "images/scenario_467_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -1.8) m/s. Its current heading (yaw) is -0.50 ", "actor_description": " The most relevant actors are: A pedestrian with ID 46 is 8.2 meters away at (7.1, 3.9). A unknown object with ID 19 is 10.8 meters away at (10.8, -0.8). A vehicle with ID 2 is 11.2 meters away at (-5.5, 9.8). A unknown object with ID 31 is 11.9 meters away at (11.9, -0.4). A unknown object with ID 15 is 12.1 meters away at (12.1, -1.4). A unknown object with ID 14 is 12.3 meters away at (12.3, -1.4). A unknown object with ID 28 is 12.4 meters away at (12.4, 0.9). A unknown object with ID 30 is 12.9 meters away at (12.8, -0.8). A unknown object with ID 29 is 13.1 meters away at (13.1, 0.3). A pedestrian with ID 55 is 23.2 meters away at (23.2, -1.5).", "velocity_description": "The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.03643279 -0.00731639] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.5055498 -2.0968332] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.72650737  0.41830158] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [7.1327095 3.9497228], 8.15327262878418 meters away.)"}
{"file_name": "images/scenario_468_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -3.5) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 4.0 meters away at (-3.4, -2.0). A vehicle with ID 58 is 9.3 meters away at (-8.8, 2.9). A vehicle with ID 61 is 10.5 meters away at (3.6, -9.8). A unknown object with ID 59 is 17.2 meters away at (-8.8, 14.7). A unknown object with ID 60 is 17.7 meters away at (-7.9, 15.9). A vehicle with ID 63 is 18.3 meters away at (17.9, 3.9). A vehicle with ID 12 is 18.6 meters away at (-13.9, 12.3). A vehicle with ID 66 is 24.7 meters away at (22.0, -11.3). A vehicle with ID 68 is 30.7 meters away at (26.7, -15.1). A vehicle with ID 69 is 36.8 meters away at (31.5, -19.2).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 5.3717403 -4.211422 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(75.41096496582031, 59.69976806640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.4245658 -1.9913573], 3.961458683013916 meters away.)"}
{"file_name": "images/scenario_468_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -5.1) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 6.0 meters away at (-5.9, -1.3). A vehicle with ID 66 is 12.7 meters away at (12.4, -2.6). A vehicle with ID 22 is 14.3 meters away at (-12.8, 6.3). A vehicle with ID 63 is 15.0 meters away at (8.3, 12.5). A vehicle with ID 12 is 17.4 meters away at (-12.6, 12.0). A vehicle with ID 68 is 18.3 meters away at (17.1, -6.4). A vehicle with ID 58 is 21.0 meters away at (-17.9, 10.9). A vehicle with ID 69 is 24.2 meters away at (21.8, -10.5). A vehicle with ID 71 is 29.8 meters away at (26.1, -14.3). A unknown object with ID 59 is 29.8 meters away at (-18.6, 23.3).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 5.5049834 -5.038354 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(75.41096496582031, 59.69976806640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.9050207 -1.2845306], 6.043119430541992 meters away.)"}
{"file_name": "images/scenario_468_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -6.0) m/s. Its current heading (yaw) is -0.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 7.0 meters away at (4.9, 5.0). A vehicle with ID 66 is 8.8 meters away at (0.2, 8.8). A vehicle with ID 39 is 9.1 meters away at (8.8, -2.3). A vehicle with ID 69 is 9.7 meters away at (9.6, 1.0). A vehicle with ID 71 is 14.2 meters away at (13.9, -2.9). A vehicle with ID 12 is 18.6 meters away at (-13.4, 12.9). A vehicle with ID 61 is 20.8 meters away at (-18.1, 10.2). A vehicle with ID 57 is 21.7 meters away at (20.1, -8.4). A vehicle with ID 41 is 30.1 meters away at (-6.0, -29.5). A vehicle with ID 22 is 30.6 meters away at (-24.9, 17.8).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-6.6154475  5.97724  ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.092769  -5.5145526] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 86.49706  -74.313095]\n [ 88.360466 -75.21447 ]\n [ 90.87907  -77.32152 ]\n [ 91.98734  -79.02763 ]]", "nav_goal": "(75.41096496582031, 59.69976806640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.928486 5.024538], 7.038178443908691 meters away.)"}
{"file_name": "images/scenario_468_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.6) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 7.6 meters away at (6.9, 3.1). A vehicle with ID 71 is 8.5 meters away at (0.9, 8.5). A vehicle with ID 69 is 12.8 meters away at (-3.4, 12.3). A vehicle with ID 23 is 16.5 meters away at (10.1, -13.0). A vehicle with ID 12 is 18.2 meters away at (-13.4, 12.3). A vehicle with ID 68 is 18.2 meters away at (-8.0, 16.3). A vehicle with ID 49 is 20.3 meters away at (-18.2, -9.0). A vehicle with ID 66 is 23.9 meters away at (-12.8, 20.2). A vehicle with ID 41 is 26.4 meters away at (-19.2, -18.1). A vehicle with ID 39 is 27.7 meters away at (-17.7, 21.3).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.8791394 -6.0677342] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-6.5147214  6.371042 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 86.49706  -74.313095]\n [ 88.360466 -75.21447 ]\n [ 90.87907  -77.32152 ]\n [ 91.98734  -79.02763 ]]", "nav_goal": "(75.41096496582031, 59.69976806640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.9279594 3.0944176], 7.5876240730285645 meters away.)"}
{"file_name": "images/scenario_469_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -4.7) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 51 is 6.3 meters away at (0.2, 6.3). A vehicle with ID 53 is 8.1 meters away at (8.1, -0.6). A pedestrian with ID 46 is 15.6 meters away at (-11.0, 11.0). A pedestrian with ID 47 is 15.6 meters away at (-10.7, 11.5). A pedestrian with ID 55 is 17.4 meters away at (17.1, -3.6). A pedestrian with ID 45 is 17.5 meters away at (-12.3, 12.5). A pedestrian with ID 59 is 18.8 meters away at (18.0, -5.6). A pedestrian with ID 60 is 19.1 meters away at (18.4, -5.1). A vehicle with ID 58 is 20.5 meters away at (13.0, -15.9). A pedestrian with ID 62 is 21.6 meters away at (20.6, -6.5).", "velocity_description": "The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.0416708   0.64946234] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.2339731   0.47287592] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.298506    0.36891887] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 1.0100479  -0.50361174] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 1.0999181 -0.2316064] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.1217693  0.6897083] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.1126775  0.6741333] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.1099565   0.56502765] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [0.15915775 6.3348765 ], 6.3368754386901855 meters away.)"}
{"file_name": "images/scenario_469_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -5.4) m/s. Its current heading (yaw) is -0.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 62 is 5.4 meters away at (2.4, 4.9). A pedestrian with ID 63 is 5.5 meters away at (4.7, 2.9). A pedestrian with ID 59 is 6.1 meters away at (0.2, 6.1). A pedestrian with ID 55 is 6.1 meters away at (3.1, 5.2). A pedestrian with ID 64 is 6.3 meters away at (5.4, 3.3). A vehicle with ID 58 is 6.4 meters away at (-3.0, -5.6). A pedestrian with ID 60 is 6.6 meters away at (0.4, 6.6). A vehicle with ID 65 is 12.0 meters away at (4.9, -10.9). A vehicle with ID 53 is 12.4 meters away at (-7.9, 9.6). A pedestrian with ID 61 is 19.7 meters away at (-15.5, -12.1).", "velocity_description": "The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.0464934  0.7168624] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.9132061   0.53316593] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.7835417  0.6683406] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 1.1445647 -0.8624486] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.9267578   0.49857748] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.80040014  0.6361838 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.9529028   0.55050874] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [2.373207  4.8900814], 5.435532093048096 meters away.)"}
{"file_name": "images/scenario_469_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.3, -6.1) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 12.7 meters away at (-12.7, 0.6). A vehicle with ID 66 is 14.9 meters away at (7.7, -12.7). A pedestrian with ID 55 is 19.9 meters away at (-12.5, 15.5). A pedestrian with ID 64 is 21.0 meters away at (-13.9, 15.7). A vehicle with ID 58 is 21.4 meters away at (-20.6, 5.9). A pedestrian with ID 63 is 21.6 meters away at (-14.8, 15.8). A pedestrian with ID 62 is 24.7 meters away at (-17.0, 18.0). A pedestrian with ID 59 is 26.9 meters away at (-19.2, 18.8). A pedestrian with ID 60 is 26.9 meters away at (-18.7, 19.3). A vehicle with ID 53 is 33.2 meters away at (-25.6, 21.2).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 1.0061078 -0.7301006] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.90474665  0.56851745] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.84558547  0.6014696 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.93822277  0.81410736] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.98615384  0.7990582 ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.9329128  0.7647668] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.679722    0.6424236], 12.695985794067383 meters away.)"}
{"file_name": "images/scenario_469_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -6.5) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 11.6 meters away at (-11.6, -0.0). A pedestrian with ID 33 is 11.7 meters away at (11.6, -1.4). A unknown object with ID 43 is 17.7 meters away at (-2.5, -17.5). A vehicle with ID 22 is 20.3 meters away at (18.7, -8.0). A vehicle with ID 28 is 21.7 meters away at (-14.1, -16.5). A vehicle with ID 23 is 22.0 meters away at (21.5, -5.0). A pedestrian with ID 38 is 22.2 meters away at (22.0, -2.4). A pedestrian with ID 30 is 23.1 meters away at (23.0, -2.2). A pedestrian with ID 24 is 23.9 meters away at (23.7, -2.9). A vehicle with ID 44 is 24.4 meters away at (-15.4, -18.9).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.7535825   0.82500935] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.02397232 0.00516538] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.02498085 0.0099226 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.01098683 -0.01117401] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-11.596191    -0.04946518], 11.596296310424805 meters away.)"}
{"file_name": "images/scenario_470_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.2) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 3.2 meters away at (-1.1, -3.0). A vehicle with ID 49 is 6.2 meters away at (3.7, 5.0). A vehicle with ID 50 is 7.1 meters away at (-2.1, 6.8). A vehicle with ID 40 is 9.2 meters away at (8.5, 3.3). A vehicle with ID 45 is 14.6 meters away at (14.5, 1.3). A vehicle with ID 41 is 17.0 meters away at (14.8, -8.2). A vehicle with ID 43 is 19.4 meters away at (19.4, -0.3). A vehicle with ID 30 is 20.3 meters away at (-6.0, -19.4). A unknown object with ID 59 is 22.7 meters away at (5.8, -21.9). A vehicle with ID 44 is 22.7 meters away at (20.3, -10.1).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-18.55044937133789, 119.08321380615234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.0994892 -3.0052829], 3.200093984603882 meters away.)"}
{"file_name": "images/scenario_470_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.1) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 4.7 meters away at (2.4, -4.1). A vehicle with ID 45 is 5.9 meters away at (2.1, 5.5). A vehicle with ID 43 is 7.9 meters away at (6.9, 3.9). A vehicle with ID 40 is 8.4 meters away at (-3.8, 7.5). A vehicle with ID 44 is 9.8 meters away at (7.8, -5.9). A vehicle with ID 49 is 12.6 meters away at (-8.7, 9.2). A vehicle with ID 38 is 12.8 meters away at (12.6, 2.0). A vehicle with ID 47 is 13.7 meters away at (-13.7, 1.2). A vehicle with ID 39 is 14.9 meters away at (12.8, -7.5). A vehicle with ID 42 is 18.1 meters away at (18.1, 0.3).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-18.55044937133789, 119.08321380615234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 2.3619442 -4.057337 ], 4.694759368896484 meters away.)"}
{"file_name": "images/scenario_470_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -2.0) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 3.8 meters away at (1.2, -3.6). A vehicle with ID 44 is 4.3 meters away at (-3.8, -2.0). A vehicle with ID 38 is 6.1 meters away at (1.0, 6.0). A vehicle with ID 42 is 7.7 meters away at (6.4, 4.2). A vehicle with ID 43 is 9.1 meters away at (-4.7, 7.8). A vehicle with ID 41 is 9.3 meters away at (-9.3, -0.1). A vehicle with ID 46 is 12.3 meters away at (12.1, 2.3). A vehicle with ID 45 is 13.4 meters away at (-9.5, 9.4). A vehicle with ID 48 is 17.5 meters away at (17.5, 0.4). A vehicle with ID 40 is 19.3 meters away at (-15.5, 11.4).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-18.55044937133789, 119.08321380615234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.1696358 -3.6064558], 3.7913811206817627 meters away.)"}
{"file_name": "images/scenario_470_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -1.4) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 6.1 meters away at (2.5, 5.6). A vehicle with ID 42 is 8.1 meters away at (-3.1, 7.5). A vehicle with ID 39 is 8.4 meters away at (-8.4, -0.3). A vehicle with ID 48 is 8.8 meters away at (7.9, 3.7). A vehicle with ID 38 is 12.6 meters away at (-8.5, 9.3). A vehicle with ID 44 is 13.6 meters away at (-13.5, 1.5). A vehicle with ID 43 is 18.1 meters away at (-14.2, 11.2). A vehicle with ID 19 is 18.8 meters away at (-17.8, 6.2). A vehicle with ID 11 is 19.0 meters away at (-3.5, -18.7). A vehicle with ID 13 is 19.1 meters away at (-6.5, -18.0).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.599591  -1.9402078] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-18.55044937133789, 119.08321380615234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.5161476 5.5559444], 6.099140644073486 meters away.)"}
{"file_name": "images/scenario_471_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -2.0) m/s. Its current heading (yaw) is -0.97 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 27.6 meters away at (-24.9, 11.9). A vehicle with ID 25 is 36.8 meters away at (16.4, -32.9). A vehicle with ID 31 is 40.9 meters away at (-40.7, -4.2). A cyclist with ID 15 is 45.2 meters away at (-44.4, 8.8). A unknown object with ID 32 is 56.8 meters away at (-56.2, 7.8). A unknown object with ID 34 is 58.8 meters away at (-58.1, 8.8). A vehicle with ID 29 is 61.2 meters away at (-60.1, -11.6).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [13.558154  -6.3662496] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 8.205637 -3.561147] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [-0.00913267 -0.00704817] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-5.4319425  2.4180067] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-24.924788  11.857671], 27.601619720458984 meters away.)"}
{"file_name": "images/scenario_471_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.8) m/s. Its current heading (yaw) is -1.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 26.3 meters away at (-25.1, -7.7). A unknown object with ID 24 is 31.0 meters away at (-26.7, 15.7). A pedestrian with ID 1 is 37.1 meters away at (-23.9, -28.4). A unknown object with ID 3 is 48.9 meters away at (-48.7, -3.8). A vehicle with ID 25 is 57.2 meters away at (39.5, -41.4). A unknown object with ID 34 is 61.3 meters away at (-59.9, 12.6). A unknown object with ID 8 is 65.0 meters away at (-62.3, 18.4). A vehicle with ID 4 is 78.4 meters away at (-73.4, 27.6).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [ 9.551279 -3.845371] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.01585664 -0.02405707] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [11.288954 -5.351588] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-25.12098   -7.714365], 26.278793334960938 meters away.)"}
{"file_name": "images/scenario_471_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.9) m/s. Its current heading (yaw) is -1.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 14.1 meters away at (-5.9, -12.8). A vehicle with ID 21 is 36.4 meters away at (-35.0, 10.0). A unknown object with ID 12 is 58.2 meters away at (-56.6, 13.7). A unknown object with ID 14 is 59.7 meters away at (-55.7, 21.4). A vehicle with ID 25 is 75.4 meters away at (58.6, -47.5). A pedestrian with ID 22 is 76.4 meters away at (67.5, -35.8). A pedestrian with ID 10 is 76.5 meters away at (68.1, -34.8). A pedestrian with ID 23 is 76.5 meters away at (68.1, -34.9). A vehicle with ID 4 is 79.7 meters away at (-73.2, 31.5).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [10.231005  -4.0374455] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 8.318108  -3.7701097] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.93256783  1.0342816 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0013891   0.94916844] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.9694023   0.93056744] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -5.900145 -12.801687], 14.095917701721191 meters away.)"}
{"file_name": "images/scenario_471_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.3) m/s. Its current heading (yaw) is -1.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 21.3 meters away at (14.4, -15.7). A vehicle with ID 31 is 24.8 meters away at (15.1, -19.6). A unknown object with ID 7 is 33.6 meters away at (-27.3, 19.5). A pedestrian with ID 17 is 49.6 meters away at (-46.5, 17.1). A unknown object with ID 12 is 58.5 meters away at (-56.7, 14.5). A pedestrian with ID 22 is 73.2 meters away at (65.5, -32.6). A pedestrian with ID 23 is 73.3 meters away at (65.9, -32.2). A pedestrian with ID 10 is 73.3 meters away at (66.1, -31.8).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [10.703005  -3.8680284] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.52937055 -0.3359521 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.0677848  0.9950535] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0397915   0.85975486] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0880551  1.0261314] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 14.439129 -15.657403], 21.29888916015625 meters away.)"}
{"file_name": "images/scenario_472_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -5.5) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 3.8 meters away at (-3.6, 1.0). A vehicle with ID 10 is 15.7 meters away at (-13.1, -8.7). A vehicle with ID 50 is 15.7 meters away at (-15.7, -1.1). A vehicle with ID 55 is 17.8 meters away at (-9.9, 14.8). A pedestrian with ID 52 is 21.4 meters away at (-9.1, -19.3). A vehicle with ID 53 is 23.6 meters away at (-6.4, 22.7). A vehicle with ID 60 is 24.8 meters away at (-24.6, 3.3). A vehicle with ID 13 is 25.6 meters away at (15.4, 20.5). A vehicle with ID 12 is 28.6 meters away at (-20.8, -19.6). A vehicle with ID 65 is 29.5 meters away at (-28.6, -7.1).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.4359713 -6.0152245] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.8295565 -5.6331134] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [9.129747 9.588066] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.8197747 -1.2326888] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [10.553379 10.637743] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [7.4863915 9.020744 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-5.59096   -5.4209166] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-4.689495  -6.4503746] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [6.0150733 7.5036116] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.727253 -17.481226]\n [-28.685835 -14.80214 ]\n [-55.30587  -18.624058]\n [-49.35807  -16.506289]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6329622  1.0253611], 3.774888038635254 meters away.)"}
{"file_name": "images/scenario_472_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -7.1) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 4.9 meters away at (-4.9, -0.1). A pedestrian with ID 52 is 9.1 meters away at (-0.5, -9.1). A vehicle with ID 50 is 12.5 meters away at (-5.4, 11.2). A vehicle with ID 10 is 15.8 meters away at (-12.8, -9.2). A vehicle with ID 65 is 21.2 meters away at (-4.9, 20.6). A vehicle with ID 44 is 22.2 meters away at (-20.3, 8.9). A vehicle with ID 13 is 25.7 meters away at (14.3, 21.4). A unknown object with ID 58 is 26.2 meters away at (2.1, -26.1). A vehicle with ID 12 is 29.9 meters away at (-20.2, -22.1). A vehicle with ID 17 is 32.1 meters away at (21.6, 23.8).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.7920947 -7.2605643] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.7274132 -1.1138861] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.3838406 -7.588525 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [7.5210605 8.079214 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [7.775555 9.540294] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-6.209796  -6.5075564] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-5.164423 -8.756497] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.040425  -6.5235386] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.727253 -17.481226]\n [-28.685835 -14.80214 ]\n [-55.30587  -18.624058]\n [-49.35807  -16.506289]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.9375973  -0.11579132], 4.938954830169678 meters away.)"}
{"file_name": "images/scenario_472_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, -9.0) m/s. Its current heading (yaw) is -2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 4.7 meters away at (-4.7, 0.0). A pedestrian with ID 52 is 10.7 meters away at (9.7, 4.4). A vehicle with ID 10 is 16.1 meters away at (-12.0, -10.7). A unknown object with ID 58 is 17.4 meters away at (14.1, -10.2). A vehicle with ID 13 is 26.4 meters away at (13.4, 22.8). A vehicle with ID 50 is 27.8 meters away at (6.4, 27.1). A vehicle with ID 12 is 31.7 meters away at (-18.8, -25.4). A vehicle with ID 17 is 33.9 meters away at (21.4, 26.3). A vehicle with ID 45 is 34.9 meters away at (-7.2, 34.2). A vehicle with ID 68 is 37.2 meters away at (-28.9, 23.5).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.066097 -8.921144] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.8792422 -1.1105518] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.787931 -9.887173] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-6.6982446 -8.161549 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ -5.32645  -10.337386] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.1773906 -7.0534506] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [8.4991   5.071539] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.727253 -17.481226]\n [-28.685835 -14.80214 ]\n [-55.30587  -18.624058]\n [-49.35807  -16.506289]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.674259    0.03964615], 4.674427509307861 meters away.)"}
{"file_name": "images/scenario_472_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, -10.6) m/s. Its current heading (yaw) is -2.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 4.3 meters away at (-4.3, -0.3). A vehicle with ID 10 is 16.7 meters away at (-11.1, -12.4). A vehicle with ID 22 is 20.9 meters away at (-10.4, 18.2). A vehicle with ID 49 is 23.2 meters away at (-22.8, -4.3). A vehicle with ID 13 is 27.6 meters away at (12.3, 24.7). A unknown object with ID 58 is 28.3 meters away at (26.7, 9.3). A pedestrian with ID 52 is 30.1 meters away at (20.7, 21.9). A vehicle with ID 12 is 32.1 meters away at (-16.1, -27.7). A vehicle with ID 17 is 38.1 meters away at (21.7, 31.3). A pedestrian with ID 23 is 44.1 meters away at (-37.9, 22.6).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ -6.116064 -10.981603] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ -6.099372 -11.537745] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 8.300675 13.489448] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 7.860234 14.875188] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.05959  -9.810802] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.8550258 -1.1972181] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ -4.6468053 -11.529888 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.127476 -7.779885] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0728279  1.5465268] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.727253 -17.481226]\n [-52.07058  -28.90447 ]\n [-28.685835 -14.80214 ]\n [-55.30587  -18.624058]\n [-49.35807  -16.506289]\n [-48.203495 -30.028282]\n [-55.68751  -28.324509]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.2868958  -0.27124405], 4.295468330383301 meters away.)"}
{"file_name": "images/scenario_473_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.6) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 52.2 meters away at (43.4, -28.9).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.624511  6.131776] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 43.447758 -28.913925], 52.18929672241211 meters away.)"}
{"file_name": "images/scenario_473_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.4) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 39.0 meters away at (36.9, -12.6). A vehicle with ID 8 is 49.5 meters away at (41.9, -26.4).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-8.557763  5.540391] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 36.931828  -12.6103115], 39.02537155151367 meters away.)"}
{"file_name": "images/scenario_473_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 4.5) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 45.0 meters away at (37.9, -24.2).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-8.877961  5.618393] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 37.937473 -24.178078], 44.98701095581055 meters away.)"}
{"file_name": "images/scenario_473_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.9) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 31.8 meters away at (-15.1, 28.0). A unknown object with ID 2 is 32.5 meters away at (-14.4, 29.1). A unknown object with ID 3 is 33.4 meters away at (-13.6, 30.5). A vehicle with ID 5 is 34.0 meters away at (-10.0, 32.5). A vehicle with ID 8 is 41.1 meters away at (34.5, -22.2). A unknown object with ID 13 is 42.8 meters away at (39.8, -15.8).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-1.7477286 -3.0294385] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-8.762628  5.704668] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-15.111568  27.954338], 31.777421951293945 meters away.)"}
{"file_name": "images/scenario_474_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -1.5) m/s. Its current heading (yaw) is -1.46 ", "actor_description": " The most relevant actors are: A cyclist with ID 27 is 18.7 meters away at (16.3, -9.2). A unknown object with ID 33 is 23.1 meters away at (-13.9, -18.5). A pedestrian with ID 30 is 25.2 meters away at (22.3, -11.8). A pedestrian with ID 31 is 25.8 meters away at (22.4, -12.8). A pedestrian with ID 28 is 26.5 meters away at (9.4, -24.7). A pedestrian with ID 36 is 44.8 meters away at (11.5, -43.3). A pedestrian with ID 37 is 45.1 meters away at (10.8, -43.8). A pedestrian with ID 19 is 45.9 meters away at (11.5, -44.4). A unknown object with ID 18 is 47.2 meters away at (-6.2, 46.8).", "velocity_description": "The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.00370139 -0.01420905] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.2616949   0.11567587] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-1.2270286  0.0314937] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.05277934  1.1745921 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.02060176 0.02653271] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01575435  0.03258747] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00814429 -0.00847839] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [16.287413 -9.205295], 18.70874786376953 meters away.)"}
{"file_name": "images/scenario_474_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -1.6) m/s. Its current heading (yaw) is -1.45 ", "actor_description": " The most relevant actors are: A cyclist with ID 27 is 17.1 meters away at (16.0, -6.2). A unknown object with ID 33 is 21.0 meters away at (-14.3, -15.4). A pedestrian with ID 28 is 21.1 meters away at (8.8, -19.2). A pedestrian with ID 36 is 41.8 meters away at (11.0, -40.3). A pedestrian with ID 37 is 42.1 meters away at (10.3, -40.8). A pedestrian with ID 19 is 42.9 meters away at (11.1, -41.4). A unknown object with ID 21 is 75.7 meters away at (-14.3, 74.3).", "velocity_description": "The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.01470472  0.02637708] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.1838572  1.2434385] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.02643828  0.01607407] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.06125504  0.02065231] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00274444  0.01604863] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [15.978225  -6.2099357], 17.142549514770508 meters away.)"}
{"file_name": "images/scenario_474_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.7) m/s. Its current heading (yaw) is -1.29 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 14.4 meters away at (14.3, -1.5). A pedestrian with ID 28 is 15.5 meters away at (7.8, -13.4). A cyclist with ID 27 is 16.3 meters away at (15.9, -3.6). A pedestrian with ID 11 is 16.6 meters away at (16.1, -4.2). A unknown object with ID 33 is 19.3 meters away at (-15.1, -12.0). A pedestrian with ID 36 is 38.3 meters away at (10.1, -37.0). A pedestrian with ID 37 is 38.6 meters away at (9.5, -37.5). A pedestrian with ID 19 is 39.4 meters away at (10.3, -38.1). A unknown object with ID 24 is 52.4 meters away at (43.2, -29.6). A unknown object with ID 15 is 53.0 meters away at (44.6, -28.6).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.1381001  0.5880526] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.13329472  1.2209218 ] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.40611574 -0.3938542 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.910467   -0.63333076] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.00079493 0.00456052] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01570709 -0.00613212] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00071835 -0.00167794] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [14.322312  -1.4856167], 14.399155616760254 meters away.)"}
{"file_name": "images/scenario_474_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.2) m/s. Its current heading (yaw) is -1.16 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 10.1 meters away at (6.3, -7.9). A pedestrian with ID 1 is 11.2 meters away at (10.9, 2.5). A pedestrian with ID 3 is 13.6 meters away at (13.6, 1.2). A pedestrian with ID 2 is 14.0 meters away at (14.0, 0.2). A cyclist with ID 27 is 18.2 meters away at (18.0, -2.7). A unknown object with ID 33 is 18.6 meters away at (-16.2, -9.2). A pedestrian with ID 36 is 35.2 meters away at (9.1, -34.0). A pedestrian with ID 37 is 35.6 meters away at (8.4, -34.6). A pedestrian with ID 19 is 36.3 meters away at (9.1, -35.2). A unknown object with ID 14 is 49.2 meters away at (42.3, -25.3).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.14944817  1.2826728 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.2234329  0.6322188] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.1616734   0.65657437] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0906667  0.7039058] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 1.9825058 -0.1723393] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.00473228 0.01497984] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01703586  0.01090589] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00961855 -0.00325291] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 6.2842703 -7.9382563], 10.124621391296387 meters away.)"}
{"file_name": "images/scenario_475_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 1.0) m/s. Its current heading (yaw) is 0.92 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 11.8 meters away at (-9.0, 7.7). A pedestrian with ID 34 is 14.0 meters away at (-13.0, 5.3). A pedestrian with ID 36 is 14.5 meters away at (-14.4, 2.0). A vehicle with ID 33 is 14.9 meters away at (13.3, 6.8). A vehicle with ID 37 is 32.3 meters away at (-25.4, -20.0). A unknown object with ID 38 is 32.8 meters away at (23.6, 22.8). A pedestrian with ID 41 is 33.4 meters away at (-27.6, 18.8). A unknown object with ID 24 is 33.8 meters away at (23.5, 24.4). A vehicle with ID 39 is 35.1 meters away at (-20.3, -28.6). A unknown object with ID 40 is 36.7 meters away at (27.5, 24.2).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.9387953  -0.56747824] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.15666488 0.942487  ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.26993802 0.5904337 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.4869637 -2.610703 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.40999827 -1.3036665 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(159.86187744140625, -30.483505249023438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-9.042279  7.650613], 11.844606399536133 meters away.)"}
{"file_name": "images/scenario_475_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.5) m/s. Its current heading (yaw) is 0.91 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 10.6 meters away at (-10.3, 2.4). A pedestrian with ID 34 is 16.8 meters away at (-16.6, 2.9). A pedestrian with ID 36 is 17.2 meters away at (-17.2, -0.9). A vehicle with ID 33 is 25.0 meters away at (24.9, -2.8). A unknown object with ID 16 is 26.2 meters away at (9.9, 24.2). A unknown object with ID 38 is 27.1 meters away at (20.0, 18.2). A unknown object with ID 24 is 28.1 meters away at (19.9, 19.8). A pedestrian with ID 41 is 32.4 meters away at (-30.1, 12.1). A vehicle with ID 37 is 38.0 meters away at (-28.9, -24.7). A vehicle with ID 42 is 39.5 meters away at (-31.1, 24.2).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.237439   -0.10816073] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.33903995  1.0956594 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.3459242  0.90239894] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.007146  -2.3927188] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.8840662 -0.6428024] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(159.86187744140625, -30.483505249023438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-10.317168    2.3974166], 10.592052459716797 meters away.)"}
{"file_name": "images/scenario_475_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 15.7 meters away at (2.6, 15.4). A pedestrian with ID 32 is 16.8 meters away at (-15.2, -7.0). A pedestrian with ID 34 is 24.7 meters away at (-24.4, -4.0). A pedestrian with ID 36 is 25.2 meters away at (-23.9, -8.0). A unknown object with ID 14 is 26.6 meters away at (19.0, 18.5). A vehicle with ID 33 is 32.6 meters away at (28.4, -15.9). A pedestrian with ID 41 is 35.9 meters away at (-35.9, 1.2). A vehicle with ID 42 is 41.3 meters away at (-38.4, 15.4). A vehicle with ID 37 is 49.2 meters away at (-36.1, -33.5). A vehicle with ID 39 is 52.2 meters away at (-30.9, -42.1).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.0630721  -0.39825782] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.528086    0.90171117] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.26543525 0.91063803] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 3.5753102 -1.614494 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.1099843 -0.6195315] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(159.86187744140625, -30.483505249023438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.6110258 15.443565 ], 15.662732124328613 meters away.)"}
{"file_name": "images/scenario_475_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 3.8 meters away at (3.8, 0.5). A unknown object with ID 10 is 4.0 meters away at (3.9, -1.1). A unknown object with ID 14 is 12.9 meters away at (10.2, 8.0). A unknown object with ID 6 is 21.2 meters away at (15.6, 14.4). A pedestrian with ID 32 is 28.5 meters away at (-21.9, -18.3). A unknown object with ID 3 is 34.9 meters away at (18.2, 29.8). A pedestrian with ID 36 is 36.8 meters away at (-32.7, -16.7). A pedestrian with ID 34 is 37.2 meters away at (-34.8, -13.1). A vehicle with ID 33 is 37.9 meters away at (24.5, -28.9). A unknown object with ID 1 is 39.7 meters away at (21.4, 33.5).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.1438185  -0.25599703] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.308027   0.9252232] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.99395996  0.67239904] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 2.191771  -1.1032857] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(159.86187744140625, -30.483505249023438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [3.7595673 0.4827633], 3.790436267852783 meters away.)"}
{"file_name": "images/scenario_476_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 4.6) m/s. Its current heading (yaw) is 2.26 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 3.8 meters away at (3.7, 0.6). A unknown object with ID 15 is 5.1 meters away at (5.1, -0.6). A vehicle with ID 28 is 23.9 meters away at (-15.5, 18.2). A pedestrian with ID 25 is 53.9 meters away at (-51.7, 15.1). A pedestrian with ID 30 is 63.1 meters away at (-63.0, 1.7). A vehicle with ID 31 is 64.0 meters away at (-42.5, 47.9). A vehicle with ID 8 is 73.4 meters away at (29.1, -67.4). A vehicle with ID 19 is 78.5 meters away at (-78.5, -0.7).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.9098882  0.58632606] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.99562484 -1.0052911 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-240.34288024902344, 115.09542083740234)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [3.7418928 0.5754385], 3.7858803272247314 meters away.)"}
{"file_name": "images/scenario_476_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 3.0) m/s. Its current heading (yaw) is 2.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 12.0 meters away at (9.2, -7.8). A unknown object with ID 15 is 13.9 meters away at (10.6, -8.9). A vehicle with ID 28 is 14.1 meters away at (-9.9, 10.0). A unknown object with ID 3 is 23.7 meters away at (22.5, 7.4). A unknown object with ID 20 is 39.2 meters away at (-8.2, -38.4). A unknown object with ID 23 is 40.0 meters away at (-23.0, 32.8). A unknown object with ID 22 is 42.6 meters away at (-9.9, -41.4). A unknown object with ID 2 is 43.7 meters away at (-24.8, 36.0). A pedestrian with ID 25 is 45.5 meters away at (-44.6, 9.1). A vehicle with ID 31 is 54.2 meters away at (-36.8, 39.8).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.73416114 0.8242152 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-240.34288024902344, 115.09542083740234)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 9.198673  -7.7676983], 12.039631843566895 meters away.)"}
{"file_name": "images/scenario_476_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 9.3 meters away at (-6.5, 6.6). A unknown object with ID 26 is 16.7 meters away at (12.5, -11.1). A unknown object with ID 15 is 18.5 meters away at (13.9, -12.2). A unknown object with ID 12 is 20.1 meters away at (19.9, -2.5). A unknown object with ID 23 is 35.4 meters away at (-19.5, 29.5). A pedestrian with ID 25 is 40.3 meters away at (-39.6, 7.3). A unknown object with ID 22 is 45.2 meters away at (-6.6, -44.7). A vehicle with ID 31 is 49.5 meters away at (-33.5, 36.4). A vehicle with ID 7 is 52.6 meters away at (4.8, -52.4). A vehicle with ID 29 is 71.0 meters away at (-54.8, 45.3).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.6957264 0.8702112] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-240.34288024902344, 115.09542083740234)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.526737   6.6017056], 9.28336238861084 meters away.)"}
{"file_name": "images/scenario_476_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 8.9 meters away at (-6.3, 6.4). A pedestrian with ID 1 is 26.3 meters away at (26.0, 4.0). A pedestrian with ID 9 is 38.4 meters away at (28.3, -26.0). A pedestrian with ID 25 is 38.6 meters away at (-37.6, 9.0). A unknown object with ID 17 is 39.1 meters away at (23.6, -31.2). A vehicle with ID 31 is 49.1 meters away at (-33.2, 36.2). A unknown object with ID 6 is 60.5 meters away at (-41.1, 44.4). A vehicle with ID 29 is 70.7 meters away at (-54.5, 45.0).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00052489  0.00063477] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.06540288 -0.03370057] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.8958069 1.0531718] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-240.34288024902344, 115.09542083740234)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.258665  6.365322], 8.926825523376465 meters away.)"}
{"file_name": "images/scenario_477_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.7) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 13.8 meters away at (6.4, -12.2). A vehicle with ID 55 is 16.1 meters away at (4.4, 15.5). A vehicle with ID 60 is 21.3 meters away at (-21.0, 3.0). A vehicle with ID 56 is 25.8 meters away at (-24.0, -9.6). A vehicle with ID 65 is 26.7 meters away at (-25.8, 7.2). A pedestrian with ID 77 is 27.4 meters away at (22.0, 16.3). A vehicle with ID 58 is 27.4 meters away at (-26.2, -8.1). A vehicle with ID 62 is 30.3 meters away at (-29.9, -4.9). A vehicle with ID 25 is 30.8 meters away at (22.4, 21.1). A unknown object with ID 59 is 30.8 meters away at (-25.0, -18.0).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.4468396  0.31552532] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.4250298  5.2500515]\n [ 5.3818183 12.001562 ]\n [-4.4775486  2.6313024]\n [ 6.96248    6.0207686]\n [ 3.9949813 13.714269 ]\n [ 9.545186   8.052744 ]\n [ 5.313187  12.365773 ]]", "nav_goal": "(199.27304077148438, 157.68006896972656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  6.44084  -12.218153], 13.811867713928223 meters away.)"}
{"file_name": "images/scenario_477_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 6.3) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 6.7 meters away at (-5.6, 3.7). A pedestrian with ID 77 is 14.0 meters away at (12.9, 5.6). A vehicle with ID 25 is 15.4 meters away at (12.3, 9.2). A pedestrian with ID 61 is 18.5 meters away at (2.3, 18.3). A vehicle with ID 30 is 18.9 meters away at (-3.5, 18.6). A vehicle with ID 27 is 21.8 meters away at (16.6, 14.2). A vehicle with ID 85 is 23.0 meters away at (-0.2, 23.0). A vehicle with ID 57 is 24.4 meters away at (-3.6, -24.1). A vehicle with ID 28 is 28.7 meters away at (21.1, 19.4). A vehicle with ID 60 is 32.4 meters away at (-31.1, -8.9).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.52103114 0.7737299 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.9614    -0.9852642] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.4250298  5.2500515]\n [ 5.3818183 12.001562 ]\n [-4.4775486  2.6313024]\n [ 6.96248    6.0207686]\n [ 3.9949813 13.714269 ]\n [ 9.545186   8.052744 ]\n [ 5.313187  12.365773 ]]", "nav_goal": "(199.27304077148438, 157.68006896972656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.560302  3.665123], 6.659585952758789 meters away.)"}
{"file_name": "images/scenario_477_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, 7.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 3.9 meters away at (1.5, -3.6). A vehicle with ID 27 is 5.8 meters away at (5.7, 1.3). A pedestrian with ID 77 is 6.7 meters away at (3.2, -5.9). A pedestrian with ID 61 is 10.9 meters away at (-10.4, 3.3). A vehicle with ID 28 is 12.0 meters away at (10.2, 6.4). A vehicle with ID 85 is 14.9 meters away at (-11.0, 10.0). A vehicle with ID 30 is 15.5 meters away at (-14.4, 5.7). A pedestrian with ID 52 is 17.0 meters away at (-16.3, 4.6). A vehicle with ID 55 is 18.9 meters away at (-16.4, -9.3). A vehicle with ID 24 is 18.9 meters away at (14.6, 12.0).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.7911094 0.879521 ] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.8679667  -0.96282834] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.02756975 0.00380687] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.4250298  5.2500515]\n [ 5.3818183 12.001562 ]\n [-4.4775486  2.6313024]\n [ 3.9949813 13.714269 ]\n [ 5.313187  12.365773 ]]", "nav_goal": "(199.27304077148438, 157.68006896972656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.4779606 -3.567154 ], 3.8612115383148193 meters away.)"}
{"file_name": "images/scenario_477_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 6.2) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 3.9 meters away at (3.8, -0.9). A vehicle with ID 28 is 6.4 meters away at (-0.6, -6.4). A vehicle with ID 26 is 9.2 meters away at (8.2, 4.1). A vehicle with ID 27 is 12.6 meters away at (-5.1, -11.5). A unknown object with ID 36 is 13.3 meters away at (-9.6, 9.2). A vehicle with ID 54 is 13.5 meters away at (2.7, 13.2). A vehicle with ID 14 is 15.8 meters away at (12.8, 9.3). A vehicle with ID 25 is 19.0 meters away at (-9.4, -16.5). A vehicle with ID 8 is 19.5 meters away at (7.1, 18.1). A vehicle with ID 85 is 22.1 meters away at (-21.9, -3.0).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.3818183 12.001562 ]\n [ 3.9949813 13.714269 ]\n [ 5.313187  12.365773 ]]", "nav_goal": "(199.27304077148438, 157.68006896972656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.7991676  -0.86870956], 3.897221088409424 meters away.)"}
{"file_name": "images/scenario_478_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -4.5) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 25 is 67.8 meters away at (-6.8, -67.5).", "velocity_description": "The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00278386 -1.3150485 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -6.79161 -67.47221], 67.81316375732422 meters away.)"}
{"file_name": "images/scenario_478_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -3.9) m/s. Its current heading (yaw) is -1.55 ", "actor_description": " The most relevant actors are: A pedestrian with ID 14 is 72.1 meters away at (-4.8, -72.0). A vehicle with ID 5 is 74.0 meters away at (-2.1, -74.0).", "velocity_description": "The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.00355055 0.00690318] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -4.751007 -71.98164 ], 72.13826751708984 meters away.)"}
{"file_name": "images/scenario_478_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -3.1) m/s. Its current heading (yaw) is -1.54 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 52.7 meters away at (9.3, -51.9). A pedestrian with ID 4 is 54.5 meters away at (-4.3, -54.3). A pedestrian with ID 14 is 65.2 meters away at (-4.9, -65.0). A vehicle with ID 5 is 66.9 meters away at (-2.2, -66.9).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.1439102  -0.07198717] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.00136272 0.00272982] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  9.25592  -51.852654], 52.67228698730469 meters away.)"}
{"file_name": "images/scenario_478_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -2.2) m/s. Its current heading (yaw) is -1.28 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 48.0 meters away at (9.5, -47.1). A pedestrian with ID 4 is 49.6 meters away at (-4.6, -49.4). A pedestrian with ID 11 is 52.0 meters away at (12.3, 50.5). A pedestrian with ID 14 is 60.0 meters away at (-5.6, -59.7). A vehicle with ID 5 is 61.7 meters away at (-2.9, -61.6). A vehicle with ID 24 is 76.1 meters away at (2.6, -76.1).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.0379098  -0.09797031] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.1973665  -0.33054587] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.42448387  0.8809702 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.05142847  0.02109866] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  9.453671 -47.070053], 48.01001739501953 meters away.)"}
{"file_name": "images/scenario_479_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 5.0) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 97 is 3.8 meters away at (3.7, 0.7). A unknown object with ID 100 is 4.9 meters away at (-2.6, -4.2). A unknown object with ID 102 is 5.1 meters away at (-2.6, 4.4). A pedestrian with ID 98 is 8.4 meters away at (7.7, 3.5). A unknown object with ID 95 is 9.7 meters away at (4.7, -8.5). A pedestrian with ID 37 is 9.8 meters away at (-7.5, -6.2). A unknown object with ID 92 is 12.6 meters away at (11.9, -4.0). A unknown object with ID 91 is 18.3 meters away at (12.7, -13.2). A pedestrian with ID 55 is 21.1 meters away at (-13.1, 16.5). A vehicle with ID 101 is 21.7 meters away at (18.8, -10.8).", "velocity_description": "The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [ 0.994727  -0.5805704] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.00401033 -0.0040898 ] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.01573361 0.07734989] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [-9.647174   5.1920795] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-218.91542053222656, 10.446104049682617)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [3.725131   0.73139954], 3.7962543964385986 meters away.)"}
{"file_name": "images/scenario_479_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 4.3) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 57 is 5.1 meters away at (-2.1, -4.6). A unknown object with ID 78 is 5.7 meters away at (-3.2, 4.7). A pedestrian with ID 55 is 7.7 meters away at (3.3, 7.0). A pedestrian with ID 34 is 7.9 meters away at (2.7, 7.4). A pedestrian with ID 80 is 8.1 meters away at (1.9, 7.9). A pedestrian with ID 72 is 8.2 meters away at (1.4, 8.1). A pedestrian with ID 76 is 8.6 meters away at (0.1, 8.6). A pedestrian with ID 81 is 9.0 meters away at (3.9, 8.1). A pedestrian with ID 31 is 9.0 meters away at (-0.9, 9.0). A pedestrian with ID 75 is 9.4 meters away at (-0.3, 9.4).", "velocity_description": "The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.03656279  0.00876253] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.08817676 -0.0026472 ] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.12370025 -0.03205438] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.03185627  0.00255252] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.0309791   0.00563701] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.02587647  0.03633272] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.02100991 -0.01514722] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 0.00844597 -0.02880366] m/s.", "light_description": "There are active red lights at the following coordinates: [[-103.33787    46.950905]\n [-103.80751    47.263012]]", "nav_goal": "(-218.91542053222656, 10.446104049682617)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.1147804 -4.5894766], 5.053275108337402 meters away.)"}
{"file_name": "images/scenario_479_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.1) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 41 is 3.8 meters away at (3.8, 0.7). A unknown object with ID 84 is 5.1 meters away at (-3.4, -3.9). A pedestrian with ID 106 is 6.5 meters away at (4.7, 4.5). A pedestrian with ID 110 is 6.8 meters away at (3.2, 6.1). A unknown object with ID 35 is 7.2 meters away at (-4.6, 5.5). A unknown object with ID 78 is 11.7 meters away at (11.1, -3.6). A pedestrian with ID 73 is 11.9 meters away at (11.7, 1.9). A pedestrian with ID 62 is 12.7 meters away at (12.6, 1.3). A pedestrian with ID 53 is 13.1 meters away at (13.0, 2.0). A pedestrian with ID 31 is 13.4 meters away at (13.4, 0.7).", "velocity_description": "The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.1112425  -0.72527885] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 2.4463167 -1.42419  ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.01161981 -0.00807895] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.07430894 -0.0143629 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.01199518 -0.00881733] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.02526577 -0.01399295] m/s.", "light_description": "There are active red lights at the following coordinates: [[-103.33787    46.950905]\n [-103.80751    47.263012]]", "nav_goal": "(-218.91542053222656, 10.446104049682617)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [3.7792892 0.6757145], 3.8392210006713867 meters away.)"}
{"file_name": "images/scenario_479_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 4.2) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 77 is 2.5 meters away at (1.7, 1.7). A unknown object with ID 38 is 5.7 meters away at (-4.8, -3.1). A vehicle with ID 86 is 7.3 meters away at (-7.3, 0.7). A unknown object with ID 64 is 8.1 meters away at (2.9, -7.6). A unknown object with ID 36 is 8.8 meters away at (-6.1, 6.3). A unknown object with ID 35 is 10.0 meters away at (9.6, -2.7). A pedestrian with ID 109 is 12.1 meters away at (-11.6, -3.6). A pedestrian with ID 40 is 12.7 meters away at (-12.0, -4.3). A unknown object with ID 88 is 13.4 meters away at (-10.3, 8.7). A unknown object with ID 84 is 16.2 meters away at (10.8, -12.1).", "velocity_description": "The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [ 7.9969444 -4.8593135] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-0.9985747   0.60173905] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.9501699  0.5895883] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-103.33787    46.950905]\n [-103.80751    47.263012]]", "nav_goal": "(-218.91542053222656, 10.446104049682617)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [1.7447319 1.7434578], 2.466522693634033 meters away.)"}
{"file_name": "images/scenario_480_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -6.3) m/s. Its current heading (yaw) is -1.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 22.3 meters away at (-4.4, 21.9). A pedestrian with ID 16 is 66.9 meters away at (6.5, 66.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.36163    -0.10573635] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.3878894 21.851215 ], 22.28742218017578 meters away.)"}
{"file_name": "images/scenario_480_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -6.3) m/s. Its current heading (yaw) is -1.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 34.8 meters away at (-4.5, 34.5). A unknown object with ID 7 is 44.0 meters away at (-40.4, -17.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.4726853 34.53176  ], 34.820213317871094 meters away.)"}
{"file_name": "images/scenario_480_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -6.0) m/s. Its current heading (yaw) is -1.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 47.1 meters away at (-5.1, 46.8). A pedestrian with ID 1 is 72.9 meters away at (17.3, -70.8). A pedestrian with ID 8 is 73.1 meters away at (15.0, -71.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.01794004 -0.00885716] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.68978506 0.09095345] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.110517 46.789314], 47.06758499145508 meters away.)"}
{"file_name": "images/scenario_480_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -5.7) m/s. Its current heading (yaw) is -1.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 58.9 meters away at (-6.3, 58.6). A pedestrian with ID 1 is 61.2 meters away at (16.0, -59.1). A pedestrian with ID 3 is 67.6 meters away at (19.2, -64.8).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00130416 -0.00923461] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00700804 -0.01211117] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.262435 58.565247], 58.89912033081055 meters away.)"}
{"file_name": "images/scenario_481_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -2.1) m/s. Its current heading (yaw) is -1.33 ", "actor_description": " The most relevant actors are: A pedestrian with ID 36 is 4.8 meters away at (-4.4, -1.9). A vehicle with ID 37 is 9.5 meters away at (-5.5, 7.7). A vehicle with ID 41 is 17.3 meters away at (-5.1, 16.5). A vehicle with ID 39 is 17.4 meters away at (-3.4, -17.1). A vehicle with ID 42 is 21.3 meters away at (-2.1, -21.2). A pedestrian with ID 43 is 35.5 meters away at (-29.6, 19.5). A vehicle with ID 44 is 41.6 meters away at (-39.8, 12.0). A vehicle with ID 45 is 42.8 meters away at (-38.4, 18.9). A vehicle with ID 46 is 43.1 meters away at (-40.0, 16.0). A vehicle with ID 48 is 46.6 meters away at (-26.3, 38.5).", "velocity_description": "The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.01304404 -0.00533257] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.20237768 -0.63505065] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.0783088  1.165297 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00147932 -0.01173908] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [6.0182753 2.359784 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.66234   -11.598086 ]\n [-11.477354   -8.190964 ]\n [-32.48503     3.8163383]\n [-13.826363   -4.416416 ]\n [-33.39702     1.049799 ]\n [-11.510702  -19.623528 ]\n [-29.698082    8.465311 ]\n [-10.775273  -16.4929   ]\n [-30.674126    5.9399834]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.444662  -1.8811774], 4.8263702392578125 meters away.)"}
{"file_name": "images/scenario_481_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.1) m/s. Its current heading (yaw) is -1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 36 is 4.8 meters away at (-4.8, -0.2). A vehicle with ID 37 is 11.1 meters away at (-6.0, 9.4). A vehicle with ID 39 is 15.9 meters away at (-3.9, -15.4). A vehicle with ID 41 is 18.9 meters away at (-5.6, 18.1). A pedestrian with ID 43 is 36.7 meters away at (-30.1, 21.1). A vehicle with ID 44 is 42.6 meters away at (-40.3, 13.8). A vehicle with ID 45 is 43.8 meters away at (-38.8, 20.4). A cyclist with ID 29 is 44.1 meters away at (-37.7, 23.0). A vehicle with ID 46 is 44.2 meters away at (-40.5, 17.8). A vehicle with ID 48 is 50.9 meters away at (-15.1, 48.6).", "velocity_description": "The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.00145921 0.00471439] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.00023832 -0.00348094] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.6579726 -1.2977867] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [5.4932036 6.1278667] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.66234   -11.598086 ]\n [-11.477354   -8.190964 ]\n [-32.48503     3.8163383]\n [-13.826363   -4.416416 ]\n [-33.39702     1.049799 ]\n [-11.510702  -19.623528 ]\n [-29.698082    8.465311 ]\n [-10.775273  -16.4929   ]\n [-30.674126    5.9399834]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.832032   -0.24113798], 4.838045597076416 meters away.)"}
{"file_name": "images/scenario_481_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -3.3) m/s. Its current heading (yaw) is -1.08 ", "actor_description": " The most relevant actors are: A pedestrian with ID 36 is 7.7 meters away at (-6.6, 3.8). A vehicle with ID 39 is 12.7 meters away at (-5.7, -11.4). A vehicle with ID 37 is 15.5 meters away at (-7.6, 13.4). A vehicle with ID 19 is 15.6 meters away at (-5.9, -14.4). A vehicle with ID 41 is 23.3 meters away at (-7.3, 22.2). A pedestrian with ID 43 is 40.5 meters away at (-31.7, 25.3). A vehicle with ID 44 is 45.6 meters away at (-41.9, 17.9). A cyclist with ID 29 is 46.1 meters away at (-38.1, 26.1). A vehicle with ID 45 is 47.1 meters away at (-40.2, 24.4). A vehicle with ID 46 is 47.5 meters away at (-42.1, 21.9).", "velocity_description": "The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.01352417 0.00371313] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00611289  0.00861728] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 0.03726765 -0.06440088] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.66234   -11.598086 ]\n [-11.477354   -8.190964 ]\n [-32.48503     3.8163383]\n [-13.826363   -4.416416 ]\n [-33.39702     1.049799 ]\n [-11.510702  -19.623528 ]\n [-29.698082    8.465311 ]\n [-10.775273  -16.4929   ]\n [-30.674126    5.9399834]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.6180487  3.8385096], 7.650668144226074 meters away.)"}
{"file_name": "images/scenario_481_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -3.7) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 11.8 meters away at (-11.2, -3.8). A vehicle with ID 19 is 13.4 meters away at (-11.6, -6.8). A pedestrian with ID 36 is 16.8 meters away at (-12.4, 11.4). A vehicle with ID 37 is 24.9 meters away at (-13.2, 21.1). A vehicle with ID 41 is 32.4 meters away at (-12.9, 29.8). A cyclist with ID 20 is 37.0 meters away at (17.9, -32.4). A pedestrian with ID 43 is 49.8 meters away at (-37.3, 33.0). A vehicle with ID 34 is 54.0 meters away at (-43.3, -32.2). A vehicle with ID 44 is 54.1 meters away at (-47.6, 25.6). A cyclist with ID 29 is 55.2 meters away at (-43.6, 33.8).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.09284789 -0.28378043] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [-9.483615  3.102819] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.02876766 -0.0224144 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.5617181 10.009601 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [0.04619668 0.06363041] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.66234   -11.598086 ]\n [-11.477354   -8.190964 ]\n [-32.48503     3.8163383]\n [-13.826363   -4.416416 ]\n [-33.39702     1.049799 ]\n [-11.510702  -19.623528 ]\n [-29.698082    8.465311 ]\n [-10.775273  -16.4929   ]\n [-30.674126    5.9399834]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-11.191392   -3.8023453], 11.819690704345703 meters away.)"}
{"file_name": "images/scenario_482_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 1.1) m/s. Its current heading (yaw) is 0.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 82 is 6.1 meters away at (-3.5, 5.1). A vehicle with ID 75 is 13.1 meters away at (-2.1, 13.0). A pedestrian with ID 74 is 14.1 meters away at (-7.0, 12.3). A vehicle with ID 76 is 14.4 meters away at (-8.4, -11.7). A unknown object with ID 73 is 21.3 meters away at (-19.1, -9.4). A pedestrian with ID 85 is 26.2 meters away at (24.0, 10.5). A pedestrian with ID 86 is 26.7 meters away at (24.2, 11.3). A pedestrian with ID 79 is 27.9 meters away at (-21.3, 18.0). A vehicle with ID 77 is 29.1 meters away at (-25.8, -13.5). A vehicle with ID 81 is 29.7 meters away at (-16.3, 24.8).", "velocity_description": "The vehicle with ID 82 is traveling at a (x, y) velocity of [-13.792334    -0.10555219] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 1.4574798 -0.1137977] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.05936606  3.4013813 ] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.292332   0.3638512] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.2537493   0.30947062] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.34094426  0.40038934] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(52.51302719116211, 8.499945640563965)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.4821117  5.0644655], 6.146048545837402 meters away.)"}
{"file_name": "images/scenario_482_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, 0.1) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 85 is 13.9 meters away at (9.4, 10.3). A pedestrian with ID 86 is 14.8 meters away at (9.7, 11.1). A pedestrian with ID 74 is 19.3 meters away at (-16.5, 10.0). A vehicle with ID 88 is 22.1 meters away at (20.6, -7.9). A vehicle with ID 76 is 22.4 meters away at (-20.4, -9.3). A pedestrian with ID 95 is 30.6 meters away at (29.5, 8.2). A vehicle with ID 50 is 33.2 meters away at (33.1, 3.4). A vehicle with ID 44 is 33.3 meters away at (32.8, -5.5). A vehicle with ID 64 is 36.3 meters away at (10.1, -34.8). A vehicle with ID 81 is 36.7 meters away at (-28.2, 23.5).", "velocity_description": "The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.2320496   0.68565184] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.1957797   0.64882636] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 1.2937727  -0.45444384] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0.0012187  0.91256243] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.4119254   0.01361767] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-14.688566     0.21448933] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(52.51302719116211, 8.499945640563965)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 9.371094 10.298752], 13.924139976501465 meters away.)"}
{"file_name": "images/scenario_482_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.0, 0.1) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 88 is 9.0 meters away at (4.4, -7.9). A pedestrian with ID 95 is 13.1 meters away at (10.2, 8.2). A vehicle with ID 50 is 14.3 meters away at (-13.8, 3.8). A pedestrian with ID 85 is 15.0 meters away at (-9.2, 11.9). A pedestrian with ID 86 is 15.4 meters away at (-8.9, 12.6). A vehicle with ID 44 is 17.5 meters away at (16.6, -5.6). A pedestrian with ID 74 is 31.6 meters away at (-30.3, 9.0). A unknown object with ID 48 is 32.9 meters away at (28.5, 16.5). A vehicle with ID 64 is 35.2 meters away at (-5.9, -34.7). A unknown object with ID 37 is 36.0 meters away at (32.3, 15.9).", "velocity_description": "The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.374146    0.14719339] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-15.512079     0.18839076] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.0308428  0.6935518] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.0631075  0.7432263] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 1.38339   -0.4392145] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(52.51302719116211, 8.499945640563965)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.3806458 -7.918735 ], 9.049664497375488 meters away.)"}
{"file_name": "images/scenario_482_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.8, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 95 is 14.2 meters away at (-11.6, 8.2). A vehicle with ID 88 is 16.4 meters away at (-14.3, -8.0). A unknown object with ID 48 is 19.1 meters away at (9.7, 16.4). A unknown object with ID 37 is 20.8 meters away at (13.6, 15.8). A vehicle with ID 71 is 25.0 meters away at (11.1, -22.5). A vehicle with ID 24 is 25.7 meters away at (23.9, -9.7). A vehicle with ID 70 is 26.5 meters away at (14.1, -22.5). A unknown object with ID 38 is 29.2 meters away at (17.9, 23.0). A vehicle with ID 19 is 30.5 meters away at (29.0, -9.5). A vehicle with ID 72 is 32.0 meters away at (22.5, -22.8).", "velocity_description": "The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.480483    0.05742314] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(52.51302719116211, 8.499945640563965)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-11.594627   8.212262], 14.208329200744629 meters away.)"}
{"file_name": "images/scenario_483_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 4.2) m/s. Its current heading (yaw) is 1.31 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 9.1 meters away at (-9.1, 0.7). A vehicle with ID 4 is 9.9 meters away at (6.4, 7.6). A vehicle with ID 24 is 16.2 meters away at (-0.9, 16.2). A unknown object with ID 25 is 17.4 meters away at (9.3, -14.7). A vehicle with ID 27 is 24.6 meters away at (-24.6, -0.1). A vehicle with ID 26 is 26.8 meters away at (-22.7, -14.3). A vehicle with ID 29 is 32.2 meters away at (-29.9, -11.9). A vehicle with ID 28 is 33.4 meters away at (4.0, -33.2). A vehicle with ID 30 is 42.4 meters away at (17.1, 38.8). A unknown object with ID 11 is 46.0 meters away at (5.2, 45.7).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [1.5476929 2.249513 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(195.0182647705078, 34.41958236694336)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-9.054909    0.71097946], 9.082777976989746 meters away.)"}
{"file_name": "images/scenario_483_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 4.4) m/s. Its current heading (yaw) is 1.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (3.3, -0.8). A vehicle with ID 24 is 8.8 meters away at (-4.0, 7.8). A pedestrian with ID 2 is 9.9 meters away at (-9.8, -1.6). A vehicle with ID 12 is 26.4 meters away at (24.4, 10.0). A vehicle with ID 30 is 33.4 meters away at (14.0, 30.4). A vehicle with ID 26 is 34.4 meters away at (-25.7, -22.9). A vehicle with ID 29 is 38.8 meters away at (-33.0, -20.4). A vehicle with ID 32 is 40.0 meters away at (14.9, 37.1). A vehicle with ID 28 is 41.6 meters away at (1.0, -41.5). A unknown object with ID 20 is 54.0 meters away at (-8.8, -53.3).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.9411985 3.098155 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 0.14768454 -0.6667904 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(195.0182647705078, 34.41958236694336)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.310058   -0.75796604], 3.3957321643829346 meters away.)"}
{"file_name": "images/scenario_483_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 3.2) m/s. Its current heading (yaw) is 0.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.8 meters away at (-1.2, -7.7). A vehicle with ID 24 is 8.5 meters away at (-8.5, 0.9). A pedestrian with ID 2 is 12.6 meters away at (-12.4, -2.1). A vehicle with ID 12 is 20.1 meters away at (19.9, 2.9). A vehicle with ID 6 is 22.5 meters away at (22.4, 2.2). A vehicle with ID 18 is 24.8 meters away at (24.8, 1.7). A vehicle with ID 30 is 25.1 meters away at (9.5, 23.3). A vehicle with ID 19 is 27.3 meters away at (27.3, 0.6). A vehicle with ID 5 is 29.8 meters away at (29.8, -0.4). A vehicle with ID 32 is 31.1 meters away at (10.8, 29.2).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.9562055 3.184689 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 0.19649358 -0.60776967] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(195.0182647705078, 34.41958236694336)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.1970468 -7.728163 ], 7.820321083068848 meters away.)"}
{"file_name": "images/scenario_483_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.4) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 12.7 meters away at (-11.7, -5.0). A pedestrian with ID 2 is 13.6 meters away at (-13.5, -1.8). A vehicle with ID 4 is 14.4 meters away at (-4.5, -13.7). A vehicle with ID 12 is 16.9 meters away at (16.6, -3.2). A vehicle with ID 30 is 18.3 meters away at (6.4, 17.2). A vehicle with ID 6 is 19.6 meters away at (19.2, -3.8). A vehicle with ID 32 is 23.7 meters away at (7.9, 22.3). A vehicle with ID 5 is 27.3 meters away at (26.5, -6.5). A vehicle with ID 3 is 36.0 meters away at (-4.5, 35.8). A unknown object with ID 16 is 49.4 meters away at (-32.5, -37.3).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [1.0869002 3.0672843] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(195.0182647705078, 34.41958236694336)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.710426   -5.0390587], 12.748576164245605 meters away.)"}
{"file_name": "images/scenario_484_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -3.3) m/s. Its current heading (yaw) is -0.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 14.6 meters away at (14.6, -0.3). A unknown object with ID 49 is 30.1 meters away at (29.2, -7.4). A vehicle with ID 47 is 36.9 meters away at (32.3, 17.8). A vehicle with ID 48 is 42.7 meters away at (-26.5, 33.4). A vehicle with ID 39 is 44.5 meters away at (-25.4, -36.5). A unknown object with ID 26 is 48.6 meters away at (40.6, -26.7). A vehicle with ID 50 is 50.7 meters away at (-32.7, 38.8). A vehicle with ID 51 is 56.6 meters away at (-37.2, 42.7). A unknown object with ID 29 is 57.3 meters away at (50.5, -27.1). A unknown object with ID 21 is 57.5 meters away at (50.9, -26.7).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [5.4628854 2.1979618] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [5.8085103 7.216022 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 0.48324192 -0.50783694] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [14.63389    -0.27930355], 14.636554718017578 meters away.)"}
{"file_name": "images/scenario_484_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -4.6) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 49 is 27.9 meters away at (27.8, 1.3). A vehicle with ID 46 is 29.1 meters away at (24.5, 15.8). A vehicle with ID 48 is 50.2 meters away at (-27.9, 41.7). A unknown object with ID 29 is 52.6 meters away at (49.2, -18.5). A unknown object with ID 21 is 52.8 meters away at (49.5, -18.3). A unknown object with ID 19 is 53.0 meters away at (49.8, -18.0). A unknown object with ID 28 is 53.4 meters away at (50.4, -17.4). A unknown object with ID 55 is 57.6 meters away at (55.5, -15.4). A vehicle with ID 50 is 58.1 meters away at (-34.1, 47.1). A vehicle with ID 47 is 60.5 meters away at (43.9, 41.6).", "velocity_description": "The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [5.913805 5.465967] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [7.0178456 7.951284 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [27.830826   1.2692719], 27.85975456237793 meters away.)"}
{"file_name": "images/scenario_484_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -4.9) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 31.9 meters away at (31.4, -5.1). A unknown object with ID 49 is 36.7 meters away at (35.0, 10.9). A vehicle with ID 10 is 49.0 meters away at (-30.1, -38.7). A vehicle with ID 7 is 56.7 meters away at (-35.2, -44.4). A vehicle with ID 46 is 57.7 meters away at (43.6, 37.8). A vehicle with ID 5 is 63.9 meters away at (-39.9, -49.9). A vehicle with ID 9 is 66.3 meters away at (-43.8, -49.7). A vehicle with ID 4 is 74.6 meters away at (-47.0, -57.9).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [6.1252995 6.6811686] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-57.385643 -96.42449 ]\n [-55.958027 -97.313446]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [31.44571  -5.097664], 31.85622215270996 meters away.)"}
{"file_name": "images/scenario_484_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -5.9) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 33.9 meters away at (-19.9, -27.4). A vehicle with ID 7 is 41.5 meters away at (-25.0, -33.1). A vehicle with ID 5 is 49.2 meters away at (-30.1, -39.0). A unknown object with ID 49 is 50.3 meters away at (45.2, 22.1). A vehicle with ID 9 is 53.5 meters away at (-35.2, -40.2). A vehicle with ID 4 is 59.7 meters away at (-37.0, -46.8). A vehicle with ID 3 is 65.6 meters away at (-40.9, -51.3). A vehicle with ID 33 is 68.4 meters away at (-45.1, -51.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.24494456 -0.4356949 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.6677778 -2.124785 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.509695  -3.7324705] m/s.", "light_description": "There are active red lights at the following coordinates: [[-57.385643 -96.42449 ]\n [-55.958027 -97.313446]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-19.925995 -27.411606], 33.8886604309082 meters away.)"}
{"file_name": "images/scenario_485_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.0) m/s. Its current heading (yaw) is -3.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 9.0 meters away at (-9.0, -0.4). A unknown object with ID 21 is 11.3 meters away at (2.9, 10.9). A unknown object with ID 25 is 12.7 meters away at (3.2, 12.3). A unknown object with ID 24 is 13.0 meters away at (1.2, 13.0). A unknown object with ID 27 is 13.6 meters away at (5.2, 12.6). A unknown object with ID 23 is 14.3 meters away at (0.2, 14.3). A unknown object with ID 33 is 14.3 meters away at (6.5, 12.8). A unknown object with ID 36 is 15.5 meters away at (8.3, 13.0). A vehicle with ID 39 is 15.8 meters away at (-15.8, -0.3). A unknown object with ID 26 is 16.2 meters away at (-0.8, 16.1).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.776602     0.04419075]\n [-25.77482     -0.1561704 ]\n [-25.715065     0.56644565]\n [-25.75301     -0.5104394 ]\n [-25.728626     0.4131949 ]]", "nav_goal": "(-195.08355712890625, -215.3099365234375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.966274   -0.39895517], 8.97514533996582 meters away.)"}
{"file_name": "images/scenario_485_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 8.7 meters away at (-8.7, -0.4). A unknown object with ID 21 is 11.4 meters away at (3.2, 11.0). A unknown object with ID 25 is 12.8 meters away at (3.4, 12.3). A unknown object with ID 24 is 13.0 meters away at (1.6, 12.9). A unknown object with ID 27 is 13.7 meters away at (5.4, 12.6). A unknown object with ID 33 is 14.7 meters away at (7.1, 12.9). A vehicle with ID 39 is 15.5 meters away at (-15.5, -0.3). A unknown object with ID 36 is 15.8 meters away at (8.8, 13.1). A unknown object with ID 26 is 16.0 meters away at (-0.5, 16.0). A unknown object with ID 37 is 17.1 meters away at (10.7, 13.3).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.776602     0.04419075]\n [-25.77482     -0.1561704 ]\n [-25.715065     0.56644565]\n [-25.75301     -0.5104394 ]\n [-25.728626     0.4131949 ]]", "nav_goal": "(-195.08355712890625, -215.3099365234375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.725428   -0.35895634], 8.732808113098145 meters away.)"}
{"file_name": "images/scenario_485_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 8.7 meters away at (-8.7, -0.4). A unknown object with ID 21 is 11.5 meters away at (3.3, 11.0). A unknown object with ID 25 is 12.8 meters away at (3.5, 12.3). A unknown object with ID 24 is 13.0 meters away at (1.7, 12.9). A unknown object with ID 27 is 13.7 meters away at (5.4, 12.6). A unknown object with ID 33 is 14.7 meters away at (7.1, 12.9). A vehicle with ID 39 is 15.5 meters away at (-15.5, -0.3). A unknown object with ID 36 is 15.8 meters away at (8.8, 13.1). A unknown object with ID 26 is 16.0 meters away at (-0.4, 16.0). A unknown object with ID 37 is 17.1 meters away at (10.7, 13.3).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-4.1716667e+01  3.7801489e-02]\n [-2.5776602e+01  4.4190753e-02]\n [-2.5774820e+01 -1.5617040e-01]\n [-2.5715065e+01  5.6644565e-01]\n [-4.2662273e+01  1.0589749e+00]\n [-2.5753010e+01 -5.1043940e-01]\n [-2.5728626e+01  4.1319489e-01]]", "nav_goal": "(-195.08355712890625, -215.3099365234375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.687925   -0.35849825], 8.695319175720215 meters away.)"}
{"file_name": "images/scenario_485_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 9.6 meters away at (-9.6, -0.4). A unknown object with ID 21 is 11.5 meters away at (3.3, 11.0). A unknown object with ID 25 is 12.8 meters away at (3.5, 12.3). A unknown object with ID 24 is 13.0 meters away at (1.6, 12.9). A unknown object with ID 27 is 13.7 meters away at (5.4, 12.6). A unknown object with ID 33 is 14.8 meters away at (7.2, 12.9). A unknown object with ID 36 is 15.7 meters away at (8.7, 13.1). A unknown object with ID 26 is 16.0 meters away at (-0.4, 16.0). A unknown object with ID 37 is 17.1 meters away at (10.8, 13.3). A vehicle with ID 39 is 18.2 meters away at (-18.2, -0.3).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.4160022  0.041277 ] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.8629868  -0.18512617] m/s.", "light_description": "There are active red lights at the following coordinates: [[-4.1716667e+01  3.7801489e-02]\n [-4.2662273e+01  1.0589749e+00]]", "nav_goal": "(-195.08355712890625, -215.3099365234375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.637513   -0.37017602], 9.644619941711426 meters away.)"}
{"file_name": "images/scenario_486_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.6) m/s. Its current heading (yaw) is -2.33 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 8.5 meters away at (8.5, 0.7). A unknown object with ID 24 is 8.7 meters away at (8.7, -0.9). A pedestrian with ID 38 is 9.4 meters away at (-1.6, 9.2). A pedestrian with ID 39 is 10.2 meters away at (-2.0, 10.0). A vehicle with ID 40 is 11.9 meters away at (5.4, 10.6). A vehicle with ID 41 is 18.6 meters away at (9.7, 15.9). A pedestrian with ID 42 is 20.0 meters away at (6.5, 18.9). A pedestrian with ID 43 is 21.7 meters away at (6.4, 20.7). A pedestrian with ID 44 is 24.3 meters away at (23.1, 7.8). A unknown object with ID 45 is 25.0 meters away at (20.3, 14.7).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.58052737 -0.6239722 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.6374348 -0.6515837] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.8015413 -0.3083717] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.70228934 -0.3789079 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.01172765 0.06759201] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-184.867431640625, 135.1774444580078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [8.498828 0.743861], 8.531319618225098 meters away.)"}
{"file_name": "images/scenario_486_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -2.5) m/s. Its current heading (yaw) is -2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 11.2 meters away at (0.7, 11.2). A pedestrian with ID 39 is 12.1 meters away at (0.2, 12.1). A unknown object with ID 24 is 12.9 meters away at (12.5, 3.1). A unknown object with ID 32 is 13.3 meters away at (12.4, 4.7). A vehicle with ID 40 is 17.2 meters away at (9.2, 14.5). A pedestrian with ID 42 is 23.4 meters away at (8.0, 22.0). A vehicle with ID 6 is 23.7 meters away at (-11.9, -20.5). A vehicle with ID 41 is 23.9 meters away at (13.5, 19.8). A vehicle with ID 48 is 25.0 meters away at (-24.6, 4.4). A vehicle with ID 46 is 25.5 meters away at (16.2, -19.8).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.8850428 -1.0214378] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.93875486 -0.9763941 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.919023 -0.467253] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.2225727 0.2503167] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-184.867431640625, 135.1774444580078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 0.6730094 11.213416 ], 11.233593940734863 meters away.)"}
{"file_name": "images/scenario_486_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -0.2) m/s. Its current heading (yaw) is -3.11 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 15.1 meters away at (7.7, 13.0). A pedestrian with ID 39 is 15.8 meters away at (7.3, 14.0). A vehicle with ID 6 is 16.0 meters away at (-2.3, -15.9). A vehicle with ID 48 is 17.8 meters away at (-15.9, 7.9). A vehicle with ID 62 is 23.7 meters away at (-7.3, -22.6). A vehicle with ID 36 is 23.9 meters away at (-21.9, 9.5). A vehicle with ID 40 is 25.4 meters away at (17.9, 18.1). A vehicle with ID 46 is 29.7 meters away at (24.9, -16.2). A vehicle with ID 7 is 31.2 meters away at (-28.7, 12.2). A vehicle with ID 57 is 31.3 meters away at (-9.3, -29.8).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.7646469 -0.8442298] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.7029228 -0.7818446] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [1.1753552 1.7523278] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0.6806199 0.8546136] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-184.867431640625, 135.1774444580078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 7.723937 12.966799], 15.092947006225586 meters away.)"}
{"file_name": "images/scenario_486_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 2.1) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 6.9 meters away at (-3.8, 5.7). A vehicle with ID 36 is 12.0 meters away at (-9.5, 7.3). A vehicle with ID 6 is 17.0 meters away at (11.9, -12.2). A vehicle with ID 7 is 19.3 meters away at (-16.5, 10.0). A pedestrian with ID 38 is 20.1 meters away at (18.0, 8.8). A pedestrian with ID 39 is 20.3 meters away at (17.8, 9.8). A vehicle with ID 62 is 23.6 meters away at (6.7, -22.6). A vehicle with ID 2 is 25.4 meters away at (-22.5, 11.8). A vehicle with ID 59 is 30.5 meters away at (-8.0, -29.4). A vehicle with ID 1 is 31.4 meters away at (-28.2, 13.8).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.42899716  3.932032  ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.92763335 -0.80326957] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.89258116 -0.80234283] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [1.2528605 1.5054958] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-184.867431640625, 135.1774444580078)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.8173637  5.7050495], 6.8643903732299805 meters away.)"}
{"file_name": "images/scenario_487_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.2) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 23.0 meters away at (-12.2, -19.6). A vehicle with ID 21 is 25.1 meters away at (10.1, -22.9). A vehicle with ID 29 is 27.4 meters away at (-2.1, -27.3). A vehicle with ID 4 is 39.1 meters away at (20.9, 33.0). A pedestrian with ID 39 is 51.4 meters away at (-15.2, -49.1). A vehicle with ID 25 is 60.2 meters away at (-22.5, -55.8). A vehicle with ID 19 is 67.7 meters away at (-13.3, -66.4). A vehicle with ID 36 is 70.1 meters away at (21.0, 66.9). A pedestrian with ID 38 is 75.7 meters away at (20.4, 72.9).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.30901048 -0.99397355] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-4.7738037 -1.1087734] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.3220791  -0.46362534] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-10.655425    3.7552426] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [10.8463125 -3.6678758] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.65067494 -1.2814882 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(158.4569854736328, -33.75985336303711)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-12.178074 -19.556627], 23.03838348388672 meters away.)"}
{"file_name": "images/scenario_487_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -5.7) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 13.0 meters away at (-8.4, -9.8). A vehicle with ID 29 is 15.8 meters away at (2.1, -15.7). A vehicle with ID 21 is 18.2 meters away at (14.3, -11.3). A pedestrian with ID 39 is 39.2 meters away at (-8.4, -38.2). A vehicle with ID 4 is 40.3 meters away at (15.2, 37.3). A vehicle with ID 16 is 55.6 meters away at (-28.0, -48.1). A vehicle with ID 7 is 74.8 meters away at (-19.0, -72.3).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.3004604  -0.99629736] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.2544898  -0.47872344] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-4.4090686 -6.3611507] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [11.782563 -4.157746] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.637293 -77.24122 ]\n [-22.707563 -78.05313 ]\n [-19.748524 -80.20759 ]\n [-24.092085 -77.80892 ]]", "nav_goal": "(158.4569854736328, -33.75985336303711)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-8.440599 -9.8339  ], 12.959526062011719 meters away.)"}
{"file_name": "images/scenario_487_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -4.9) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 5.6 meters away at (-5.4, -1.5). A vehicle with ID 29 is 7.8 meters away at (5.8, -5.3). A vehicle with ID 21 is 18.0 meters away at (18.0, -0.8). A pedestrian with ID 39 is 28.9 meters away at (-2.1, -28.8). A vehicle with ID 4 is 33.8 meters away at (11.9, 31.6). A unknown object with ID 26 is 35.1 meters away at (23.1, 26.4). A unknown object with ID 17 is 43.3 meters away at (25.8, 34.7). A vehicle with ID 15 is 43.7 meters away at (-10.2, -42.5). A vehicle with ID 16 is 45.5 meters away at (-2.0, -45.5). A vehicle with ID 23 is 46.2 meters away at (0.1, -46.2).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.29520416 -1.1658574 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.3485807  -0.50838715] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.183343 -8.868325] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [12.075879 -4.270883] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [11.034959  -3.8690803] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [11.817956  -4.1877007] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.707563 -78.05313 ]\n [-19.748524 -80.20759 ]\n [-24.092085 -77.80892 ]]", "nav_goal": "(158.4569854736328, -33.75985336303711)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-5.3863764 -1.4670372], 5.582584381103516 meters away.)"}
{"file_name": "images/scenario_487_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -4.1) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 6.2 meters away at (-3.1, 5.3). A vehicle with ID 29 is 9.6 meters away at (8.9, 3.6). A pedestrian with ID 39 is 21.0 meters away at (3.7, -20.6). A vehicle with ID 21 is 22.7 meters away at (21.2, 8.1). A vehicle with ID 4 is 24.8 meters away at (8.8, 23.1). A vehicle with ID 33 is 34.8 meters away at (-18.3, -29.7). A unknown object with ID 3 is 42.3 meters away at (-1.4, -42.3). A unknown object with ID 26 is 44.1 meters away at (26.1, 35.5). A vehicle with ID 15 is 45.0 meters away at (16.3, -41.9). A vehicle with ID 7 is 54.2 meters away at (-12.3, -52.8).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.44163206 -1.099571  ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.4226667 -0.4574753] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.8262181 -7.9527955] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [11.3463    -3.8581855] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [11.92936   -4.1880474] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.707563 -78.05313 ]\n [-19.748524 -80.20759 ]\n [-24.092085 -77.80892 ]\n [-21.845554 -66.0702  ]\n [-22.042543 -66.02867 ]]", "nav_goal": "(158.4569854736328, -33.75985336303711)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-3.0716438  5.349724 ], 6.16883659362793 meters away.)"}
{"file_name": "images/scenario_488_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.0) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 28.5 meters away at (-22.9, 16.9). A vehicle with ID 46 is 43.6 meters away at (28.9, -32.6). A vehicle with ID 47 is 44.8 meters away at (34.4, -28.6). A vehicle with ID 48 is 45.0 meters away at (32.4, -31.1). A unknown object with ID 49 is 51.3 meters away at (22.0, -46.3). A vehicle with ID 52 is 51.8 meters away at (-23.8, -46.0). A vehicle with ID 50 is 52.8 meters away at (40.5, -33.9). A vehicle with ID 54 is 54.1 meters away at (-30.7, -44.6). A vehicle with ID 53 is 58.1 meters away at (42.6, -39.6).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.7751393  5.616082 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-1.8787873  1.5902243] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 13.92942  -11.430306]\n [  8.338907 -19.314878]\n [ 17.035065  -9.53065 ]\n [ 11.801181 -14.049474]]", "nav_goal": "(-99.99275970458984, 206.90110778808594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-22.932236  16.854168], 28.45962905883789 meters away.)"}
{"file_name": "images/scenario_488_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 5.2) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 30.5 meters away at (-24.8, 17.9). A vehicle with ID 43 is 47.8 meters away at (-43.3, 20.3). A vehicle with ID 36 is 53.8 meters away at (-48.1, 24.3). A vehicle with ID 19 is 55.3 meters away at (-37.0, -41.1). A vehicle with ID 52 is 57.3 meters away at (-10.6, -56.3). A vehicle with ID 35 is 59.6 meters away at (-44.6, -39.5). A vehicle with ID 46 is 60.1 meters away at (42.1, -42.9). A vehicle with ID 47 is 61.5 meters away at (47.6, -39.0). A vehicle with ID 48 is 61.6 meters away at (45.5, -41.5). A unknown object with ID 49 is 66.6 meters away at (35.0, -56.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.4596267  5.8972774] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 7.287796  -6.2511744] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 6.9162383 -5.812911 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 13.92942  -11.430306]\n [  8.338907 -19.314878]\n [ 17.035065  -9.53065 ]\n [ 11.801181 -14.049474]]", "nav_goal": "(-99.99275970458984, 206.90110778808594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-24.786436  17.852985], 30.546628952026367 meters away.)"}
{"file_name": "images/scenario_488_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 5.4) m/s. Its current heading (yaw) is 2.50 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 14.9 meters away at (-14.7, -2.2). A vehicle with ID 36 is 19.7 meters away at (-19.6, 1.9). A vehicle with ID 33 is 22.5 meters away at (-20.9, 8.4). A vehicle with ID 3 is 31.3 meters away at (-24.8, 19.1). A vehicle with ID 23 is 54.8 meters away at (-13.7, -53.1). A vehicle with ID 19 is 56.2 meters away at (-22.4, -51.6). A vehicle with ID 35 is 58.3 meters away at (-30.0, -49.9). A vehicle with ID 1 is 69.1 meters away at (-65.3, 22.7). A vehicle with ID 46 is 77.8 meters away at (56.6, -53.3).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [ 6.9154334 -5.8334527] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 6.996362 -5.873173] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [10.199943 -8.589142] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.0161257  5.8261056] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  8.338907 -19.314878]]", "nav_goal": "(-99.99275970458984, 206.90110778808594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-14.739128   -2.1793003], 14.899370193481445 meters away.)"}
{"file_name": "images/scenario_488_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.4) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 17.7 meters away at (17.5, -2.5). A vehicle with ID 36 is 20.8 meters away at (7.1, -19.6). A vehicle with ID 33 is 23.2 meters away at (13.0, -19.2). A vehicle with ID 3 is 31.3 meters away at (-24.3, 19.7). A unknown object with ID 39 is 39.8 meters away at (-38.0, 11.9). A vehicle with ID 16 is 44.1 meters away at (-37.7, 22.9). A unknown object with ID 38 is 47.0 meters away at (-43.9, 17.0). A vehicle with ID 1 is 52.6 meters away at (-51.2, 12.0). A vehicle with ID 2 is 54.2 meters away at (-53.4, 9.4). A pedestrian with ID 40 is 58.7 meters away at (-57.8, 10.5).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 5.9341807 -5.030554 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 9.257731  -7.8463616] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.623361   5.5803404] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 12.317123 -10.304621] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.0406716 -0.2753069] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-99.99275970458984, 206.90110778808594)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [17.517143 -2.454647], 17.688289642333984 meters away.)"}
{"file_name": "images/scenario_489_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -3.3) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 13.4 meters away at (-13.2, -2.6). A vehicle with ID 44 is 23.8 meters away at (-23.5, 3.3). A vehicle with ID 45 is 26.7 meters away at (-26.7, 1.4). A vehicle with ID 48 is 62.2 meters away at (55.2, -28.8). A vehicle with ID 35 is 62.9 meters away at (-49.5, -38.7). A pedestrian with ID 49 is 72.6 meters away at (-57.8, 43.9). A vehicle with ID 51 is 73.3 meters away at (66.9, -30.0). A pedestrian with ID 50 is 74.1 meters away at (-57.8, 46.4). A vehicle with ID 47 is 78.1 meters away at (-71.4, 31.7). A vehicle with ID 53 is 78.7 meters away at (-67.6, 40.3).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.7543827   0.92540514] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 9.371996  -3.9336584] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ -1.4678912 -15.393016 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.05835614 -0.00273981] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [11.117909  -4.6502643] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.02900522 0.01957589] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-6.4311056  4.0687404] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-47.715443   29.001307 ]\n [-50.438335   24.11112  ]\n [-27.816591    6.568421 ]\n [-46.7394     31.526634 ]\n [-49.52635    26.87766  ]\n [-28.55202     3.4377942]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-13.176771   -2.6258721], 13.435866355895996 meters away.)"}
{"file_name": "images/scenario_489_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -3.5) m/s. Its current heading (yaw) is -0.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 37.4 meters away at (37.4, 0.1). A vehicle with ID 45 is 40.6 meters away at (-39.7, 8.5). A vehicle with ID 32 is 64.4 meters away at (-52.4, 37.4). A vehicle with ID 48 is 67.3 meters away at (60.4, -29.7). A pedestrian with ID 2 is 69.8 meters away at (66.8, -20.1). A pedestrian with ID 36 is 69.9 meters away at (66.7, -20.9).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ -5.1925664 -15.520421 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 9.124835  -3.8842945] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2906575 -0.5838745] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.3510406 -0.5551583] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.816591    6.568421 ]\n [-28.55202     3.4377942]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [37.380608   0.1003933], 37.380741119384766 meters away.)"}
{"file_name": "images/scenario_489_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -3.5) m/s. Its current heading (yaw) is -0.47 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 53.5 meters away at (52.1, -11.9). A pedestrian with ID 2 is 57.5 meters away at (55.7, -14.3). A pedestrian with ID 36 is 57.8 meters away at (55.8, -15.2). A pedestrian with ID 1 is 64.7 meters away at (62.3, -17.7). A vehicle with ID 48 is 71.7 meters away at (65.0, -30.4). A vehicle with ID 37 is 75.1 meters away at (-64.7, 38.1). A vehicle with ID 39 is 75.6 meters away at (-74.7, 12.0).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.0588331  0.5025501] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2000502 -0.5872429] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.2505656 -0.5125844] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.02722818 0.00842255] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 9.196349  -3.8831873] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -5.0483   -16.250038] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -1.9834874 -13.84513  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.816591    6.568421 ]\n [-28.55202     3.4377942]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 52.117825 -11.914671], 53.4623908996582 meters away.)"}
{"file_name": "images/scenario_489_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -3.4) m/s. Its current heading (yaw) is -0.46 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 36.3 meters away at (36.1, -3.8). A pedestrian with ID 3 is 45.4 meters away at (44.7, -7.7). A pedestrian with ID 2 is 45.5 meters away at (44.7, -8.2). A pedestrian with ID 36 is 45.9 meters away at (45.0, -8.9). A pedestrian with ID 1 is 49.8 meters away at (48.7, -10.7). A vehicle with ID 24 is 72.4 meters away at (-68.7, 22.9). A pedestrian with ID 14 is 74.9 meters away at (70.2, -26.1). A vehicle with ID 48 is 76.2 meters away at (69.5, -31.3).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.0694311  0.5262315] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.2613374  -0.16743906] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.290349   -0.40096542] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.2514309  -0.16530004] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.01443889 -0.0034122 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.19454327 -1.381366  ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 8.999143  -3.8756049] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.816591    6.568421 ]\n [-28.55202     3.4377942]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [36.069298  -3.7696877], 36.26575469970703 meters away.)"}
{"file_name": "images/scenario_490_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.2) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 10.2 meters away at (9.5, -3.9). A vehicle with ID 63 is 11.1 meters away at (0.1, 11.1). A pedestrian with ID 59 is 12.9 meters away at (-11.9, -5.2). A vehicle with ID 64 is 16.9 meters away at (-16.9, 1.3). A vehicle with ID 66 is 20.2 meters away at (-12.8, 15.6). A vehicle with ID 68 is 22.1 meters away at (-21.9, 2.9). A vehicle with ID 69 is 31.1 meters away at (-30.6, 5.9). A vehicle with ID 70 is 35.6 meters away at (31.7, 16.2). A vehicle with ID 73 is 39.8 meters away at (38.5, -9.8). A vehicle with ID 74 is 41.7 meters away at (35.9, 21.2).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.2003161  0.4545458] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.87929      1.9189472 ]\n [ 21.886192    -7.736335  ]\n [ 29.344734     0.27452493]\n [ 31.808596    -4.43146   ]\n [ 20.30272    -10.485583  ]\n [ 28.016428     0.9196218 ]\n [ 34.137135    -2.0150192 ]\n [ 28.364592     0.7547834 ]]", "nav_goal": "(-97.8552017211914, 0.7504568696022034)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.463169 -3.858283], 10.219487190246582 meters away.)"}
{"file_name": "images/scenario_490_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 9.8 meters away at (9.1, -3.7). A vehicle with ID 63 is 11.2 meters away at (-0.2, 11.2). A pedestrian with ID 59 is 15.1 meters away at (-14.4, -4.5). A vehicle with ID 64 is 17.3 meters away at (-17.2, 1.5). A vehicle with ID 66 is 20.5 meters away at (-13.1, 15.8). A vehicle with ID 68 is 22.5 meters away at (-22.3, 3.1). A vehicle with ID 69 is 31.5 meters away at (-30.9, 6.1). A vehicle with ID 70 is 35.3 meters away at (31.3, 16.3). A vehicle with ID 73 is 39.4 meters away at (38.2, -9.7). A vehicle with ID 74 is 41.5 meters away at (35.6, 21.3).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.1291128   0.39535648] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.87929      1.9189472 ]\n [ 21.886192    -7.736335  ]\n [ 29.344734     0.27452493]\n [ 31.808596    -4.43146   ]\n [ 20.30272    -10.485583  ]\n [ 28.016428     0.9196218 ]\n [ 34.137135    -2.0150192 ]\n [ 28.364592     0.7547834 ]]", "nav_goal": "(-97.8552017211914, 0.7504568696022034)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.058818  -3.7047334], 9.787095069885254 meters away.)"}
{"file_name": "images/scenario_490_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.1) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 11.4 meters away at (-0.5, 11.4). A vehicle with ID 65 is 11.4 meters away at (10.4, -4.6). A pedestrian with ID 59 is 17.2 meters away at (-16.9, -3.4). A vehicle with ID 64 is 17.5 meters away at (-17.4, 1.5). A vehicle with ID 66 is 20.7 meters away at (-13.3, 15.9). A vehicle with ID 68 is 22.7 meters away at (-22.5, 3.2). A vehicle with ID 69 is 31.8 meters away at (-31.2, 6.2). A vehicle with ID 70 is 35.2 meters away at (31.1, 16.4). A vehicle with ID 73 is 37.2 meters away at (36.3, -8.3). A vehicle with ID 74 is 41.3 meters away at (35.3, 21.4).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 1.7682741 -1.2237637] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.3985574  0.6264109] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.829181  1.987573] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.87929      1.9189472 ]\n [ 21.886192    -7.736335  ]\n [ 29.344734     0.27452493]\n [ 20.30272    -10.485583  ]\n [ 28.016428     0.9196218 ]\n [ 28.364592     0.7547834 ]]", "nav_goal": "(-97.8552017211914, 0.7504568696022034)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.4646001 11.351464 ], 11.360967636108398 meters away.)"}
{"file_name": "images/scenario_490_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -1.8) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 13.2 meters away at (9.8, -9.0). A vehicle with ID 63 is 14.6 meters away at (-5.8, 13.4). A vehicle with ID 73 is 21.9 meters away at (21.9, -0.8). A vehicle with ID 64 is 23.2 meters away at (-22.9, 3.6). A pedestrian with ID 59 is 24.7 meters away at (-24.7, -0.2). A vehicle with ID 66 is 26.0 meters away at (-18.8, 17.9). A vehicle with ID 68 is 28.3 meters away at (-27.8, 5.2). A vehicle with ID 70 is 31.6 meters away at (25.6, 18.4). A vehicle with ID 78 is 35.0 meters away at (29.9, 18.2). A pedestrian with ID 57 is 37.1 meters away at (36.9, -3.2).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [ 1.2212718 -4.3752055] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-6.18827    3.0093913] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.3443046  0.4200704] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-1.3911703 -1.5883142] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.0979286  0.1629606] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.87929     1.9189472 ]\n [29.344734    0.27452493]\n [28.016428    0.9196218 ]\n [28.364592    0.7547834 ]]", "nav_goal": "(-97.8552017211914, 0.7504568696022034)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.761193 -8.958851], 13.249222755432129 meters away.)"}
{"file_name": "images/scenario_491_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.5) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 12.5 meters away at (7.5, -10.0). A unknown object with ID 48 is 17.3 meters away at (6.7, -15.9). A vehicle with ID 49 is 18.7 meters away at (14.1, -12.3). A vehicle with ID 57 is 26.6 meters away at (21.5, -15.7). A vehicle with ID 61 is 31.1 meters away at (-1.6, 31.1). A vehicle with ID 79 is 35.7 meters away at (13.2, 33.2). A vehicle with ID 40 is 36.7 meters away at (-35.3, -10.1). A vehicle with ID 62 is 37.0 meters away at (2.8, 36.9). A vehicle with ID 63 is 39.5 meters away at (-36.6, 14.6). A vehicle with ID 41 is 40.2 meters away at (-32.8, -23.2).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  7.5334206 -10.021369 ], 12.537155151367188 meters away.)"}
{"file_name": "images/scenario_491_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 1.0) m/s. Its current heading (yaw) is 2.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 17.7 meters away at (13.3, -11.7). A unknown object with ID 48 is 21.5 meters away at (12.3, -17.7). A vehicle with ID 49 is 24.2 meters away at (19.8, -14.0). A vehicle with ID 61 is 29.7 meters away at (4.1, 29.5). A vehicle with ID 40 is 31.8 meters away at (-29.6, -11.6). A vehicle with ID 57 is 32.2 meters away at (27.1, -17.4). A vehicle with ID 63 is 33.5 meters away at (-30.9, 13.1). A vehicle with ID 62 is 36.2 meters away at (8.6, 35.2). A vehicle with ID 41 is 36.7 meters away at (-27.2, -24.7). A vehicle with ID 79 is 36.8 meters away at (18.9, 31.6).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 13.272816 -11.668022], 17.672304153442383 meters away.)"}
{"file_name": "images/scenario_491_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -1.0) m/s. Its current heading (yaw) is -2.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 23.3 meters away at (-20.1, -11.9). A vehicle with ID 63 is 24.8 meters away at (-21.2, 12.9). A vehicle with ID 45 is 25.8 meters away at (22.9, -12.0). A vehicle with ID 39 is 29.7 meters away at (-24.4, -17.0). A vehicle with ID 41 is 30.6 meters away at (-17.8, -25.0). A vehicle with ID 61 is 32.2 meters away at (13.8, 29.1). A vehicle with ID 49 is 32.8 meters away at (29.5, -14.4). A vehicle with ID 70 is 32.8 meters away at (-29.0, 15.4). A vehicle with ID 44 is 37.6 meters away at (-22.5, -30.1). A unknown object with ID 56 is 37.8 meters away at (24.8, 28.4).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-20.05572  -11.897007], 23.318889617919922 meters away.)"}
{"file_name": "images/scenario_491_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -3.4) m/s. Its current heading (yaw) is -2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 13.1 meters away at (-10.8, -7.4). A vehicle with ID 39 is 19.7 meters away at (-15.2, -12.5). A vehicle with ID 63 is 21.1 meters away at (-12.0, 17.4). A vehicle with ID 41 is 22.1 meters away at (-8.4, -20.4). A vehicle with ID 70 is 27.9 meters away at (-19.6, 19.9). A unknown object with ID 42 is 28.5 meters away at (22.6, 17.5). A vehicle with ID 44 is 28.7 meters away at (-13.1, -25.6). A unknown object with ID 43 is 29.5 meters away at (22.5, 19.0). A pedestrian with ID 26 is 31.4 meters away at (24.8, 19.3). A vehicle with ID 74 is 31.9 meters away at (-29.3, 12.6).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.04117151 -0.01612786] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.799942  -7.376987], 13.078940391540527 meters away.)"}
{"file_name": "images/scenario_492_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 4.6 meters away at (-3.6, 2.9). A vehicle with ID 20 is 15.9 meters away at (-2.5, 15.7). A unknown object with ID 18 is 23.4 meters away at (-14.1, -18.6). A vehicle with ID 21 is 26.7 meters away at (-4.6, 26.3). A pedestrian with ID 10 is 35.7 meters away at (-17.4, -31.2). A pedestrian with ID 12 is 36.2 meters away at (-18.1, -31.4). A vehicle with ID 23 is 48.6 meters away at (-10.8, 47.4). A vehicle with ID 22 is 58.3 meters away at (48.9, -31.9). A vehicle with ID 25 is 63.6 meters away at (-16.4, 61.5).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.14947036 -1.171085  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.7663636 -4.2317815] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 1.2409166 -5.200087 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.04465052 -1.0625978 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.01691236 -1.1035898 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 2.0475233 -5.2833543] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-7.7980247   0.12195595] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 3.0053928 -6.9282985] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.81775403  -8.002478  ]\n [  0.686207    -8.024039  ]\n [ -2.5734353  -11.000751  ]\n [  0.68915623  -8.023692  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.554269   2.9017956], 4.588381767272949 meters away.)"}
{"file_name": "images/scenario_492_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -2.7) m/s. Its current heading (yaw) is -1.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 3.6 meters away at (-3.3, -1.3). A vehicle with ID 20 is 11.6 meters away at (-1.7, 11.5). A vehicle with ID 21 is 20.9 meters away at (-3.1, 20.7). A unknown object with ID 18 is 21.4 meters away at (-14.4, -15.8). A pedestrian with ID 10 is 35.7 meters away at (-17.7, -31.0). A pedestrian with ID 12 is 36.2 meters away at (-18.4, -31.2). A vehicle with ID 23 is 41.1 meters away at (-7.9, 40.4). A vehicle with ID 22 is 44.8 meters away at (34.1, -29.1). A vehicle with ID 25 is 53.4 meters away at (-11.8, 52.1).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.26363263 -5.6137085 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.49880138 -3.3230004 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 0.6242476 -3.4230998] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.01625804 -1.2906601 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.02198861 -1.2805902 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 1.3502009 -4.563091 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-6.6186595 -0.067241 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 2.0174024 -5.299885 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.3461144 -1.2914166], 3.5866751670837402 meters away.)"}
{"file_name": "images/scenario_492_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -4.7) m/s. Its current heading (yaw) is -1.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 9.2 meters away at (-3.6, -8.5). A vehicle with ID 20 is 11.7 meters away at (-1.4, 11.7). A unknown object with ID 18 is 17.4 meters away at (-15.1, -8.5). A vehicle with ID 21 is 22.3 meters away at (-2.9, 22.1). A vehicle with ID 22 is 30.4 meters away at (21.3, -21.7). A pedestrian with ID 10 is 32.1 meters away at (-18.5, -26.2). A pedestrian with ID 12 is 32.7 meters away at (-19.3, -26.4). A vehicle with ID 23 is 40.0 meters away at (-6.5, 39.5). A vehicle with ID 25 is 50.7 meters away at (-9.3, 49.8).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.11508565 -8.918983  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.5415694 -4.0983562] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 0.5277389 -3.3616874] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.2461834  -0.12003363] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.05195026 -1.2801731 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.11901525 -1.3071095 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.9294345 -3.8294077] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.3553613 -4.233124 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[  7.008286  -32.250336 ]\n [  7.3267665 -33.80553  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.5972328 -8.520481 ], 9.248712539672852 meters away.)"}
{"file_name": "images/scenario_492_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -5.8) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 13.4 meters away at (-0.5, 13.4). A unknown object with ID 18 is 15.7 meters away at (-15.6, 2.0). A vehicle with ID 22 is 17.2 meters away at (12.7, -11.7). A vehicle with ID 3 is 18.3 meters away at (-4.5, -17.8). A vehicle with ID 21 is 24.9 meters away at (-2.2, 24.8). A pedestrian with ID 10 is 26.6 meters away at (-19.3, -18.3). A pedestrian with ID 12 is 27.2 meters away at (-19.9, -18.5). A vehicle with ID 23 is 42.4 meters away at (-5.3, 42.0). A vehicle with ID 25 is 53.0 meters away at (-7.6, 52.5).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.2254808 -4.8004603] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.4784343 -0.3339509] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ -0.67801976 -10.571203  ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 0.59120417 -4.6793685 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.1241438 -1.3472254] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00258457 -1.302355  ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.8920154 -4.659936 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.0507712 -3.8932228] m/s.", "light_description": "There are active red lights at the following coordinates: [[  7.008286  -32.250336 ]\n [  7.3267665 -33.80553  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.46419466 13.401293  ], 13.409329414367676 meters away.)"}
{"file_name": "images/scenario_493_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -3.0) m/s. Its current heading (yaw) is -0.46 ", "actor_description": " The most relevant actors are: A pedestrian with ID 46 is 19.2 meters away at (14.2, -13.0). A pedestrian with ID 20 is 43.7 meters away at (1.5, -43.7).", "velocity_description": "The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.82869804  0.41998932] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.5557338  0.42205808] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 14.185516 -12.977152], 19.225902557373047 meters away.)"}
{"file_name": "images/scenario_493_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -3.3) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 46 is 5.7 meters away at (0.3, -5.7). A pedestrian with ID 20 is 38.9 meters away at (-11.0, -37.3). A vehicle with ID 19 is 71.9 meters away at (30.6, -65.1). A vehicle with ID 21 is 74.1 meters away at (29.7, -67.9). A vehicle with ID 44 is 76.4 meters away at (29.3, -70.6).", "velocity_description": "The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.7772815   0.42603132] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.01566331  0.01085197] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 0.30869675 -5.7284737 ], 5.736785411834717 meters away.)"}
{"file_name": "images/scenario_493_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -3.3) m/s. Its current heading (yaw) is -0.50 ", "actor_description": " The most relevant actors are: A pedestrian with ID 46 is 13.8 meters away at (-13.6, 1.9). A vehicle with ID 19 is 61.3 meters away at (18.5, -58.5). A vehicle with ID 21 is 63.8 meters away at (17.7, -61.3). A vehicle with ID 44 is 66.2 meters away at (17.2, -63.9). A vehicle with ID 15 is 71.2 meters away at (30.7, -64.2). A vehicle with ID 25 is 71.2 meters away at (16.3, -69.3).", "velocity_description": "The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.8923703  0.4322519] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-13.636604    1.9128399], 13.770110130310059 meters away.)"}
{"file_name": "images/scenario_493_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -3.5) m/s. Its current heading (yaw) is -0.52 ", "actor_description": " The most relevant actors are: A pedestrian with ID 46 is 29.1 meters away at (-27.5, 9.4). A pedestrian with ID 24 is 42.7 meters away at (-35.2, -24.1). A vehicle with ID 19 is 52.1 meters away at (6.4, -51.7). A vehicle with ID 21 is 54.8 meters away at (5.6, -54.5). A vehicle with ID 44 is 57.4 meters away at (4.9, -57.2). A vehicle with ID 15 is 60.3 meters away at (18.5, -57.4). A vehicle with ID 25 is 62.6 meters away at (4.1, -62.5). A unknown object with ID 37 is 65.2 meters away at (64.7, -8.0). A vehicle with ID 28 is 73.5 meters away at (2.9, -73.4).", "velocity_description": "The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.8490709   0.41512796] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-27.537233   9.370327], 29.08783721923828 meters away.)"}
{"file_name": "images/scenario_494_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -4.9) m/s. Its current heading (yaw) is -1.68 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 6.2 meters away at (-5.4, -3.1). A unknown object with ID 16 is 9.4 meters away at (-9.4, -0.6). A unknown object with ID 13 is 11.4 meters away at (-8.2, 8.0). A pedestrian with ID 14 is 11.5 meters away at (-9.8, 6.0). A vehicle with ID 22 is 21.6 meters away at (7.1, -20.4). A vehicle with ID 21 is 25.9 meters away at (24.1, -9.6). A unknown object with ID 17 is 37.1 meters away at (-0.4, 37.1). A unknown object with ID 18 is 39.2 meters away at (-0.1, 39.2). A unknown object with ID 20 is 39.3 meters away at (0.5, 39.3).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.09127029 -0.0898489 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.1123775  -0.09530181] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.400605  -3.0656147], 6.210034370422363 meters away.)"}
{"file_name": "images/scenario_494_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -4.6) m/s. Its current heading (yaw) is -1.70 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 7.5 meters away at (-4.2, 6.2). A unknown object with ID 16 is 11.9 meters away at (-8.1, 8.6). A vehicle with ID 22 is 13.8 meters away at (8.4, -11.0). A pedestrian with ID 14 is 17.5 meters away at (-8.6, 15.3). A unknown object with ID 13 is 18.6 meters away at (-7.0, 17.3). A vehicle with ID 21 is 25.3 meters away at (25.3, -0.2). A unknown object with ID 17 is 46.3 meters away at (0.8, 46.3). A unknown object with ID 18 is 48.4 meters away at (0.9, 48.4). A unknown object with ID 20 is 48.5 meters away at (1.7, 48.5).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.06347392  0.17859879] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00785319  0.07323854] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.2238975  6.2263165], 7.523850917816162 meters away.)"}
{"file_name": "images/scenario_494_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -6.1) m/s. Its current heading (yaw) is -1.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 9.9 meters away at (9.9, -0.1). A pedestrian with ID 15 is 17.5 meters away at (-3.0, 17.3). A unknown object with ID 16 is 20.7 meters away at (-6.7, 19.6). A pedestrian with ID 14 is 27.1 meters away at (-7.1, 26.1). A unknown object with ID 13 is 28.7 meters away at (-5.6, 28.2). A vehicle with ID 21 is 28.9 meters away at (26.8, 10.8).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.05496179  0.07947214] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00537397  0.02181093] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.8710575  -0.07943726], 9.871376991271973 meters away.)"}
{"file_name": "images/scenario_494_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -7.6) m/s. Its current heading (yaw) is -1.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 18.2 meters away at (11.8, 13.8). A unknown object with ID 16 is 33.8 meters away at (-4.9, 33.4). A vehicle with ID 21 is 37.8 meters away at (28.7, 24.6). A pedestrian with ID 14 is 40.4 meters away at (-5.3, 40.0). A unknown object with ID 13 is 42.2 meters away at (-3.8, 42.1). A unknown object with ID 6 is 45.8 meters away at (-8.0, 45.1).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.00445739 0.01482298] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.824058 13.828339], 18.194265365600586 meters away.)"}
{"file_name": "images/scenario_495_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 8.0 meters away at (-3.5, -7.2). A vehicle with ID 28 is 8.4 meters away at (3.8, 7.5). A pedestrian with ID 35 is 16.0 meters away at (-5.9, -14.9). A pedestrian with ID 32 is 16.9 meters away at (-6.7, -15.5). A cyclist with ID 23 is 20.0 meters away at (-19.9, -2.3). A vehicle with ID 30 is 20.3 meters away at (-4.0, -19.9). A vehicle with ID 24 is 20.3 meters away at (12.4, 16.1). A cyclist with ID 38 is 20.9 meters away at (-17.1, -11.9). A unknown object with ID 40 is 22.4 meters away at (-20.4, -9.1). A unknown object with ID 43 is 22.5 meters away at (-20.3, -9.8).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.25958937 -2.3930433 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.1679332  1.1037041] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.0945196  -0.82214123] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [-5.796487    0.00590575] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [2.7548823 4.628072 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [1.8555553 3.564184 ] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-0.00197592 -0.00139455] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.328288 -21.669662]\n [ -9.999479 -21.78204 ]\n [-14.175211 -17.192854]\n [-13.675328 -18.652212]]", "nav_goal": "(-175.0087127685547, 146.8013153076172)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.526076 -7.167075], 7.987501621246338 meters away.)"}
{"file_name": "images/scenario_495_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (3.0, 5.3). A vehicle with ID 27 is 8.0 meters away at (-3.5, -7.2). A vehicle with ID 30 is 8.1 meters away at (2.1, -7.9). A unknown object with ID 14 is 13.3 meters away at (11.7, -6.3). A pedestrian with ID 35 is 15.3 meters away at (-8.3, -12.8). A pedestrian with ID 32 is 17.4 meters away at (-4.0, -16.9). A cyclist with ID 38 is 20.9 meters away at (-17.1, -11.9). A unknown object with ID 40 is 22.4 meters away at (-20.4, -9.1). A unknown object with ID 43 is 22.5 meters away at (-20.3, -9.8). A unknown object with ID 44 is 22.9 meters away at (-20.8, -9.7).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [3.144556  6.9981976] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.0044725  1.0269495] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.4242527  -0.72407025] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [0.01077697 0.01023138] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.541817 -46.167103]\n [-11.455914 -43.34335 ]\n [-11.60918  -43.301743]\n [-12.013506 -43.13849 ]\n [ -9.3698   -44.816345]\n [-10.328288 -21.669662]\n [ -9.999479 -21.78204 ]\n [-14.175211 -17.192854]\n [-13.675328 -18.652212]]", "nav_goal": "(-175.0087127685547, 146.8013153076172)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.0409994 5.3355155], 6.141286849975586 meters away.)"}
{"file_name": "images/scenario_495_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (3.0, 5.3). A vehicle with ID 27 is 8.0 meters away at (-3.5, -7.2). A unknown object with ID 13 is 9.8 meters away at (-8.7, 4.7). A vehicle with ID 30 is 10.7 meters away at (8.4, 6.7). A unknown object with ID 14 is 13.3 meters away at (11.7, -6.3). A pedestrian with ID 35 is 15.5 meters away at (-10.9, -11.1). A pedestrian with ID 32 is 18.7 meters away at (-1.5, -18.6). A cyclist with ID 38 is 20.9 meters away at (-17.1, -12.0). A unknown object with ID 40 is 22.4 meters away at (-20.4, -9.1). A unknown object with ID 43 is 22.5 meters away at (-20.3, -9.8).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [3.3070874 7.2466555] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.266851   0.6914913] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.1257124 -0.9621804] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-0.00774969  0.00104006] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.328288 -21.669662]\n [ -9.999479 -21.78204 ]\n [-14.175211 -17.192854]\n [-13.675328 -18.652212]]", "nav_goal": "(-175.0087127685547, 146.8013153076172)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.0351944 5.26927  ], 6.0809221267700195 meters away.)"}
{"file_name": "images/scenario_495_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (3.0, 5.3). A vehicle with ID 27 is 8.0 meters away at (-3.5, -7.2). A unknown object with ID 13 is 9.8 meters away at (-8.7, 4.6). A unknown object with ID 14 is 13.3 meters away at (11.7, -6.3). A pedestrian with ID 35 is 16.9 meters away at (-13.4, -10.3). A pedestrian with ID 32 is 19.6 meters away at (0.6, -19.6). A cyclist with ID 38 is 20.9 meters away at (-17.1, -12.0). A vehicle with ID 64 is 22.0 meters away at (-5.4, -21.4). A unknown object with ID 40 is 22.4 meters away at (-20.4, -9.1). A unknown object with ID 43 is 22.5 meters away at (-20.3, -9.8).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.9806597   0.13588111] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [1.1071311  0.35578522] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-0.01163274  0.01062193] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [2.9832995 5.7971416] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.541817 -46.167103]\n [-11.455914 -43.34335 ]\n [-11.60918  -43.301743]\n [-12.013506 -43.13849 ]\n [ -9.3698   -44.816345]\n [-10.328288 -21.669662]\n [ -9.999479 -21.78204 ]\n [-14.175211 -17.192854]\n [-13.675328 -18.652212]]", "nav_goal": "(-175.0087127685547, 146.8013153076172)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.0298822 5.2660437], 6.075475692749023 meters away.)"}
{"file_name": "images/scenario_496_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -6.5) m/s. Its current heading (yaw) is -0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 20.4 meters away at (10.3, -17.6). A vehicle with ID 10 is 25.4 meters away at (-18.7, 17.2). A vehicle with ID 14 is 26.1 meters away at (14.4, -21.8). A unknown object with ID 8 is 39.9 meters away at (-29.7, 26.7). A vehicle with ID 11 is 46.8 meters away at (-24.9, 39.6). A vehicle with ID 13 is 55.3 meters away at (-37.4, 40.8). A vehicle with ID 4 is 57.3 meters away at (34.7, -45.6). A vehicle with ID 3 is 69.8 meters away at (49.8, -49.0). A vehicle with ID 15 is 72.4 meters away at (-47.6, 54.5). A unknown object with ID 16 is 76.5 meters away at (-43.0, 63.3).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(158.85397338867188, -252.9537811279297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 10.322426 -17.60176 ], 20.405256271362305 meters away.)"}
{"file_name": "images/scenario_496_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -6.8) m/s. Its current heading (yaw) is -0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 4.3 meters away at (-1.0, -4.2). A vehicle with ID 14 is 8.9 meters away at (3.0, -8.4). A vehicle with ID 4 is 39.8 meters away at (23.2, -32.3). A vehicle with ID 10 is 42.8 meters away at (-30.1, 30.5). A vehicle with ID 3 is 52.5 meters away at (38.4, -35.8). A vehicle with ID 11 is 64.2 meters away at (-36.4, 52.9). A vehicle with ID 2 is 68.9 meters away at (49.3, -48.2). A vehicle with ID 13 is 72.9 meters away at (-48.9, 54.1).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(158.85397338867188, -252.9537811279297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.0093098 -4.216936 ], 4.336041450500488 meters away.)"}
{"file_name": "images/scenario_496_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -7.3) m/s. Its current heading (yaw) is -0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 10.6 meters away at (-9.0, 5.7). A vehicle with ID 12 is 16.5 meters away at (-13.1, 10.0). A vehicle with ID 4 is 21.2 meters away at (11.2, -18.0). A vehicle with ID 3 is 34.0 meters away at (26.3, -21.5). A vehicle with ID 2 is 50.4 meters away at (37.2, -34.0). A vehicle with ID 10 is 61.5 meters away at (-42.2, 44.7).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(158.85397338867188, -252.9537811279297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.978474   5.6945763], 10.63208293914795 meters away.)"}
{"file_name": "images/scenario_496_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -7.7) m/s. Its current heading (yaw) is -0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (-1.6, -3.0). A vehicle with ID 3 is 14.9 meters away at (13.4, -6.4). A vehicle with ID 14 is 30.1 meters away at (-21.9, 20.7). A vehicle with ID 2 is 30.9 meters away at (24.4, -18.9). A vehicle with ID 12 is 36.2 meters away at (-26.0, 25.1). A cyclist with ID 1 is 70.1 meters away at (39.1, -58.2).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [-1.5543416  2.496857 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(158.85397338867188, -252.9537811279297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.6447182 -2.953064 ], 3.380190134048462 meters away.)"}
{"file_name": "images/scenario_497_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.9) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 44 is 5.1 meters away at (-4.9, 1.3). A unknown object with ID 28 is 12.7 meters away at (-8.0, 9.9). A vehicle with ID 43 is 20.1 meters away at (-18.9, 7.0). A pedestrian with ID 38 is 20.6 meters away at (-9.7, 18.2). A vehicle with ID 47 is 20.9 meters away at (19.2, 8.2). A vehicle with ID 49 is 22.9 meters away at (22.6, -3.7). A pedestrian with ID 45 is 25.7 meters away at (25.6, 1.0). A vehicle with ID 46 is 27.1 meters away at (27.0, 2.8). A vehicle with ID 39 is 29.9 meters away at (-13.6, 26.6). A unknown object with ID 31 is 30.3 meters away at (-29.9, 4.7).", "velocity_description": "The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.01839463  0.00546861] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.00376362 0.08307123] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-4.8703947  1.3396535], 5.051278591156006 meters away.)"}
{"file_name": "images/scenario_497_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.2) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 44 is 3.9 meters away at (-3.8, 0.6). A unknown object with ID 28 is 11.4 meters away at (-7.0, 9.0). A vehicle with ID 43 is 18.9 meters away at (-17.9, 6.1). A pedestrian with ID 38 is 19.4 meters away at (-8.7, 17.3). A vehicle with ID 47 is 21.5 meters away at (20.2, 7.3). A vehicle with ID 49 is 24.0 meters away at (23.6, -4.7). A pedestrian with ID 14 is 24.6 meters away at (24.1, -5.1). A pedestrian with ID 45 is 26.2 meters away at (26.2, -0.2). A vehicle with ID 46 is 28.1 meters away at (28.0, 1.9). A vehicle with ID 39 is 28.6 meters away at (-12.6, 25.7).", "velocity_description": "The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00909733 -0.00400062] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00988842 -0.013871  ] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.26899424 -0.5442971 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.8093581   0.61299896], 3.8583645820617676 meters away.)"}
{"file_name": "images/scenario_497_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.2) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 44 is 2.4 meters away at (-2.3, -0.8). A vehicle with ID 43 is 16.9 meters away at (-16.2, 4.8). A pedestrian with ID 38 is 17.5 meters away at (-7.0, 16.0). A vehicle with ID 47 is 22.7 meters away at (21.9, 5.9). A vehicle with ID 49 is 25.9 meters away at (25.2, -6.0). A vehicle with ID 39 is 26.8 meters away at (-10.8, 24.5). A pedestrian with ID 14 is 26.8 meters away at (25.9, -6.6). A pedestrian with ID 45 is 26.9 meters away at (26.7, -3.5). A unknown object with ID 13 is 27.3 meters away at (-27.2, 2.7). A vehicle with ID 46 is 29.7 meters away at (29.7, 0.5).", "velocity_description": "The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.01663853 -0.01223256] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.11691762 -0.01538041] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.5615819 -0.7295531] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.2861028 -0.847363 ], 2.438091516494751 meters away.)"}
{"file_name": "images/scenario_497_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 2.3) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 5.0 meters away at (2.7, -4.2). A vehicle with ID 43 is 11.5 meters away at (-11.5, 1.2). A pedestrian with ID 38 is 12.6 meters away at (-2.2, 12.4). A unknown object with ID 7 is 18.2 meters away at (-17.4, 5.3). A unknown object with ID 6 is 19.6 meters away at (-18.9, 5.4). A vehicle with ID 39 is 21.7 meters away at (-6.1, 20.8). A unknown object with ID 42 is 26.1 meters away at (-20.5, 16.1). A vehicle with ID 47 is 26.8 meters away at (26.7, 2.3). A unknown object with ID 41 is 27.5 meters away at (-20.8, 18.0). A unknown object with ID 40 is 29.7 meters away at (-21.8, 20.2).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.00185313 -0.0014158 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.6760774 -4.1661243], 4.951563835144043 meters away.)"}
{"file_name": "images/scenario_498_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 5.2) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 13.6 meters away at (10.0, 9.2). A vehicle with ID 59 is 18.6 meters away at (11.3, 14.8). A vehicle with ID 52 is 19.3 meters away at (-11.9, 15.2). A vehicle with ID 9 is 20.2 meters away at (15.2, -13.3). A vehicle with ID 57 is 20.3 meters away at (-10.4, -17.5). A vehicle with ID 56 is 22.9 meters away at (20.5, 10.1). A vehicle with ID 60 is 24.8 meters away at (15.5, 19.4). A unknown object with ID 61 is 25.3 meters away at (-17.5, -18.3). A vehicle with ID 53 is 26.2 meters away at (-17.2, 19.8). A vehicle with ID 19 is 32.3 meters away at (-24.7, 20.9).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.3516254  4.4934506] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-6.152627   4.9938684] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.5625     11.595035 ]\n [-16.249577    1.5028499]\n [ -9.949337   13.307741 ]\n [ -8.631131   11.959245 ]]", "nav_goal": "(-202.85348510742188, 15.54451847076416)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.029841  9.151001], 13.577132225036621 meters away.)"}
{"file_name": "images/scenario_498_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.1) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 5.0 meters away at (0.0, 5.0). A vehicle with ID 53 is 10.7 meters away at (-5.0, 9.5). A unknown object with ID 48 is 21.0 meters away at (-20.9, -1.8). A vehicle with ID 9 is 21.7 meters away at (16.3, -14.2). A vehicle with ID 55 is 22.0 meters away at (22.0, -1.1). A vehicle with ID 59 is 23.8 meters away at (23.3, 4.7). A vehicle with ID 57 is 27.7 meters away at (1.6, -27.7). A vehicle with ID 23 is 27.8 meters away at (-18.4, 20.8). A unknown object with ID 61 is 29.0 meters away at (-5.5, -28.5). A vehicle with ID 19 is 32.3 meters away at (-24.7, 20.9).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.659392   4.7837157] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-6.061419  5.358162] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.5625     11.595035 ]\n [-16.249577    1.5028499]\n [ -9.949337   13.307741 ]\n [ -8.631131   11.959245 ]]", "nav_goal": "(-202.85348510742188, 15.54451847076416)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.01918983 4.9723873 ], 4.972424507141113 meters away.)"}
{"file_name": "images/scenario_498_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.0) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 6.7 meters away at (6.7, -0.5). A vehicle with ID 23 is 12.6 meters away at (-6.5, 10.8). A vehicle with ID 52 is 12.8 meters away at (11.8, -5.1). A vehicle with ID 12 is 20.7 meters away at (-12.9, 16.2). A vehicle with ID 9 is 22.0 meters away at (16.6, -14.5). A vehicle with ID 19 is 32.6 meters away at (-24.8, 21.2). A vehicle with ID 7 is 33.7 meters away at (-22.8, 24.8). A unknown object with ID 61 is 39.1 meters away at (6.4, -38.6). A vehicle with ID 5 is 40.1 meters away at (-27.7, 29.0). A vehicle with ID 57 is 40.1 meters away at (13.5, -37.8).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.8758698  4.9965262] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.8310266  5.023301 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.249577    1.5028499]]", "nav_goal": "(-202.85348510742188, 15.54451847076416)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.6964474  -0.51137733], 6.715944766998291 meters away.)"}
{"file_name": "images/scenario_498_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 4.8) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 5.0 meters away at (4.9, 1.0). A vehicle with ID 12 is 6.6 meters away at (-1.4, 6.5). A pedestrian with ID 41 is 16.5 meters away at (-13.2, -9.9). A vehicle with ID 7 is 18.9 meters away at (-11.4, 15.1). A vehicle with ID 11 is 19.1 meters away at (-18.0, -6.4). A vehicle with ID 53 is 20.9 meters away at (18.1, -10.4). A vehicle with ID 9 is 21.6 meters away at (16.2, -14.2). A vehicle with ID 13 is 24.0 meters away at (-21.9, -9.9). A vehicle with ID 5 is 25.1 meters away at (-16.2, 19.2). A vehicle with ID 52 is 27.6 meters away at (23.2, -14.9).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.03104782 -0.06492417] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.885884   4.9821734] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-202.85348510742188, 15.54451847076416)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.876358 1.001812], 4.978201866149902 meters away.)"}
{"file_name": "images/scenario_499_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.4, -6.9) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 72 is 12.6 meters away at (-2.0, -12.4). A pedestrian with ID 73 is 17.2 meters away at (10.8, 13.4). A cyclist with ID 76 is 17.8 meters away at (17.3, 4.2). A pedestrian with ID 70 is 21.2 meters away at (-0.8, 21.2). A vehicle with ID 66 is 22.6 meters away at (-20.9, 8.6). A pedestrian with ID 77 is 25.3 meters away at (25.3, -1.2). A pedestrian with ID 75 is 26.1 meters away at (25.8, 4.0). A pedestrian with ID 67 is 28.4 meters away at (-27.4, 7.7). A pedestrian with ID 68 is 29.1 meters away at (-28.1, 7.3). A pedestrian with ID 69 is 37.2 meters away at (-18.8, 32.1).", "velocity_description": "The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.493189   -0.98257655] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-1.0972625   0.72531694] m/s.The cyclist with ID 76 is traveling at a (x, y) velocity of [-3.3741808  2.2674406] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.0545512  0.6959067] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 4.3846645 -2.338886 ] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.0029169 -1.4956161] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 1.2444621 -0.7607248] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.1233888  0.818655 ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-1.1064453  0.7720878] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.3000344  -0.89571303] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 55.35232  -14.88887 ]\n [ 55.337822 -14.880213]]", "nav_goal": "(247.40032958984375, -165.8074493408203)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ -2.033514 -12.404978], 12.570547103881836 meters away.)"}
{"file_name": "images/scenario_499_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -6.8) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A pedestrian with ID 77 is 9.3 meters away at (3.3, 8.7). A pedestrian with ID 72 is 18.1 meters away at (-18.1, -0.5). A pedestrian with ID 75 is 19.4 meters away at (9.2, 17.1). A pedestrian with ID 79 is 21.4 meters away at (6.2, -20.5). A unknown object with ID 46 is 23.2 meters away at (21.3, 9.1). A cyclist with ID 76 is 23.9 meters away at (-8.1, 22.5). A vehicle with ID 55 is 28.2 meters away at (20.6, 19.2). A pedestrian with ID 80 is 28.7 meters away at (16.8, -23.2). A pedestrian with ID 73 is 30.4 meters away at (-10.4, 28.6). A unknown object with ID 30 is 33.0 meters away at (-3.4, -32.8).", "velocity_description": "The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.4600892 -2.3262475] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.4938911 -0.9564541] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [1.1164917  0.08479139] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.93615115  0.6564757 ] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 76 is traveling at a (x, y) velocity of [-2.9953332  2.2198572] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.91770345 0.32268986] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-1.1046957   0.72091454] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 52.13456  -13.042239]\n [ 55.35232  -14.88887 ]\n [ 61.888012 -32.757042]\n [ 55.337822 -14.880213]\n [ 63.967247 -30.548546]\n [ 61.55529  -33.413597]]", "nav_goal": "(247.40032958984375, -165.8074493408203)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [3.2787666 8.68564  ], 9.283892631530762 meters away.)"}
{"file_name": "images/scenario_499_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.8, -6.6) m/s. Its current heading (yaw) is -0.59 ", "actor_description": " The most relevant actors are: A pedestrian with ID 80 is 9.3 meters away at (-0.9, -9.3). A vehicle with ID 33 is 13.6 meters away at (13.5, 2.1). A pedestrian with ID 79 is 16.4 meters away at (-15.3, -5.9). A vehicle with ID 62 is 18.2 meters away at (11.2, -14.4). A unknown object with ID 46 is 22.6 meters away at (1.8, 22.6). A vehicle with ID 22 is 24.2 meters away at (16.5, -17.7). A pedestrian with ID 77 is 26.1 meters away at (-18.9, 18.1). A vehicle with ID 48 is 30.5 meters away at (-22.4, -20.8). A vehicle with ID 56 is 30.6 meters away at (21.6, -21.7). A vehicle with ID 55 is 32.6 meters away at (1.2, 32.6).", "velocity_description": "The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.72477806 0.00387801] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.4793406  1.6141554] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.82951665  0.65236455] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.2320832 -2.2146597] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 52.13456  -13.042239]\n [ 55.35232  -14.88887 ]\n [ 61.888012 -32.757042]\n [ 55.337822 -14.880213]\n [ 63.967247 -30.548546]\n [ 61.55529  -33.413597]]", "nav_goal": "(247.40032958984375, -165.8074493408203)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-0.858181 -9.292183], 9.331727981567383 meters away.)"}
{"file_name": "images/scenario_499_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.5, -6.3) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 5.2 meters away at (-2.9, 4.3). A vehicle with ID 22 is 5.7 meters away at (-2.9, -4.9). A vehicle with ID 62 is 8.3 meters away at (-8.2, -1.5). A vehicle with ID 56 is 9.1 meters away at (2.3, -8.8). A vehicle with ID 21 is 14.9 meters away at (8.2, -12.5). A vehicle with ID 58 is 16.6 meters away at (16.0, 4.4). A vehicle with ID 33 is 18.0 meters away at (-7.9, 16.2). A pedestrian with ID 80 is 19.3 meters away at (-18.6, 5.1). A vehicle with ID 19 is 21.7 meters away at (14.2, -16.4). A pedestrian with ID 18 is 24.8 meters away at (12.0, -21.7).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.1755047  4.053451 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.8302587 1.123173 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.81987095 -0.6296174 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 52.13456  -13.042239]\n [ 55.35232  -14.88887 ]\n [ 61.888012 -32.757042]\n [ 55.337822 -14.880213]\n [ 63.967247 -30.548546]\n [ 61.55529  -33.413597]]", "nav_goal": "(247.40032958984375, -165.8074493408203)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.880684   4.2752075], 5.155166149139404 meters away.)"}
{"file_name": "images/scenario_500_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.34 ", "actor_description": " The most relevant actors are: A pedestrian with ID 60 is 13.9 meters away at (-9.2, -10.4). A pedestrian with ID 61 is 20.1 meters away at (-11.5, -16.4). A pedestrian with ID 62 is 20.7 meters away at (-12.9, -16.2). A pedestrian with ID 59 is 29.0 meters away at (28.1, 7.2). A pedestrian with ID 63 is 31.7 meters away at (-10.6, -29.8). A pedestrian with ID 64 is 42.0 meters away at (41.9, -1.3). A unknown object with ID 65 is 42.1 meters away at (42.0, -2.4). A unknown object with ID 57 is 42.5 meters away at (42.1, -5.9). A unknown object with ID 5 is 43.7 meters away at (43.1, -7.4). A vehicle with ID 66 is 44.2 meters away at (-4.6, -43.9).", "velocity_description": "The pedestrian with ID 60 is traveling at a (x, y) velocity of [-4.7206126e-05  1.2802361e+00] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.54783374 0.01706585] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.18205218 0.09469869] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.0027572  -0.00067073] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.00795819 -0.00820469] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.00252178 -0.01225339] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -9.224628 -10.359557], 13.871344566345215 meters away.)"}
{"file_name": "images/scenario_500_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 1.5) m/s. Its current heading (yaw) is 1.10 ", "actor_description": " The most relevant actors are: A pedestrian with ID 60 is 13.2 meters away at (-9.4, -9.2). A pedestrian with ID 61 is 21.0 meters away at (-11.0, -17.9). A pedestrian with ID 59 is 28.4 meters away at (27.7, 6.3). A pedestrian with ID 63 is 32.9 meters away at (-10.6, -31.1). A unknown object with ID 9 is 41.5 meters away at (41.3, -4.6). A pedestrian with ID 64 is 41.7 meters away at (41.6, -2.0). A unknown object with ID 65 is 41.8 meters away at (41.7, -3.0). A unknown object with ID 55 is 42.0 meters away at (41.9, -2.9). A unknown object with ID 57 is 42.3 meters away at (41.7, -6.7). A pedestrian with ID 39 is 42.4 meters away at (42.3, -1.6).", "velocity_description": "The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.00967975 1.1887845 ] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.34167343 0.02004788] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.00847488  0.00402652] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.0279291 -0.0351178] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.00790127  0.03712222] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.01472138 0.10398811] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-9.41956  -9.244788], 13.19826602935791 meters away.)"}
{"file_name": "images/scenario_500_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 0.9) m/s. Its current heading (yaw) is 0.35 ", "actor_description": " The most relevant actors are: A pedestrian with ID 60 is 16.0 meters away at (-12.7, -9.7). A pedestrian with ID 59 is 24.5 meters away at (24.3, 3.3). A pedestrian with ID 61 is 25.4 meters away at (-14.4, -20.9). A pedestrian with ID 63 is 36.9 meters away at (-14.2, -34.1). A unknown object with ID 9 is 38.6 meters away at (37.8, -7.7). A unknown object with ID 65 is 38.7 meters away at (38.3, -6.1). A pedestrian with ID 64 is 38.8 meters away at (38.6, -3.7). A unknown object with ID 12 is 38.9 meters away at (38.5, -5.8). A unknown object with ID 55 is 39.1 meters away at (38.6, -6.1). A pedestrian with ID 39 is 39.3 meters away at (39.1, -3.4).", "velocity_description": "The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.02849605  1.3163468 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.00526624 -0.01291506] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.00431116  0.00966582] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.04153723  0.00460123] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.2659575  0.49905068] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.19939   0.6217406] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-12.737386  -9.661707], 15.98716926574707 meters away.)"}
{"file_name": "images/scenario_500_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -1.2) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A pedestrian with ID 59 is 18.2 meters away at (17.9, 3.4). A pedestrian with ID 60 is 20.5 meters away at (-19.3, -6.9). A pedestrian with ID 36 is 22.8 meters away at (22.7, 1.6). A pedestrian with ID 61 is 29.4 meters away at (-21.1, -20.4). A unknown object with ID 9 is 32.3 meters away at (31.3, -7.8). A unknown object with ID 65 is 32.4 meters away at (31.8, -6.3). A pedestrian with ID 64 is 32.5 meters away at (32.4, -2.5). A unknown object with ID 12 is 32.6 meters away at (32.1, -5.9). A pedestrian with ID 39 is 33.0 meters away at (32.9, -2.1). A unknown object with ID 57 is 33.3 meters away at (31.8, -9.9).", "velocity_description": "The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.00030206 -0.00856819] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.00268578 1.2715431 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.00957467 -0.02227692] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.11009191  0.06145162] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.0966654  0.34278542] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.22001436 0.5825719 ] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [17.886166   3.3766055], 18.202098846435547 meters away.)"}
{"file_name": "images/scenario_501_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.6) m/s. Its current heading (yaw) is -0.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 10.1 meters away at (-8.2, -6.0). A unknown object with ID 49 is 10.5 meters away at (-6.9, -7.9). A unknown object with ID 39 is 11.0 meters away at (-9.9, -4.8). A unknown object with ID 50 is 12.2 meters away at (-7.0, -10.0). A unknown object with ID 48 is 13.8 meters away at (-8.5, -10.9). A unknown object with ID 47 is 14.1 meters away at (-10.1, -9.8). A unknown object with ID 66 is 20.1 meters away at (-19.9, 2.7). A unknown object with ID 68 is 22.1 meters away at (-21.7, 4.1). A unknown object with ID 71 is 23.8 meters away at (-23.2, 5.4). A unknown object with ID 52 is 25.7 meters away at (-24.8, 6.7).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-62.4804    36.15496 ]\n [-59.207985  40.930557]\n [-59.48503   40.56896 ]\n [-61.606262  38.109783]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.169078  -5.9614806], 10.113016128540039 meters away.)"}
{"file_name": "images/scenario_501_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 10.3 meters away at (-8.7, -5.6). A unknown object with ID 49 is 10.6 meters away at (-7.4, -7.6). A unknown object with ID 50 is 12.1 meters away at (-7.4, -9.5). A unknown object with ID 66 is 20.7 meters away at (-20.4, 3.0). A unknown object with ID 68 is 22.6 meters away at (-22.1, 4.4). A unknown object with ID 71 is 24.4 meters away at (-23.7, 5.7). A unknown object with ID 75 is 26.6 meters away at (-25.6, 7.2). A unknown object with ID 54 is 27.0 meters away at (-26.9, 1.2). A unknown object with ID 80 is 27.7 meters away at (-26.5, 8.1). A unknown object with ID 56 is 29.9 meters away at (-28.4, 9.4).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-59.207985  40.930557]\n [-59.48503   40.56896 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.705674  -5.5882397], 10.344911575317383 meters away.)"}
{"file_name": "images/scenario_501_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 10.4 meters away at (-8.8, -5.5). A unknown object with ID 49 is 10.6 meters away at (-7.4, -7.5). A unknown object with ID 50 is 12.1 meters away at (-7.5, -9.5). A vehicle with ID 105 is 20.3 meters away at (15.2, -13.5). A unknown object with ID 66 is 20.7 meters away at (-20.5, 3.1). A unknown object with ID 68 is 22.7 meters away at (-22.2, 4.5). A unknown object with ID 71 is 24.5 meters away at (-23.8, 5.8). A unknown object with ID 75 is 26.7 meters away at (-25.7, 7.3). A unknown object with ID 80 is 27.8 meters away at (-26.6, 8.1). A unknown object with ID 24 is 28.9 meters away at (-27.5, 8.8).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [-5.213357   1.5477434] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-59.207985  40.930557]\n [-59.48503   40.56896 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.772827 -5.538227], 10.374702453613281 meters away.)"}
{"file_name": "images/scenario_501_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 10.4 meters away at (-8.8, -5.6). A unknown object with ID 49 is 10.6 meters away at (-7.4, -7.5). A vehicle with ID 105 is 10.6 meters away at (4.6, -9.5). A unknown object with ID 50 is 12.2 meters away at (-7.5, -9.5). A unknown object with ID 66 is 20.7 meters away at (-20.5, 3.1). A unknown object with ID 68 is 22.7 meters away at (-22.2, 4.5). A unknown object with ID 71 is 24.5 meters away at (-23.8, 5.8). A unknown object with ID 75 is 26.7 meters away at (-25.7, 7.3). A unknown object with ID 80 is 27.8 meters away at (-26.6, 8.1). A unknown object with ID 24 is 28.9 meters away at (-27.5, 8.8).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [-5.447596   2.3352354] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-59.207985  40.930557]\n [-59.48503   40.56896 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.755107 -5.552437], 10.367325782775879 meters away.)"}
{"file_name": "images/scenario_502_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -1.0) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 13.9 meters away at (4.4, -13.1). A unknown object with ID 18 is 18.2 meters away at (9.1, -15.7). A unknown object with ID 19 is 44.2 meters away at (-42.1, 13.4). A unknown object with ID 20 is 46.7 meters away at (-43.6, 16.7). A vehicle with ID 22 is 51.6 meters away at (44.5, 26.3). A pedestrian with ID 23 is 61.8 meters away at (-49.2, 37.3). A unknown object with ID 12 is 62.8 meters away at (-46.6, 42.1). A pedestrian with ID 25 is 75.0 meters away at (-56.7, 49.0).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.03444428 -0.04822557] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.08653574  0.06913288] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  4.438763 -13.146451], 13.875582695007324 meters away.)"}
{"file_name": "images/scenario_502_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -3.1) m/s. Its current heading (yaw) is -1.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 9.4 meters away at (1.7, -9.3). A unknown object with ID 18 is 13.4 meters away at (6.4, -11.8). A unknown object with ID 19 is 48.1 meters away at (-45.0, 16.9). A unknown object with ID 20 is 50.7 meters away at (-46.5, 20.1). A vehicle with ID 22 is 51.4 meters away at (41.6, 30.3). A vehicle with ID 4 is 52.4 meters away at (-36.9, -37.2). A pedestrian with ID 23 is 66.3 meters away at (-52.2, 40.9). A unknown object with ID 12 is 67.6 meters away at (-49.8, 45.8).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.02858299 -0.00519595] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.6700149 -9.268321 ], 9.417574882507324 meters away.)"}
{"file_name": "images/scenario_502_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -3.9) m/s. Its current heading (yaw) is -2.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.0 meters away at (3.5, -2.1). A unknown object with ID 15 is 18.2 meters away at (4.8, 17.5). A vehicle with ID 4 is 46.1 meters away at (-35.2, -29.7). A vehicle with ID 22 is 57.4 meters away at (43.7, 37.2). A vehicle with ID 2 is 68.1 meters away at (-50.8, -45.3). A pedestrian with ID 23 is 69.7 meters away at (-50.0, 48.5). A vehicle with ID 1 is 78.4 meters away at (-57.9, -52.8).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.12076696 0.12057264] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.465971  -2.0564632], 4.0301361083984375 meters away.)"}
{"file_name": "images/scenario_502_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -5.8) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 13.5 meters away at (11.1, 7.7). A unknown object with ID 15 is 30.2 meters away at (12.6, 27.4). A vehicle with ID 4 is 34.0 meters away at (-27.7, -19.8). A vehicle with ID 2 is 56.0 meters away at (-43.3, -35.4). A vehicle with ID 1 is 66.2 meters away at (-50.4, -42.9). A pedestrian with ID 3 is 69.3 meters away at (-53.4, -44.1). A vehicle with ID 22 is 69.5 meters away at (51.4, 46.9).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.05181491 -0.04634301] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [11.084623   7.7054825], 13.49975299835205 meters away.)"}
{"file_name": "images/scenario_503_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -2.4) m/s. Its current heading (yaw) is -1.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 32.0 meters away at (9.0, 30.7). A vehicle with ID 12 is 65.9 meters away at (-1.9, -65.8).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-173.8847198486328, -44.25834655761719)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.986862 30.741293], 32.02796936035156 meters away.)"}
{"file_name": "images/scenario_503_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.3) m/s. Its current heading (yaw) is -1.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 63.1 meters away at (-2.0, -63.1).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-173.8847198486328, -44.25834655761719)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -1.9781958 -63.07892  ], 63.10993194580078 meters away.)"}
{"file_name": "images/scenario_503_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.9) m/s. Its current heading (yaw) is -1.53 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 32.4 meters away at (-13.8, -29.3). A vehicle with ID 12 is 62.3 meters away at (-2.0, -62.3).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.3993902 -0.0113449] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-173.8847198486328, -44.25834655761719)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-13.76373  -29.312775], 32.38331604003906 meters away.)"}
{"file_name": "images/scenario_503_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -3.6) m/s. Its current heading (yaw) is -1.51 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 26.7 meters away at (-10.7, -24.4). A cyclist with ID 7 is 37.9 meters away at (9.0, 36.9). A vehicle with ID 12 is 57.6 meters away at (-2.2, -57.6).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.5880508  0.13234274] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [-0.00808737  0.0045343 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-173.8847198486328, -44.25834655761719)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-10.712117 -24.434422], 26.679399490356445 meters away.)"}
{"file_name": "images/scenario_504_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -1.0) m/s. Its current heading (yaw) is -2.77 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 3.0 meters away at (1.4, -2.6). A pedestrian with ID 6 is 4.3 meters away at (0.7, 4.2). A unknown object with ID 25 is 8.5 meters away at (8.1, 2.7). A unknown object with ID 32 is 23.1 meters away at (10.4, 20.6). A vehicle with ID 30 is 25.1 meters away at (6.0, 24.4). A vehicle with ID 29 is 29.5 meters away at (-0.3, 29.5). A vehicle with ID 31 is 30.5 meters away at (-10.9, 28.5). A vehicle with ID 39 is 41.3 meters away at (-20.1, 36.1). A vehicle with ID 40 is 49.2 meters away at (-18.6, 45.6).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00491362 -0.00632742] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-7.978193759918213, -3.560035228729248)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 1.3978622 -2.640065 ], 2.987300157546997 meters away.)"}
{"file_name": "images/scenario_504_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 1.1) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 17 is 6.4 meters away at (0.1, -6.4). A unknown object with ID 23 is 7.4 meters away at (6.9, -2.7). A pedestrian with ID 6 is 7.4 meters away at (6.1, 4.2). A unknown object with ID 32 is 25.9 meters away at (15.9, 20.5). A vehicle with ID 30 is 26.9 meters away at (11.5, 24.3). A vehicle with ID 31 is 29.0 meters away at (-5.4, 28.5). A vehicle with ID 29 is 29.9 meters away at (5.3, 29.5). A vehicle with ID 40 is 47.2 meters away at (-12.9, 45.4).", "velocity_description": "The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.03506949 0.00879005] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-7.978193759918213, -3.560035228729248)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 0.05871677 -6.384904  ], 6.385173797607422 meters away.)"}
{"file_name": "images/scenario_504_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 2.7) m/s. Its current heading (yaw) is 1.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 4 is 9.3 meters away at (1.6, -9.2). A unknown object with ID 12 is 10.5 meters away at (-5.2, 9.1). A vehicle with ID 31 is 24.5 meters away at (-1.5, 24.5). A vehicle with ID 30 is 25.5 meters away at (15.3, 20.3). A unknown object with ID 32 is 25.7 meters away at (19.8, 16.4). A vehicle with ID 29 is 27.0 meters away at (9.1, 25.4). A vehicle with ID 2 is 34.0 meters away at (-10.6, 32.3). A vehicle with ID 40 is 42.5 meters away at (-9.2, 41.5).", "velocity_description": "The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00172126 -0.00219376] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-7.978193759918213, -3.560035228729248)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 1.6178474 -9.181085 ], 9.322539329528809 meters away.)"}
{"file_name": "images/scenario_504_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 1.9) m/s. Its current heading (yaw) is 1.16 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 3.5 meters away at (3.4, 0.7). A pedestrian with ID 4 is 14.3 meters away at (1.4, -14.2). A unknown object with ID 15 is 17.5 meters away at (15.3, -8.5). A unknown object with ID 5 is 18.3 meters away at (17.2, -6.4). A vehicle with ID 31 is 19.6 meters away at (-1.7, 19.6). A vehicle with ID 30 is 21.6 meters away at (15.2, 15.4). A vehicle with ID 29 is 22.4 meters away at (9.0, 20.5). A unknown object with ID 32 is 22.7 meters away at (19.6, 11.5). A vehicle with ID 2 is 29.3 meters away at (-10.8, 27.2). A vehicle with ID 40 is 37.6 meters away at (-9.2, 36.5).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.05605868 0.11051984] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00636415  0.01050155] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-7.978193759918213, -3.560035228729248)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [3.4232845 0.7266865], 3.4995641708374023 meters away.)"}
{"file_name": "images/scenario_505_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.8) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A pedestrian with ID 105 is 5.4 meters away at (-4.1, 3.5). A vehicle with ID 4 is 9.4 meters away at (3.0, 8.9). A pedestrian with ID 107 is 10.6 meters away at (-8.8, -6.0). A pedestrian with ID 92 is 12.2 meters away at (-11.8, 2.8). A vehicle with ID 106 is 12.4 meters away at (10.0, 7.4). A vehicle with ID 108 is 15.9 meters away at (2.2, 15.7). A vehicle with ID 109 is 17.6 meters away at (11.7, 13.1). A vehicle with ID 112 is 19.4 meters away at (11.8, -15.4). A vehicle with ID 113 is 21.3 meters away at (-16.8, -13.0). A vehicle with ID 111 is 21.5 meters away at (4.1, 21.1).", "velocity_description": "The pedestrian with ID 105 is traveling at a (x, y) velocity of [0.4030986 1.0533143] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.58501506 -1.6147287 ] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.5080399 -1.6472853] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.00382446 0.00069398] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.79014    -21.648844  ]\n [  0.60735565 -16.244913  ]\n [ -2.9984019  -10.477822  ]\n [ -8.611257   -19.77924   ]\n [  2.3895876  -13.599661  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-4.070657   3.5349305], 5.391287326812744 meters away.)"}
{"file_name": "images/scenario_505_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.3) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A pedestrian with ID 107 is 6.3 meters away at (-6.2, 0.8). A vehicle with ID 125 is 12.7 meters away at (0.4, -12.7). A vehicle with ID 113 is 13.6 meters away at (-13.3, -2.9). A vehicle with ID 4 is 13.7 meters away at (4.4, 12.9). A pedestrian with ID 105 is 15.9 meters away at (-0.0, 15.9). A vehicle with ID 112 is 16.2 meters away at (15.3, -5.3). A unknown object with ID 118 is 17.8 meters away at (7.4, -16.1). A vehicle with ID 117 is 18.9 meters away at (-18.2, -5.2). A vehicle with ID 115 is 19.4 meters away at (-19.4, -0.2). A vehicle with ID 106 is 22.1 meters away at (13.4, 17.6).", "velocity_description": "The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.45354196 -1.7084174 ] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0.4689009 1.4772393] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.6770265 -4.571848 ] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [0.10564918 1.0868282 ] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.79014    -21.648844  ]\n [  0.60735565 -16.244913  ]\n [ -2.9984019  -10.477822  ]\n [ -8.611257   -19.77924   ]\n [  2.3895876  -13.599661  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-6.2434855   0.81009007], 6.295820713043213 meters away.)"}
{"file_name": "images/scenario_505_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.4) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 125 is 6.6 meters away at (5.6, 3.5). A pedestrian with ID 107 is 11.6 meters away at (-2.6, 11.3). A unknown object with ID 118 is 12.1 meters away at (11.8, -2.5). A pedestrian with ID 120 is 13.2 meters away at (5.8, -11.8). A vehicle with ID 113 is 13.9 meters away at (-8.9, 10.6). A vehicle with ID 4 is 15.8 meters away at (4.8, 15.0). A vehicle with ID 117 is 16.1 meters away at (-13.7, 8.3). A vehicle with ID 115 is 20.1 meters away at (-15.1, 13.3). A vehicle with ID 112 is 21.4 meters away at (19.7, 8.3). A vehicle with ID 122 is 23.8 meters away at (23.4, -4.1).", "velocity_description": "The vehicle with ID 125 is traveling at a (x, y) velocity of [0.45321056 1.7129234 ] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.4341069 -1.6045903] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 120 is traveling at a (x, y) velocity of [-0.57387924 -1.4047561 ] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.225997 -6.871567] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.79014    -21.648844  ]\n [  0.60735565 -16.244913  ]\n [ -2.9984019  -10.477822  ]\n [ -8.611257   -19.77924   ]\n [  2.3895876  -13.599661  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.6382637 3.489708 ], 6.630843162536621 meters away.)"}
{"file_name": "images/scenario_505_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -7.6) m/s. Its current heading (yaw) is -1.86 ", "actor_description": " The most relevant actors are: A pedestrian with ID 120 is 9.4 meters away at (9.4, 0.2). A vehicle with ID 81 is 12.0 meters away at (-0.8, -12.0). A vehicle with ID 44 is 13.0 meters away at (2.2, -12.8). A vehicle with ID 40 is 13.5 meters away at (-6.6, -11.7). A vehicle with ID 4 is 16.2 meters away at (5.0, 15.4). A vehicle with ID 38 is 18.3 meters away at (0.3, -18.3). A unknown object with ID 118 is 20.5 meters away at (16.4, 12.3). A vehicle with ID 69 is 20.8 meters away at (-15.5, -13.8). A pedestrian with ID 107 is 23.2 meters away at (1.3, 23.1). A vehicle with ID 117 is 25.1 meters away at (-9.1, 23.3).", "velocity_description": "The pedestrian with ID 120 is traveling at a (x, y) velocity of [-0.37711465 -1.4612929 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [1.0800382 2.8813987] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.4026175 -7.5667005] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.43211338 -1.4424474 ] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.79014    -21.648844  ]\n [  0.60735565 -16.244913  ]\n [ -2.9984019  -10.477822  ]\n [ -8.611257   -19.77924   ]\n [  2.3895876  -13.599661  ]\n [ -3.195391   -10.436298  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [9.35415    0.22835541], 9.356937408447266 meters away.)"}
{"file_name": "images/scenario_506_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 10.6) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 8.5 meters away at (6.0, -6.1). A vehicle with ID 38 is 15.1 meters away at (9.5, -11.7). A vehicle with ID 45 is 21.4 meters away at (19.8, 8.3). A unknown object with ID 23 is 22.4 meters away at (4.0, 22.0). A vehicle with ID 37 is 31.8 meters away at (6.4, -31.1). A cyclist with ID 39 is 41.3 meters away at (23.0, -34.3). A vehicle with ID 30 is 48.0 meters away at (28.4, 38.7). A vehicle with ID 18 is 64.6 meters away at (38.8, 51.6). A vehicle with ID 13 is 69.6 meters away at (37.1, 58.9). A vehicle with ID 40 is 77.5 meters away at (56.3, -53.2).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ -6.7823315 -13.812994 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ -5.6953626 -13.839275 ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -7.9513955 -14.30899  ] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-7.4308243  1.6232284] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -4.761475 -16.778252] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -2.5800686 -10.69214  ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ -4.189086 -16.231756] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 4.3429523 -9.112262 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[27.134085 18.961851]]", "nav_goal": "(120.50434112548828, 266.4486083984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.9959126 -6.075864 ], 8.536222457885742 meters away.)"}
{"file_name": "images/scenario_506_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 11.3) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 4.8 meters away at (-4.7, 0.4). A vehicle with ID 30 is 18.4 meters away at (8.9, -16.1). A vehicle with ID 13 is 20.4 meters away at (19.8, 4.7). A vehicle with ID 18 is 27.5 meters away at (26.1, 8.9). A vehicle with ID 35 is 27.8 meters away at (-2.5, -27.7). A vehicle with ID 45 is 40.8 meters away at (-1.7, -40.8). A vehicle with ID 17 is 43.8 meters away at (30.3, 31.6). A cyclist with ID 39 is 58.0 meters away at (2.6, -57.9). A vehicle with ID 38 is 62.8 meters away at (-13.9, -61.3). A vehicle with ID 28 is 70.5 meters away at (34.2, 61.6).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -6.6216063 -16.059095 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ -5.107368 -16.199198] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -1.2909176 -10.275955 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ -7.297208  -13.6331835] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.8700796 -8.926162 ] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-5.142778 -2.447718] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ -8.285701 -14.025588] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ -3.199934 -12.846581] m/s.", "light_description": "There are active red lights at the following coordinates: [[31.612213 20.6893  ]\n [29.918482 24.839314]\n [27.134085 18.961851]\n [28.273346 30.511034]]", "nav_goal": "(120.50434112548828, 266.4486083984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.7351866   0.43531036], 4.755153656005859 meters away.)"}
{"file_name": "images/scenario_506_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 11.9) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 21.2 meters away at (19.5, -8.3). A vehicle with ID 28 is 25.2 meters away at (21.2, 13.6). A unknown object with ID 23 is 25.5 meters away at (-11.9, -22.5). A vehicle with ID 18 is 38.7 meters away at (18.3, -34.1). A vehicle with ID 13 is 49.8 meters away at (0.8, -49.8). A vehicle with ID 35 is 51.5 meters away at (-9.7, -50.6). A vehicle with ID 24 is 52.6 meters away at (28.8, 44.0). A unknown object with ID 11 is 54.7 meters away at (36.1, 41.2). A unknown object with ID 27 is 55.3 meters away at (38.7, 39.4). A unknown object with ID 10 is 58.4 meters away at (37.6, 44.6).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.6066723 -8.069141 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ -3.0879276 -12.4892845] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.6964672 -9.329475 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ -7.2011256 -15.666733 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ -3.2571795 -13.054582 ] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[27.134085 18.961851]]", "nav_goal": "(120.50434112548828, 266.4486083984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [19.540604 -8.330849], 21.242368698120117 meters away.)"}
{"file_name": "images/scenario_506_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 12.0) m/s. Its current heading (yaw) is 1.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 17.7 meters away at (16.6, -6.1). A vehicle with ID 14 is 21.0 meters away at (19.7, 7.4). A unknown object with ID 11 is 35.0 meters away at (30.3, 17.5). A vehicle with ID 28 is 36.2 meters away at (9.2, -35.0). A unknown object with ID 10 is 38.3 meters away at (31.9, 21.2). A unknown object with ID 9 is 39.8 meters away at (32.5, 23.0). A unknown object with ID 8 is 41.6 meters away at (33.2, 25.0). A unknown object with ID 7 is 43.0 meters away at (33.7, 26.7). A unknown object with ID 6 is 46.4 meters away at (35.0, 30.4). A vehicle with ID 17 is 49.2 meters away at (11.9, -47.7).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [ -3.294423 -12.999698] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ -3.3990817 -13.05217  ] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ -3.5849059 -12.549026 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.26604387 -7.3851686 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[31.612213 20.6893  ]\n [29.918482 24.839314]\n [27.134085 18.961851]\n [28.273346 30.511034]]", "nav_goal": "(120.50434112548828, 266.4486083984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [16.632456 -6.07283 ], 17.706436157226562 meters away.)"}
{"file_name": "images/scenario_507_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 4.8) m/s. Its current heading (yaw) is 1.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 32.6 meters away at (-5.7, 32.1). A cyclist with ID 24 is 32.8 meters away at (-5.5, 32.3). A vehicle with ID 27 is 40.7 meters away at (0.4, -40.7). A vehicle with ID 28 is 58.9 meters away at (6.4, -58.5). A vehicle with ID 26 is 63.2 meters away at (-6.1, 62.9).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00547208 -0.00140653] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.01128798  0.00855082] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-5.666758 32.09802 ], 32.59440231323242 meters away.)"}
{"file_name": "images/scenario_507_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 5.3) m/s. Its current heading (yaw) is 1.58 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 22.3 meters away at (5.4, 21.6). A pedestrian with ID 1 is 22.6 meters away at (-5.7, 21.9). A pedestrian with ID 14 is 22.6 meters away at (-8.8, 20.8). A cyclist with ID 24 is 22.8 meters away at (-5.4, 22.1). A pedestrian with ID 15 is 23.6 meters away at (-9.2, 21.7). A vehicle with ID 27 is 51.1 meters away at (0.4, -51.0). A vehicle with ID 26 is 53.0 meters away at (-6.0, 52.7). A vehicle with ID 28 is 69.2 meters away at (6.4, -68.9).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.32712108 0.9589955 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.01866948 0.02278107] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.0024002   0.01372401] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [0.04359319 0.03123411] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.01444392 0.01522914] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 5.3967104 21.605003 ], 22.268827438354492 meters away.)"}
{"file_name": "images/scenario_507_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 5.1) m/s. Its current heading (yaw) is 1.60 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 12.6 meters away at (-5.4, 11.4). A cyclist with ID 24 is 12.8 meters away at (-5.1, 11.7). A pedestrian with ID 14 is 13.6 meters away at (-8.7, 10.4). A pedestrian with ID 15 is 14.4 meters away at (-8.9, 11.3). A vehicle with ID 26 is 42.6 meters away at (-5.8, 42.2). A unknown object with ID 3 is 47.9 meters away at (-11.2, 46.6). A vehicle with ID 27 is 61.5 meters away at (0.6, -61.5). A vehicle with ID 28 is 79.6 meters away at (6.6, -79.3).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00250453 0.00301612] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [0.07341815 0.03274047] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.01197135 0.00591901] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.02387566 0.00038249] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-5.3997483 11.38151  ], 12.597461700439453 meters away.)"}
{"file_name": "images/scenario_507_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.3) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A cyclist with ID 24 is 5.2 meters away at (-4.8, 2.2). A pedestrian with ID 1 is 5.3 meters away at (-5.0, 1.9). A pedestrian with ID 15 is 8.8 meters away at (-8.6, 1.8). A vehicle with ID 26 is 33.1 meters away at (-5.5, 32.7). A pedestrian with ID 2 is 38.0 meters away at (-11.8, 36.1). A unknown object with ID 3 is 38.4 meters away at (-11.2, 36.7). A unknown object with ID 4 is 38.5 meters away at (-10.8, 37.0). A vehicle with ID 27 is 71.0 meters away at (0.9, -71.0).", "velocity_description": "The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.01652559 -0.00077717] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00322658  0.01025405] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01844566  0.02474852] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.01330663  0.00217261] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-4.7558846  2.1678886], 5.226679801940918 meters away.)"}
{"file_name": "images/scenario_508_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -1.9) m/s. Its current heading (yaw) is -2.51 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 4.4 meters away at (0.3, 4.3). A pedestrian with ID 6 is 5.1 meters away at (1.6, 4.8). A pedestrian with ID 26 is 5.5 meters away at (0.3, 5.5). A pedestrian with ID 27 is 6.0 meters away at (-0.2, 6.0). A vehicle with ID 28 is 13.2 meters away at (-9.9, -8.9). A vehicle with ID 36 is 17.1 meters away at (15.1, 8.0). A pedestrian with ID 31 is 27.8 meters away at (-6.4, -27.0). A pedestrian with ID 32 is 27.9 meters away at (-5.6, -27.3). A pedestrian with ID 34 is 33.4 meters away at (-7.2, -32.6). A pedestrian with ID 35 is 33.7 meters away at (-6.4, -33.1).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.117759  -0.7637437] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.0577979 -0.7763894] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.9364313 -0.674932 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.89589113 -0.68044305] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-6.3139296 -4.9839215] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.51435363 -1.0651126 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.54211044 -1.0642945 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.5473345 -1.1431963] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.6224357 -1.1393527] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.161736 -30.613127]\n [-25.506346 -19.574224]\n [-25.136217 -20.422747]]", "nav_goal": "(-202.35028076171875, -213.04237365722656)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [0.33754396 4.337746  ], 4.35085916519165 meters away.)"}
{"file_name": "images/scenario_508_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -0.9) m/s. Its current heading (yaw) is -2.35 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 5.9 meters away at (1.7, 5.6). A vehicle with ID 36 is 6.9 meters away at (6.7, 1.4). A pedestrian with ID 6 is 6.9 meters away at (3.1, 6.2). A pedestrian with ID 26 is 7.5 meters away at (2.2, 7.1). A pedestrian with ID 27 is 7.9 meters away at (1.7, 7.7). A vehicle with ID 28 is 10.0 meters away at (-7.3, -6.8). A pedestrian with ID 31 is 26.3 meters away at (-3.6, -26.0). A pedestrian with ID 32 is 26.6 meters away at (-2.9, -26.5). A pedestrian with ID 34 is 32.4 meters away at (-4.8, -32.1). A pedestrian with ID 35 is 32.5 meters away at (-3.8, -32.2).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.0657053  -0.68914247] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-5.2457    -4.3602276] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.9448032 -0.745224 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.83832973 -0.7002731 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.83889884 -0.6939211 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-1.7217366 -1.6946138] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.4563749 -0.9239412] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.51870817 -0.8907469 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.33789462 -1.2415543 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.17862348 -1.1784286 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.161736 -30.613127]\n [-24.416277 -37.162033]\n [-26.167908 -35.283474]]", "nav_goal": "(-202.35028076171875, -213.04237365722656)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [1.7328644 5.6250157], 5.885883331298828 meters away.)"}
{"file_name": "images/scenario_508_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -1.9) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 3.8 meters away at (0.6, -3.8). A pedestrian with ID 3 is 6.9 meters away at (2.2, 6.6). A pedestrian with ID 6 is 8.2 meters away at (4.0, 7.2). A pedestrian with ID 26 is 9.0 meters away at (3.3, 8.4). A pedestrian with ID 27 is 9.5 meters away at (2.8, 9.1). A vehicle with ID 28 is 16.1 meters away at (-11.6, -11.2). A pedestrian with ID 31 is 25.4 meters away at (-1.4, -25.4). A pedestrian with ID 32 is 25.7 meters away at (-0.7, -25.7). A pedestrian with ID 35 is 32.0 meters away at (-0.9, -32.0). A pedestrian with ID 34 is 32.0 meters away at (-2.0, -31.9).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.6133249 -3.7046611] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.0815625 -0.7737154] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.93080336 -0.7429726 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.8820251  -0.65464807] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.87801737 -0.6105555 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-4.7198772 -4.7614975] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.24028337 -0.8582071 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.21776852 -0.8386662 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.33962905 -0.90445125] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.38500708 -1.0309701 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.161736 -30.613127]\n [-24.416277 -37.162033]\n [-26.167908 -35.283474]]", "nav_goal": "(-202.35028076171875, -213.04237365722656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.5595665 -3.767686 ], 3.809011936187744 meters away.)"}
{"file_name": "images/scenario_508_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -3.1) m/s. Its current heading (yaw) is -2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 6.9 meters away at (1.9, -6.6). A pedestrian with ID 3 is 12.0 meters away at (5.5, 10.6). A pedestrian with ID 6 is 13.3 meters away at (7.7, 10.8). A pedestrian with ID 26 is 14.3 meters away at (7.2, 12.3). A pedestrian with ID 27 is 14.6 meters away at (6.8, 13.0). A unknown object with ID 20 is 18.3 meters away at (12.1, 13.8). A pedestrian with ID 31 is 22.2 meters away at (4.3, -21.8). A pedestrian with ID 32 is 22.8 meters away at (4.8, -22.3). A vehicle with ID 28 is 24.6 meters away at (-17.2, -17.6). A pedestrian with ID 35 is 28.7 meters away at (6.0, -28.1).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.68507594 -4.6888237 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.2398098 -0.4654068] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.0548921 -0.8915163] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0148814  -0.70357627] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.976008   -0.72450584] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.3276953 -0.9073917] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.09831058 -1.0567895 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-6.3965693 -7.173534 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.69143665 -0.72210354] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.161736 -30.613127]\n [-24.416277 -37.162033]\n [-26.167908 -35.283474]]", "nav_goal": "(-202.35028076171875, -213.04237365722656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.9058895 -6.6288853], 6.897429466247559 meters away.)"}
{"file_name": "images/scenario_509_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 1.5) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 20.6 meters away at (13.0, -16.0). A unknown object with ID 25 is 37.9 meters away at (-17.8, -33.5). A unknown object with ID 46 is 39.0 meters away at (-38.1, -8.2). A vehicle with ID 44 is 39.5 meters away at (-32.7, -22.2). A unknown object with ID 47 is 40.6 meters away at (-39.3, -9.9). A vehicle with ID 45 is 46.7 meters away at (46.7, 0.6). A pedestrian with ID 48 is 47.0 meters away at (-46.3, -7.7). A vehicle with ID 24 is 47.2 meters away at (-47.1, -3.4). A vehicle with ID 49 is 47.6 meters away at (-47.5, -3.3). A pedestrian with ID 43 is 48.4 meters away at (31.3, -37.0).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [ 9.2494   -8.156403] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.6917272   0.62133366] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 1.1729656  -0.88593686] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 12.992549 -16.021837], 20.62778663635254 meters away.)"}
{"file_name": "images/scenario_509_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 3.0) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A unknown object with ID 46 is 35.8 meters away at (-33.3, -13.1). A unknown object with ID 47 is 37.1 meters away at (-34.2, -14.2). A pedestrian with ID 33 is 37.7 meters away at (-24.5, -28.6). A vehicle with ID 44 is 38.3 meters away at (-27.7, -26.4). A unknown object with ID 25 is 39.8 meters away at (-12.6, -37.7). A pedestrian with ID 48 is 43.3 meters away at (-42.0, -10.8). A vehicle with ID 24 is 43.7 meters away at (-43.1, -7.4). A vehicle with ID 45 is 52.0 meters away at (51.8, -3.7). A vehicle with ID 41 is 52.3 meters away at (37.1, -36.9). A vehicle with ID 26 is 54.2 meters away at (-44.3, -31.3).", "velocity_description": "The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.5317735 -0.4222963] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.33334795  0.32820305] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 9.562596 -8.156311] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 0.3377922 -0.1398321] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-33.344788 -13.117554], 35.83218002319336 meters away.)"}
{"file_name": "images/scenario_509_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.5) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 40 is 18.0 meters away at (-8.0, 16.1). A unknown object with ID 46 is 31.1 meters away at (-23.6, -20.4). A unknown object with ID 47 is 33.2 meters away at (-24.8, -22.1). A pedestrian with ID 48 is 37.8 meters away at (-33.3, -17.8). A vehicle with ID 24 is 37.8 meters away at (-34.5, -15.3). A vehicle with ID 44 is 38.8 meters away at (-18.4, -34.2). A unknown object with ID 34 is 40.5 meters away at (-40.3, -2.9). A vehicle with ID 26 is 51.3 meters away at (-34.1, -38.4). A vehicle with ID 5 is 54.0 meters away at (-54.0, 0.9). A vehicle with ID 45 is 62.3 meters away at (61.2, -11.5).", "velocity_description": "The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00512918 -0.02588835] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.08191463  0.1977067 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.967787 16.105947], 17.96906089782715 meters away.)"}
{"file_name": "images/scenario_509_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 4.8) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 40 is 7.5 meters away at (2.6, 7.1). A unknown object with ID 46 is 32.4 meters away at (-12.7, -29.8). A unknown object with ID 47 is 34.5 meters away at (-14.1, -31.5). A vehicle with ID 24 is 34.7 meters away at (-24.2, -24.8). A pedestrian with ID 48 is 35.1 meters away at (-22.4, -27.0). A vehicle with ID 44 is 44.1 meters away at (-7.5, -43.5). A vehicle with ID 5 is 44.2 meters away at (-43.3, -8.4). A vehicle with ID 23 is 52.9 meters away at (-15.6, -50.5). A pedestrian with ID 21 is 58.9 meters away at (-58.8, -2.2). A vehicle with ID 13 is 70.3 meters away at (53.2, -46.0).", "velocity_description": "The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.24006611  0.15548128] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.02153102  0.03983707] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.95856005  0.94172746] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.8982835  6.726638 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [2.6411114 7.0620785], 7.539789199829102 meters away.)"}
{"file_name": "images/scenario_510_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 11.9) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A unknown object with ID 38 is 18.6 meters away at (2.2, 18.5). A vehicle with ID 44 is 19.9 meters away at (11.1, -16.5). A vehicle with ID 42 is 32.3 meters away at (24.7, -20.8). A vehicle with ID 15 is 36.2 meters away at (9.2, 35.0). A vehicle with ID 45 is 43.4 meters away at (21.9, -37.5). A vehicle with ID 41 is 59.5 meters away at (-8.5, -58.9). A vehicle with ID 49 is 69.3 meters away at (42.1, -55.1). A vehicle with ID 40 is 76.0 meters away at (39.6, 64.9).", "velocity_description": "The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ -5.664341 -11.996211] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.854253 11.194799] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.773393    0.75741595] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.785388 -8.861323] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-4.070316   7.0282655] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ -3.0825741 -14.640323 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[29.325981 13.120069]\n [30.694153 16.710814]]", "nav_goal": "(121.29305267333984, 266.32574462890625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 2.1785917 18.45339  ], 18.581546783447266 meters away.)"}
{"file_name": "images/scenario_510_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 12.4) m/s. Its current heading (yaw) is 1.26 ", "actor_description": " The most relevant actors are: A unknown object with ID 38 is 8.8 meters away at (-6.8, -5.5). A vehicle with ID 40 is 27.2 meters away at (24.2, 12.4). A vehicle with ID 15 is 33.6 meters away at (5.7, 33.1). A vehicle with ID 42 is 47.5 meters away at (15.9, -44.8). A vehicle with ID 45 is 62.3 meters away at (5.2, -62.1). A vehicle with ID 44 is 64.8 meters away at (-9.9, -64.1).", "velocity_description": "The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ -3.7469454 -14.238699 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.5659566 11.68633  ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-3.5605154 -0.9286923] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ -6.7749896 -11.648977 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[29.325981 13.120069]\n [30.694153 16.710814]]", "nav_goal": "(121.29305267333984, 266.32574462890625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-6.8094635 -5.5192986], 8.765355110168457 meters away.)"}
{"file_name": "images/scenario_510_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 12.7) m/s. Its current heading (yaw) is 1.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 31.6 meters away at (3.7, 31.4). A vehicle with ID 40 is 41.8 meters away at (8.0, -41.0). A unknown object with ID 19 is 50.2 meters away at (34.7, 36.3). A unknown object with ID 30 is 51.9 meters away at (35.3, 38.1). A unknown object with ID 23 is 53.6 meters away at (35.8, 39.8). A unknown object with ID 31 is 55.8 meters away at (36.6, 42.1). A unknown object with ID 36 is 57.5 meters away at (37.1, 44.0). A unknown object with ID 33 is 58.9 meters away at (37.5, 45.4). A unknown object with ID 26 is 59.7 meters away at (37.7, 46.2). A unknown object with ID 27 is 61.3 meters away at (38.3, 47.9).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.6231225 11.647228 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ -5.1847143 -13.964442 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[30.852633 19.269098]\n [29.158901 23.419111]\n [29.325981 13.120069]\n [27.513765 29.090832]\n [30.694153 16.710814]]", "nav_goal": "(121.29305267333984, 266.32574462890625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.67103  31.352402], 31.56658935546875 meters away.)"}
{"file_name": "images/scenario_510_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 12.5) m/s. Its current heading (yaw) is 1.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 29.2 meters away at (3.4, 29.0). A unknown object with ID 19 is 30.9 meters away at (28.9, 11.1). A unknown object with ID 30 is 32.3 meters away at (29.6, 13.1). A unknown object with ID 23 is 33.7 meters away at (30.1, 15.1). A unknown object with ID 31 is 35.1 meters away at (30.7, 16.9). A unknown object with ID 36 is 36.7 meters away at (31.4, 18.9). A unknown object with ID 35 is 36.8 meters away at (34.3, 13.5). A unknown object with ID 26 is 38.1 meters away at (32.0, 20.8). A unknown object with ID 27 is 39.7 meters away at (32.5, 22.9). A unknown object with ID 25 is 41.2 meters away at (33.0, 24.6).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.9276679 11.352858 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(121.29305267333984, 266.32574462890625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.4363365 29.022766 ], 29.22549057006836 meters away.)"}
{"file_name": "images/scenario_511_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -4.0) m/s. Its current heading (yaw) is -1.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 13.5 meters away at (-3.0, 13.2). A vehicle with ID 66 is 41.5 meters away at (8.7, 40.6). A vehicle with ID 67 is 45.6 meters away at (11.3, 44.2). A vehicle with ID 68 is 49.3 meters away at (9.8, 48.4). A vehicle with ID 64 is 51.2 meters away at (15.9, -48.6). A vehicle with ID 69 is 51.6 meters away at (11.3, 50.3). A pedestrian with ID 65 is 52.3 meters away at (17.3, -49.3). A vehicle with ID 72 is 60.2 meters away at (17.2, 57.7). A vehicle with ID 71 is 60.9 meters away at (4.9, 60.7). A vehicle with ID 73 is 63.9 meters away at (8.7, 63.3).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.59830177 -2.9717255 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.00571722 -0.06460944] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.0268874 13.157593 ], 13.501270294189453 meters away.)"}
{"file_name": "images/scenario_511_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -4.4) m/s. Its current heading (yaw) is -1.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 14.6 meters away at (-3.6, 14.2). A vehicle with ID 64 is 42.7 meters away at (13.9, -40.4). A pedestrian with ID 65 is 43.7 meters away at (15.2, -41.0). A vehicle with ID 66 is 49.3 meters away at (6.8, 48.8). A vehicle with ID 67 is 53.2 meters away at (9.2, 52.4). A vehicle with ID 69 is 59.3 meters away at (9.3, 58.5). A vehicle with ID 72 is 67.7 meters away at (15.1, 66.0). A vehicle with ID 71 is 69.0 meters away at (2.9, 69.0). A vehicle with ID 73 is 71.9 meters away at (6.6, 71.6). A vehicle with ID 59 is 76.7 meters away at (14.9, -75.3).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.900528 -4.428973] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.01612918  0.02279809] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-0.9359792  3.1273706] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.5547564 14.180821 ], 14.619575500488281 meters away.)"}
{"file_name": "images/scenario_511_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -4.6) m/s. Its current heading (yaw) is -1.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 14.6 meters away at (-3.8, 14.1). A vehicle with ID 64 is 33.5 meters away at (11.7, -31.4). A pedestrian with ID 65 is 34.7 meters away at (13.1, -32.1). A pedestrian with ID 58 is 44.6 meters away at (-19.3, 40.2). A vehicle with ID 66 is 58.0 meters away at (4.6, 57.8). A vehicle with ID 59 is 59.0 meters away at (10.3, -58.1). A vehicle with ID 67 is 61.9 meters away at (7.1, 61.5). A vehicle with ID 69 is 67.9 meters away at (7.2, 67.6).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 1.1835614 -4.700729 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.01999883 -0.05024226] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.30020425 -1.2274    ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.5266567  5.5200086] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.7504294 14.071032 ], 14.562268257141113 meters away.)"}
{"file_name": "images/scenario_511_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -4.5) m/s. Its current heading (yaw) is -1.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 14.1 meters away at (-3.5, 13.7). A vehicle with ID 64 is 24.1 meters away at (9.4, -22.1). A pedestrian with ID 65 is 26.0 meters away at (10.7, -23.7). A vehicle with ID 59 is 36.3 meters away at (4.6, -36.1). A pedestrian with ID 58 is 51.3 meters away at (-20.1, 47.2). A unknown object with ID 51 is 55.0 meters away at (23.1, -49.9). A vehicle with ID 66 is 67.1 meters away at (2.3, 67.0).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 1.2507087 -4.799067 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.27560234 -0.5084599 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.6025196  6.398185 ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.7309515 -1.2570988] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.4904017 13.700975 ], 14.138586044311523 meters away.)"}
{"file_name": "images/scenario_512_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.3) m/s. Its current heading (yaw) is -1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 7.7 meters away at (-2.2, 7.4). A vehicle with ID 7 is 18.4 meters away at (-0.4, 18.4). A vehicle with ID 49 is 19.5 meters away at (-9.7, 16.9). A vehicle with ID 39 is 23.4 meters away at (-23.1, -3.7). A pedestrian with ID 40 is 28.3 meters away at (-12.3, -25.5). A vehicle with ID 42 is 38.2 meters away at (-2.8, -38.1). A cyclist with ID 56 is 39.2 meters away at (-32.4, -22.1). A vehicle with ID 38 is 39.4 meters away at (-19.2, -34.4). A vehicle with ID 14 is 40.0 meters away at (12.6, -38.0). A pedestrian with ID 43 is 41.6 meters away at (-29.5, 29.3).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.9864276 -2.6560555] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ -6.445337 -18.43981 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.1597237   0.41909087] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-4.8683195 -1.2849458] m/s.The cyclist with ID 56 is traveling at a (x, y) velocity of [ 2.4240084 17.324457 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ -2.6351087 -13.685041 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.3364434  1.6899127] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.12649025 0.33202395] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.3078    13.447198]\n [-35.030693   8.557013]\n [-31.331757  15.972526]\n [-34.118706  11.323552]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.1834905  7.412996 ], 7.727880477905273 meters away.)"}
{"file_name": "images/scenario_512_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -3.8) m/s. Its current heading (yaw) is -0.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 13.4 meters away at (-5.4, 12.3). A vehicle with ID 7 is 21.5 meters away at (-4.6, 21.0). A pedestrian with ID 40 is 25.0 meters away at (-15.5, -19.6). A vehicle with ID 39 is 26.4 meters away at (-26.3, 2.1). A vehicle with ID 49 is 29.3 meters away at (-24.3, -16.4). A vehicle with ID 14 is 31.1 meters away at (-2.2, -31.0). A cyclist with ID 56 is 32.0 meters away at (-26.4, 18.0). A cyclist with ID 28 is 32.3 meters away at (4.8, -32.0). A vehicle with ID 15 is 36.2 meters away at (-15.8, 32.6). A vehicle with ID 42 is 37.7 meters away at (-13.3, -35.3).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.0277852 -1.6399642] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.19499297 -0.7557081 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01175621  0.03532352] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ -4.5918083 -20.595474 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-4.8398814 -0.412538 ] m/s.The cyclist with ID 56 is traveling at a (x, y) velocity of [ 5.6236534 16.44869  ] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-5.769357   0.7379299] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.2515082 -5.6601768] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.4742572 -1.2980988] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.959345   6.265052]\n [-32.3078    13.447198]\n [-35.030693   8.557013]\n [-31.331757  15.972526]\n [-21.54009    9.86023 ]\n [-34.118706  11.323552]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.3626785 12.313974 ], 13.43101978302002 meters away.)"}
{"file_name": "images/scenario_512_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -3.5) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 18.2 meters away at (-12.6, 13.1). A cyclist with ID 28 is 26.6 meters away at (-10.5, -24.4). A pedestrian with ID 40 is 26.9 meters away at (-24.0, -12.2). A vehicle with ID 7 is 29.3 meters away at (-13.5, 26.0). A vehicle with ID 14 is 30.8 meters away at (-17.6, -25.3). A vehicle with ID 39 is 36.0 meters away at (-34.8, 9.5). A vehicle with ID 10 is 36.1 meters away at (-25.8, 25.3). A vehicle with ID 42 is 38.0 meters away at (-24.2, -29.3). A vehicle with ID 34 is 41.6 meters away at (-19.3, 36.9). A vehicle with ID 15 is 42.1 meters away at (-27.7, 31.7).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.7620239 -4.5255356] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-2.3907316  -0.07337782] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.00279102 -0.00916691] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.19752045 -2.288136  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.7950292 -0.7912873] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ -4.924178 -15.257239] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-0.45487824 -0.29057828] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ -4.223757 -11.508434] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.3790832 -3.2147946] m/s.", "light_description": "There are active red lights at the following coordinates: [[-29.493261  -12.551655 ]\n [-32.254242   -7.0038857]\n [-17.959345    6.265052 ]\n [-35.085155   -3.4287205]\n [-35.030693    8.557013 ]\n [-21.54009     9.86023  ]\n [-34.118706   11.323552 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.590023  13.116483], 18.181055068969727 meters away.)"}
{"file_name": "images/scenario_512_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -3.5) m/s. Its current heading (yaw) is -0.50 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 19.6 meters away at (-17.0, 9.9). A cyclist with ID 28 is 29.9 meters away at (-24.0, -17.7). A vehicle with ID 14 is 36.0 meters away at (-30.5, -19.0). A pedestrian with ID 40 is 36.0 meters away at (-35.6, -5.3). A vehicle with ID 7 is 36.7 meters away at (-25.4, 26.5). A vehicle with ID 34 is 44.1 meters away at (-39.1, 20.3). A vehicle with ID 10 is 46.4 meters away at (-46.3, 1.4). A vehicle with ID 12 is 47.5 meters away at (-23.0, 41.6). A vehicle with ID 39 is 49.5 meters away at (-46.7, 16.4). A pedestrian with ID 25 is 51.3 meters away at (-9.7, -50.4).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.008016  -5.2463803] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-0.07002803 -0.0387525 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.14641267 -0.16405703] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 0.6363453 -4.466742 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ -3.4465106 -11.589396 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ -3.5489762 -15.503301 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-1.5759629 -4.696159 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.00205227 -1.2930338 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.030693   8.557013]\n [-34.118706  11.323552]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-16.961613   9.909579], 19.644237518310547 meters away.)"}
{"file_name": "images/scenario_513_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 10.0 meters away at (-1.8, 9.9). A pedestrian with ID 9 is 15.4 meters away at (7.7, -13.4). A vehicle with ID 61 is 18.5 meters away at (-3.4, 18.2). A unknown object with ID 62 is 23.7 meters away at (-14.3, -19.0). A vehicle with ID 64 is 25.6 meters away at (-4.8, 25.2). A vehicle with ID 66 is 33.6 meters away at (-6.9, 32.9). A vehicle with ID 63 is 36.0 meters away at (15.8, -32.4). A unknown object with ID 67 is 40.9 meters away at (33.1, -24.0). A vehicle with ID 70 is 43.1 meters away at (-9.6, 42.0). A unknown object with ID 69 is 44.9 meters away at (38.1, -23.8).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.11108728 -0.80646384] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 0.16765207 -0.425561  ] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -2.821487   -11.038256  ]\n [  0.5697024   -8.039982  ]\n [  0.43815538  -8.061543  ]\n [  0.4411046   -8.061196  ]\n [  7.078715   -33.843037  ]\n [  6.7602344  -32.28784   ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.7882833  9.8737135], 10.034350395202637 meters away.)"}
{"file_name": "images/scenario_513_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -2.8) m/s. Its current heading (yaw) is -1.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 12.5 meters away at (-2.1, 12.3). A pedestrian with ID 9 is 15.2 meters away at (7.1, -13.4). A vehicle with ID 61 is 21.0 meters away at (-3.6, 20.7). A unknown object with ID 62 is 21.6 meters away at (-14.6, -16.0). A vehicle with ID 64 is 28.1 meters away at (-5.1, 27.6). A unknown object with ID 34 is 31.2 meters away at (19.8, -24.1). A vehicle with ID 63 is 33.3 meters away at (15.5, -29.5). A unknown object with ID 45 is 34.7 meters away at (18.8, -29.2). A vehicle with ID 66 is 35.3 meters away at (-7.0, 34.6). A unknown object with ID 67 is 38.9 meters away at (32.8, -20.8).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [ 0.16206762 -0.9884136 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.03150566 -1.5469767 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 0.09991737 -0.532079  ] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 0.11618117 -0.41723487] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  7.078715  -33.843037 ]\n [  6.7602344 -32.28784  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.0725758 12.301712 ], 12.475082397460938 meters away.)"}
{"file_name": "images/scenario_513_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -5.0) m/s. Its current heading (yaw) is -1.52 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 10.6 meters away at (6.3, -8.5). A vehicle with ID 65 is 15.1 meters away at (-1.8, 15.0). A unknown object with ID 62 is 17.2 meters away at (-15.2, -8.1). A unknown object with ID 26 is 22.2 meters away at (15.7, -15.7). A unknown object with ID 48 is 22.6 meters away at (15.9, -16.0). A vehicle with ID 72 is 23.5 meters away at (-9.6, -21.5). A vehicle with ID 63 is 26.1 meters away at (14.8, -21.5). A vehicle with ID 61 is 26.5 meters away at (-3.8, 26.2). A unknown object with ID 45 is 27.9 meters away at (18.1, -21.2). A unknown object with ID 19 is 28.5 meters away at (20.7, -19.5).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00660676 -1.5942203 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 0.7743773 -4.704652 ] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0.06857265 5.975539  ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 0.31595048 -1.981496  ] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  7.078715  -33.843037 ]\n [  6.7602344 -32.28784  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 6.3006973 -8.522933 ], 10.599017143249512 meters away.)"}
{"file_name": "images/scenario_513_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -6.3) m/s. Its current heading (yaw) is -1.58 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 6.1 meters away at (6.1, -0.2). A vehicle with ID 72 is 11.1 meters away at (-10.2, 4.4). A vehicle with ID 65 is 14.5 meters away at (0.3, 14.5). A unknown object with ID 62 is 15.8 meters away at (-15.5, 3.4). A unknown object with ID 48 is 16.4 meters away at (15.7, -4.5). A vehicle with ID 63 is 17.6 meters away at (14.5, -10.0). A unknown object with ID 45 is 20.3 meters away at (17.9, -9.7). A unknown object with ID 19 is 22.0 meters away at (20.4, -8.2). A unknown object with ID 37 is 23.7 meters away at (22.3, -8.0). A unknown object with ID 40 is 27.9 meters away at (26.9, -7.7).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.01540566 -1.6861721 ] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.43810064  8.208447  ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 2.1001651 -6.1020827] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  7.078715  -33.843037 ]\n [  6.7602344 -32.28784  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 6.079833   -0.16897583], 6.082180976867676 meters away.)"}
{"file_name": "images/scenario_514_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 3.1) m/s. Its current heading (yaw) is 1.95 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 24.4 meters away at (5.7, 23.7). A vehicle with ID 23 is 28.7 meters away at (11.6, 26.3). A vehicle with ID 9 is 34.3 meters away at (18.2, 29.1). A vehicle with ID 11 is 39.0 meters away at (23.3, 31.3). A vehicle with ID 14 is 44.3 meters away at (28.7, 33.7).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.7257537841797, 139.22128295898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.6561966 23.74775  ], 24.412050247192383 meters away.)"}
{"file_name": "images/scenario_514_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 1.5) m/s. Its current heading (yaw) is 2.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 20.7 meters away at (7.7, 19.3). A vehicle with ID 23 is 25.6 meters away at (13.5, 21.8). A vehicle with ID 9 is 31.8 meters away at (20.2, 24.6). A vehicle with ID 2 is 34.9 meters away at (-34.3, -6.4). A vehicle with ID 11 is 36.9 meters away at (25.4, 26.8). A vehicle with ID 1 is 40.8 meters away at (-39.8, -9.0). A vehicle with ID 14 is 42.3 meters away at (30.6, 29.2). A vehicle with ID 17 is 53.0 meters away at (40.9, 33.7).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.7257537841797, 139.22128295898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.713048 19.258373], 20.745506286621094 meters away.)"}
{"file_name": "images/scenario_514_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 2.0) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 18.7 meters away at (10.2, 15.7). A vehicle with ID 23 is 24.3 meters away at (16.1, 18.2). A vehicle with ID 9 is 31.0 meters away at (22.8, 21.0). A vehicle with ID 2 is 33.4 meters away at (-31.9, -9.7). A vehicle with ID 11 is 36.3 meters away at (28.0, 23.2). A vehicle with ID 1 is 39.5 meters away at (-37.6, -12.2). A vehicle with ID 14 is 41.9 meters away at (33.3, 25.5). A vehicle with ID 17 is 52.9 meters away at (43.6, 30.0).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.7257537841797, 139.22128295898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [10.228622 15.692068], 18.73141098022461 meters away.)"}
{"file_name": "images/scenario_514_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 0.3) m/s. Its current heading (yaw) is 3.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 21.9 meters away at (17.6, 13.1). A vehicle with ID 2 is 27.4 meters away at (-24.6, -12.2). A vehicle with ID 23 is 28.1 meters away at (23.4, 15.5). A vehicle with ID 1 is 33.7 meters away at (-30.3, -14.7). A vehicle with ID 9 is 35.3 meters away at (30.2, 18.4). A vehicle with ID 11 is 40.9 meters away at (35.4, 20.5). A vehicle with ID 8 is 41.7 meters away at (-37.7, -17.9). A vehicle with ID 14 is 46.6 meters away at (40.6, 22.9). A vehicle with ID 16 is 50.2 meters away at (-45.6, -21.1). A vehicle with ID 17 is 57.7 meters away at (50.8, 27.3).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.7257537841797, 139.22128295898438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [17.586842 13.103392], 21.931617736816406 meters away.)"}
{"file_name": "images/scenario_515_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 17.2 meters away at (5.6, 16.3). A vehicle with ID 18 is 20.6 meters away at (-11.2, 17.3). A vehicle with ID 21 is 22.6 meters away at (-13.4, 18.2). A vehicle with ID 23 is 24.7 meters away at (-16.2, 18.7). A pedestrian with ID 1 is 26.3 meters away at (12.8, 22.9). A vehicle with ID 25 is 27.3 meters away at (-19.1, 19.5). A unknown object with ID 29 is 35.1 meters away at (15.1, 31.7). A unknown object with ID 35 is 51.0 meters away at (2.6, 51.0). A vehicle with ID 36 is 78.8 meters away at (-33.8, -71.1).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.12946449 -0.01025301] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(217.52276611328125, -45.291622161865234)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.599316 16.300491], 17.235380172729492 meters away.)"}
{"file_name": "images/scenario_515_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 17.3 meters away at (5.6, 16.3). A vehicle with ID 18 is 20.6 meters away at (-11.2, 17.3). A vehicle with ID 21 is 22.6 meters away at (-13.4, 18.2). A vehicle with ID 23 is 24.7 meters away at (-16.2, 18.7). A pedestrian with ID 1 is 26.3 meters away at (12.5, 23.2). A unknown object with ID 29 is 35.1 meters away at (15.1, 31.7). A unknown object with ID 35 is 51.0 meters away at (2.6, 51.0). A vehicle with ID 8 is 61.3 meters away at (-30.4, -53.2). A vehicle with ID 36 is 78.8 meters away at (-33.8, -71.2).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.20924173  0.70948   ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.1594028 -1.7646592] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(217.52276611328125, -45.291622161865234)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.5981803 16.333227 ], 17.265975952148438 meters away.)"}
{"file_name": "images/scenario_515_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 17.2 meters away at (5.6, 16.3). A vehicle with ID 18 is 20.6 meters away at (-11.2, 17.3). A vehicle with ID 21 is 22.6 meters away at (-13.4, 18.2). A vehicle with ID 23 is 24.7 meters away at (-16.2, 18.7). A pedestrian with ID 1 is 28.0 meters away at (12.3, 25.1). A unknown object with ID 35 is 51.0 meters away at (2.6, 51.0). A unknown object with ID 4 is 65.5 meters away at (-33.2, -56.4). A vehicle with ID 8 is 65.5 meters away at (-27.4, -59.5). A vehicle with ID 36 is 78.8 meters away at (-33.8, -71.1).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.21379931 1.0899374 ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.3612232 -4.441577 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(217.52276611328125, -45.291622161865234)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.5988374 16.312698 ], 17.24677085876465 meters away.)"}
{"file_name": "images/scenario_515_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 17.2 meters away at (5.6, 16.3). A vehicle with ID 18 is 20.6 meters away at (-11.2, 17.3). A vehicle with ID 21 is 22.6 meters away at (-13.4, 18.2). A vehicle with ID 23 is 24.7 meters away at (-16.1, 18.7). A vehicle with ID 12 is 27.4 meters away at (-18.8, 20.0). A pedestrian with ID 1 is 30.0 meters away at (12.6, 27.2). A unknown object with ID 7 is 35.0 meters away at (15.1, 31.6). A unknown object with ID 4 is 65.3 meters away at (-33.2, -56.2). A vehicle with ID 8 is 76.1 meters away at (-29.6, -70.1). A vehicle with ID 36 is 78.9 meters away at (-33.9, -71.2).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.26611668 1.0405977 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.027107 -6.043099] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(217.52276611328125, -45.291622161865234)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.6045127 16.289803 ], 17.226961135864258 meters away.)"}
{"file_name": "images/scenario_516_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 3.3) m/s. Its current heading (yaw) is 1.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 33.4 meters away at (-3.4, 33.2). A cyclist with ID 2 is 47.6 meters away at (-16.5, -44.7). A pedestrian with ID 13 is 47.7 meters away at (-16.6, -44.7). A unknown object with ID 9 is 52.1 meters away at (39.1, 34.3). A unknown object with ID 19 is 53.5 meters away at (41.6, 33.6). A pedestrian with ID 20 is 54.8 meters away at (42.3, 34.7). A unknown object with ID 21 is 56.6 meters away at (46.4, 32.4). A pedestrian with ID 15 is 58.1 meters away at (-22.0, -53.7). A vehicle with ID 22 is 59.2 meters away at (48.2, 34.4). A unknown object with ID 17 is 60.2 meters away at (-22.4, -55.9).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-1.0084314  0.1383369] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.1140804  -0.06018537] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.2407668  0.19382209] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.02142465 -0.01850728] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 3.4161031  25.343573  ]\n [ 0.15797916 24.89757   ]\n [ 3.4161048  25.343573  ]\n [ 3.3614376  25.348364  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-3.371818 33.229465], 33.40009689331055 meters away.)"}
{"file_name": "images/scenario_516_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.8) m/s. Its current heading (yaw) is 1.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 29.3 meters away at (-4.0, 29.1). A unknown object with ID 9 is 49.0 meters away at (38.6, 30.2). A unknown object with ID 19 is 50.5 meters away at (41.0, 29.4). A pedestrian with ID 20 is 52.3 meters away at (42.2, 31.0). A unknown object with ID 21 is 53.8 meters away at (45.8, 28.2). A vehicle with ID 22 is 56.4 meters away at (47.7, 30.1). A vehicle with ID 16 is 73.8 meters away at (-14.8, -72.3).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00190409 -0.00642212] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-1.8095374 -4.272977 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 3.4161031  25.343573  ]\n [ 0.15797916 24.89757   ]\n [ 3.4161048  25.343573  ]\n [ 3.3614376  25.348364  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-3.9586077 29.077702 ], 29.34592628479004 meters away.)"}
{"file_name": "images/scenario_516_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 28.6 meters away at (-4.1, 28.4). A unknown object with ID 9 is 48.5 meters away at (38.4, 29.5). A unknown object with ID 19 is 50.0 meters away at (40.9, 28.8). A unknown object with ID 8 is 51.7 meters away at (42.0, 30.3). A pedestrian with ID 20 is 51.8 meters away at (42.1, 30.3). A unknown object with ID 21 is 53.4 meters away at (45.7, 27.5). A vehicle with ID 22 is 56.0 meters away at (47.6, 29.6). A unknown object with ID 6 is 67.1 meters away at (1.5, -67.1).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.03306259 -0.00275254] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 3.4161031  25.343573  ]\n [ 0.15797916 24.89757   ]\n [ 3.4161048  25.343573  ]\n [ 3.3614376  25.348364  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-4.0608153 28.350037 ], 28.639392852783203 meters away.)"}
{"file_name": "images/scenario_516_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 28.6 meters away at (-4.1, 28.4). A unknown object with ID 9 is 48.5 meters away at (38.4, 29.5). A unknown object with ID 19 is 50.0 meters away at (40.9, 28.8). A unknown object with ID 8 is 51.7 meters away at (41.9, 30.2). A pedestrian with ID 20 is 51.8 meters away at (42.0, 30.2). A unknown object with ID 21 is 53.3 meters away at (45.7, 27.5). A vehicle with ID 22 is 56.0 meters away at (47.6, 29.6). A vehicle with ID 1 is 62.6 meters away at (60.5, 16.1). A unknown object with ID 6 is 67.2 meters away at (1.6, -67.2). A unknown object with ID 3 is 77.7 meters away at (1.5, -77.7).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.01970403 -0.00792438] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.177591   -0.20429622] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 3.4161031  25.343573  ]\n [ 0.15797916 24.89757   ]\n [ 3.4161048  25.343573  ]\n [ 3.3614376  25.348364  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-4.074171 28.350319], 28.641569137573242 meters away.)"}
{"file_name": "images/scenario_517_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -6.0) m/s. Its current heading (yaw) is -1.21 ", "actor_description": " The most relevant actors are: A cyclist with ID 13 is 60.9 meters away at (15.3, -58.9). A pedestrian with ID 1 is 77.1 meters away at (24.2, -73.2).", "velocity_description": "The cyclist with ID 13 is traveling at a (x, y) velocity of [-3.6432304e-08 -7.6003232e-08] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.01824768  0.0327008 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 15.338902 -58.90686 ], 60.871177673339844 meters away.)"}
{"file_name": "images/scenario_517_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -6.0) m/s. Its current heading (yaw) is -1.18 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 64.1 meters away at (19.3, -61.2). A vehicle with ID 14 is 68.7 meters away at (33.4, -60.1). A vehicle with ID 15 is 70.4 meters away at (12.3, -69.3).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.0023253   0.03025357] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.729324   6.3080506] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0.8590958  0.19836631] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 19.313168 -61.16561 ], 64.14226531982422 meters away.)"}
{"file_name": "images/scenario_517_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -5.8) m/s. Its current heading (yaw) is -1.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 39.4 meters away at (17.3, -35.4). A pedestrian with ID 1 is 51.4 meters away at (14.3, -49.3). A vehicle with ID 3 is 65.9 meters away at (32.2, -57.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.215654   6.7280126] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.09766159 -0.00502919] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 17.25962 -35.40426], 39.38725662231445 meters away.)"}
{"file_name": "images/scenario_517_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -5.0) m/s. Its current heading (yaw) is -1.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 10.1 meters away at (1.7, -9.9). A pedestrian with ID 1 is 39.4 meters away at (8.9, -38.4). A vehicle with ID 3 is 53.5 meters away at (26.7, -46.4). A vehicle with ID 7 is 76.2 meters away at (42.7, -63.2).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [-4.6414886  7.6644883] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.5011985  0.14810981] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.7485085 -9.898178 ], 10.05142879486084 meters away.)"}
{"file_name": "images/scenario_518_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -1.7) m/s. Its current heading (yaw) is -0.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 12.5 meters away at (3.6, -11.9). A cyclist with ID 24 is 23.4 meters away at (-20.3, -11.7). A vehicle with ID 23 is 27.2 meters away at (-26.9, -3.6). A vehicle with ID 11 is 27.2 meters away at (-27.0, -3.5). A vehicle with ID 22 is 49.8 meters away at (-46.4, 18.0). A unknown object with ID 20 is 50.5 meters away at (49.9, 7.6).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [10.781364 -9.425183] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-10.34083    9.612698] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-10.859823   9.40795 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-11.086645   9.932521] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-9.315198  8.191741] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(6.145357131958008, 199.2200469970703)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  3.5778923 -11.928442 ], 12.453474998474121 meters away.)"}
{"file_name": "images/scenario_518_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, 1.2) m/s. Its current heading (yaw) is 0.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 32.9 meters away at (12.7, -30.3). A unknown object with ID 9 is 35.3 meters away at (35.1, 4.3). A unknown object with ID 15 is 36.5 meters away at (36.1, 5.9). A unknown object with ID 17 is 37.1 meters away at (36.6, 6.3). A unknown object with ID 10 is 37.2 meters away at (-31.7, 19.5). A unknown object with ID 20 is 38.2 meters away at (37.4, 8.0). A unknown object with ID 13 is 40.0 meters away at (38.9, 9.2). A cyclist with ID 24 is 54.1 meters away at (-53.5, 8.2). A unknown object with ID 1 is 61.3 meters away at (54.2, 28.6). A vehicle with ID 23 is 64.0 meters away at (-61.8, 16.9).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [10.955742 -9.723728] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-10.180263   9.839229] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-11.260944  10.045681] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(6.145357131958008, 199.2200469970703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 12.715847 -30.333387], 32.89083480834961 meters away.)"}
{"file_name": "images/scenario_518_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 4.7) m/s. Its current heading (yaw) is 0.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 23.3 meters away at (23.3, -1.4). A unknown object with ID 15 is 24.1 meters away at (24.1, 0.2). A unknown object with ID 17 is 24.6 meters away at (24.6, 0.6). A unknown object with ID 20 is 25.6 meters away at (25.5, 2.3). A unknown object with ID 13 is 27.2 meters away at (27.0, 3.5). A unknown object with ID 6 is 32.1 meters away at (18.6, 26.2). A unknown object with ID 5 is 32.3 meters away at (18.0, 26.8). A unknown object with ID 4 is 33.0 meters away at (18.3, 27.5). A unknown object with ID 3 is 33.2 meters away at (19.5, 26.9). A unknown object with ID 1 is 48.3 meters away at (42.5, 22.8).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(6.145357131958008, 199.2200469970703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [23.276394  -1.4187857], 23.31959342956543 meters away.)"}
{"file_name": "images/scenario_518_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 5.8) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 17.5 meters away at (8.3, 15.4). A unknown object with ID 20 is 17.5 meters away at (15.4, -8.3). A unknown object with ID 17 is 17.6 meters away at (14.5, -10.1). A unknown object with ID 5 is 17.7 meters away at (7.6, 16.0). A unknown object with ID 9 is 17.8 meters away at (13.1, -12.1). A unknown object with ID 13 is 18.3 meters away at (16.8, -7.2). A unknown object with ID 3 is 18.5 meters away at (8.9, 16.2). A unknown object with ID 4 is 18.5 meters away at (8.1, 16.7). A unknown object with ID 2 is 32.9 meters away at (31.5, 9.7). A unknown object with ID 1 is 34.4 meters away at (32.1, 12.4).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 25.9328   -38.487198]]", "nav_goal": "(6.145357131958008, 199.2200469970703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 8.276291 15.41456 ], 17.495874404907227 meters away.)"}
{"file_name": "images/scenario_519_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 5.4) m/s. Its current heading (yaw) is 1.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 13.5 meters away at (-11.8, -6.5). A vehicle with ID 59 is 15.3 meters away at (11.1, -10.5). A pedestrian with ID 57 is 16.5 meters away at (0.2, -16.5). A vehicle with ID 55 is 16.7 meters away at (-1.6, 16.6). A vehicle with ID 64 is 18.5 meters away at (-18.4, 1.8). A vehicle with ID 58 is 18.6 meters away at (8.6, -16.5). A unknown object with ID 60 is 19.3 meters away at (17.4, -8.4). A vehicle with ID 61 is 22.6 meters away at (13.4, -18.2). A vehicle with ID 54 is 22.9 meters away at (0.7, 22.9). A vehicle with ID 76 is 25.5 meters away at (-25.4, -2.4).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.7966342  -0.02394398] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.9487579   0.60682184] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.00697656 -0.00453656] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 5.71935   -1.7930844] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.19900512695312, 160.91529846191406)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.831644   -6.4860725], 13.49284839630127 meters away.)"}
{"file_name": "images/scenario_519_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.2) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 6.2 meters away at (-4.9, 3.9). A vehicle with ID 54 is 10.5 meters away at (-2.6, 10.1). A vehicle with ID 52 is 16.2 meters away at (-0.5, 16.2). A vehicle with ID 12 is 18.2 meters away at (-8.1, -16.3). A vehicle with ID 59 is 23.2 meters away at (5.6, -22.5). A vehicle with ID 64 is 24.3 meters away at (-21.7, -10.8). A vehicle with ID 76 is 27.1 meters away at (-20.5, -17.7). A pedestrian with ID 57 is 29.5 meters away at (-3.2, -29.3). A vehicle with ID 58 is 29.8 meters away at (5.1, -29.3). A vehicle with ID 20 is 35.5 meters away at (14.2, 32.5).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [3.7267246 3.4975865] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.0036242  0.3831178] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 3.1142507 -1.044538 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.0023903  -0.02119338] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.19900512695312, 160.91529846191406)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.8517456  3.8987541], 6.224123954772949 meters away.)"}
{"file_name": "images/scenario_519_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.3) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 5.7 meters away at (-5.5, 1.7). A vehicle with ID 54 is 8.7 meters away at (-7.5, -4.4). A vehicle with ID 55 is 14.4 meters away at (-9.8, -10.6). A vehicle with ID 13 is 15.8 meters away at (-8.3, 13.4). A vehicle with ID 20 is 20.2 meters away at (9.3, 17.9). A vehicle with ID 12 is 21.6 meters away at (-6.8, -20.5). A vehicle with ID 51 is 24.4 meters away at (2.2, 24.3). A vehicle with ID 6 is 24.7 meters away at (-8.6, 23.2). A vehicle with ID 53 is 31.1 meters away at (4.8, 30.7). A vehicle with ID 59 is 35.7 meters away at (-4.0, -35.5).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.7282615 6.4566126] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-3.697445  1.328161] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.19900512695312, 160.91529846191406)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.4980483  1.6513481], 5.740686893463135 meters away.)"}
{"file_name": "images/scenario_519_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.5) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 6.2 meters away at (4.6, 4.1). A vehicle with ID 51 is 10.7 meters away at (-2.4, 10.4). A vehicle with ID 13 is 13.0 meters away at (-13.0, -0.3). A vehicle with ID 52 is 15.7 meters away at (-10.1, -12.1). A vehicle with ID 6 is 16.2 meters away at (-13.2, 9.4). A vehicle with ID 53 is 16.9 meters away at (0.1, 16.9). A vehicle with ID 44 is 18.4 meters away at (-18.3, 1.6). A vehicle with ID 54 is 21.9 meters away at (-12.1, -18.2). A vehicle with ID 12 is 22.2 meters away at (-6.6, -21.2). A vehicle with ID 56 is 24.4 meters away at (2.8, 24.3).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.252754  6.6440063] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 25.729483 105.58886 ]\n [ 25.532494 105.63038 ]]", "nav_goal": "(-157.19900512695312, 160.91529846191406)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.6253147 4.0742226], 6.163832187652588 meters away.)"}
{"file_name": "images/scenario_520_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -6.2) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 62 is 13.6 meters away at (2.6, -13.4). A unknown object with ID 34 is 22.8 meters away at (-21.0, -8.8). A unknown object with ID 72 is 25.1 meters away at (-21.7, -12.6). A unknown object with ID 37 is 31.1 meters away at (-24.8, -18.6). A pedestrian with ID 75 is 31.5 meters away at (-22.9, -21.7). A pedestrian with ID 5 is 33.0 meters away at (-17.8, -27.8). A pedestrian with ID 71 is 34.1 meters away at (-18.6, -28.6). A vehicle with ID 39 is 34.3 meters away at (-25.3, -23.1). A unknown object with ID 79 is 40.9 meters away at (-28.2, -29.7). A pedestrian with ID 80 is 51.0 meters away at (-11.5, -49.7).", "velocity_description": "The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.00295003 -0.00491605] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.02333214 -0.02490003] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.00034579 -0.00276359] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.00120801 -0.0076428 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.86309075 0.7759008 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.499002 -69.52356 ]\n [-17.47866  -68.80448 ]\n [-17.497705 -69.55229 ]\n [-17.508802 -69.239075]\n [-17.497705 -69.552284]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  2.5907564 -13.394796 ], 13.643041610717773 meters away.)"}
{"file_name": "images/scenario_520_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -5.0) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A pedestrian with ID 62 is 6.4 meters away at (5.9, -2.3). A unknown object with ID 72 is 18.4 meters away at (-18.3, -1.6). A pedestrian with ID 61 is 21.1 meters away at (-21.0, -2.0). A pedestrian with ID 31 is 21.5 meters away at (-21.2, -3.6). A pedestrian with ID 5 is 22.0 meters away at (-14.4, -16.6). A pedestrian with ID 75 is 22.3 meters away at (-19.5, -10.7). A pedestrian with ID 71 is 23.2 meters away at (-15.1, -17.6). A vehicle with ID 39 is 24.5 meters away at (-21.6, -11.6). A pedestrian with ID 4 is 29.4 meters away at (2.1, -29.4). A pedestrian with ID 80 is 37.8 meters away at (-6.6, -37.2).", "velocity_description": "The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01099315 -0.00848772] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00305768  0.00320421] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.06366163  0.09786575] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.01075723 -0.08624977] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.00663003 -0.01145049] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.02299135 0.01363255] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.6490227  0.92442685] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.499002 -69.52356 ]\n [-17.47866  -68.80448 ]\n [-43.834877 -77.02344 ]\n [-17.497705 -69.55229 ]\n [-43.59193  -77.18986 ]\n [-17.508802 -69.239075]\n [-17.497705 -69.552284]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 5.9419074 -2.3409348], 6.386410713195801 meters away.)"}
{"file_name": "images/scenario_520_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -4.5) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A unknown object with ID 52 is 11.8 meters away at (9.6, 6.9). A pedestrian with ID 5 is 13.1 meters away at (-10.9, -7.3). A pedestrian with ID 71 is 14.3 meters away at (-11.6, -8.3). A pedestrian with ID 75 is 16.1 meters away at (-16.0, -1.3). A unknown object with ID 72 is 16.8 meters away at (-14.8, 7.8). A unknown object with ID 19 is 18.1 meters away at (-18.0, 1.7). A pedestrian with ID 51 is 18.8 meters away at (-17.0, 8.0). A pedestrian with ID 61 is 18.8 meters away at (-17.4, 7.2). A pedestrian with ID 4 is 20.8 meters away at (5.6, -20.0). A unknown object with ID 58 is 24.2 meters away at (-23.5, -5.8).", "velocity_description": "The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.00068424 0.06286059] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.01850198  0.00732159] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.00737829  0.04387891] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00664897  0.00311929] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.04914086 0.03130977] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00598595  0.00125965] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.499002 -69.52356 ]\n [-17.47866  -68.80448 ]\n [-43.834877 -77.02344 ]\n [-17.497705 -69.55229 ]\n [-43.59193  -77.18986 ]\n [-56.30004  -92.101364]\n [-17.508802 -69.239075]\n [-17.497705 -69.552284]\n [-56.5883   -91.95412 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [9.570946 6.870775], 11.781789779663086 meters away.)"}
{"file_name": "images/scenario_520_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -3.8) m/s. Its current heading (yaw) is -1.95 ", "actor_description": " The most relevant actors are: A pedestrian with ID 5 is 7.4 meters away at (-7.3, 1.1). A pedestrian with ID 71 is 8.0 meters away at (-8.0, -0.1). A pedestrian with ID 75 is 14.3 meters away at (-12.5, 7.0). A pedestrian with ID 4 is 14.9 meters away at (9.1, -11.8). A pedestrian with ID 80 is 16.4 meters away at (2.9, -16.2). A unknown object with ID 19 is 17.5 meters away at (-14.4, 9.9). A unknown object with ID 57 is 18.3 meters away at (-15.7, 9.4). A unknown object with ID 72 is 19.6 meters away at (-11.2, 16.1). A unknown object with ID 66 is 19.9 meters away at (-19.4, 4.8). A unknown object with ID 52 is 20.0 meters away at (13.1, 15.1).", "velocity_description": "The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.0207422  0.05198272] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.00664499 -0.00595401] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.04899525 -0.01434942] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.08904229 -0.09948656] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.6765986  0.78488725] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.94587  -51.652184]\n [-17.499002 -69.52356 ]\n [-17.47866  -68.80448 ]\n [-43.834877 -77.02344 ]\n [-17.497705 -69.55229 ]\n [-43.59193  -77.18986 ]\n [-56.30004  -92.101364]\n [-17.508802 -69.239075]\n [-17.497705 -69.552284]\n [-15.797613 -52.438816]\n [-56.5883   -91.95412 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-7.2867603  1.0513573], 7.362215995788574 meters away.)"}
{"file_name": "images/scenario_521_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.8) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 34.1 meters away at (-2.4, -34.0). A vehicle with ID 21 is 51.0 meters away at (-5.7, -50.6).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -2.441352 -34.015335], 34.10283279418945 meters away.)"}
{"file_name": "images/scenario_521_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 1.0) m/s. Its current heading (yaw) is 2.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 37.3 meters away at (3.8, -37.1).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  3.7951708 -37.130352 ], 37.32380294799805 meters away.)"}
{"file_name": "images/scenario_521_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -0.1) m/s. Its current heading (yaw) is -3.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 65.2 meters away at (-63.7, -13.9). A pedestrian with ID 3 is 72.4 meters away at (-72.0, 7.2). A pedestrian with ID 10 is 72.7 meters away at (-72.5, 5.2).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.9301321 0.0541085] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.1885983 -0.9885419] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-63.723976 -13.890703], 65.22036743164062 meters away.)"}
{"file_name": "images/scenario_521_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -0.3) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 60.1 meters away at (-59.5, 8.9). A pedestrian with ID 10 is 63.6 meters away at (-63.5, 4.0). A pedestrian with ID 5 is 69.9 meters away at (-69.9, 0.9). A pedestrian with ID 6 is 70.5 meters away at (-70.5, 1.7). A pedestrian with ID 7 is 75.3 meters away at (-73.9, -14.2).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.5524604  0.59608674] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0936881 -0.9644393] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [1.2439927  0.24531075] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [1.205124   0.12955272] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.5237076 -0.4627805] m/s.", "light_description": "There are active red lights at the following coordinates: [[-68.284805  20.949413]\n [-66.13654   20.16278 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-59.453873   8.878591], 60.113162994384766 meters away.)"}
{"file_name": "images/scenario_522_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.6) m/s. Its current heading (yaw) is -0.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 12.6 meters away at (-8.2, -9.5). A unknown object with ID 27 is 13.1 meters away at (-11.8, -5.6). A pedestrian with ID 30 is 13.3 meters away at (-7.7, -10.8). A unknown object with ID 25 is 13.7 meters away at (-13.4, -2.8). A unknown object with ID 26 is 14.7 meters away at (-14.7, -0.4). A unknown object with ID 16 is 15.3 meters away at (-15.3, 0.6). A unknown object with ID 29 is 18.7 meters away at (-3.8, 18.3). A pedestrian with ID 33 is 21.3 meters away at (-14.4, -15.6). A vehicle with ID 31 is 21.4 meters away at (-6.8, 20.3). A cyclist with ID 34 is 52.4 meters away at (-28.6, 43.9).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.008631   -0.01140395] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.0294446  -0.00905819] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [-1.0803461  5.1249123] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.192105 -9.524922], 12.56322956085205 meters away.)"}
{"file_name": "images/scenario_522_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 12.5 meters away at (-8.7, -9.0). A pedestrian with ID 30 is 13.2 meters away at (-8.2, -10.3). A unknown object with ID 27 is 13.2 meters away at (-12.2, -5.1). A unknown object with ID 25 is 14.1 meters away at (-13.9, -2.1). A unknown object with ID 11 is 14.3 meters away at (-14.2, -1.6). A unknown object with ID 16 is 15.4 meters away at (-15.4, 0.6). A unknown object with ID 29 is 19.3 meters away at (-4.3, 18.8). A pedestrian with ID 33 is 21.2 meters away at (-14.9, -15.1). A vehicle with ID 31 is 22.0 meters away at (-7.2, 20.8). A pedestrian with ID 10 is 59.8 meters away at (-35.6, 48.1).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.08623216  0.13555843] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.37173927  0.17320997] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.32402387  1.2293133 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.673258  -8.9970455], 12.496889114379883 meters away.)"}
{"file_name": "images/scenario_522_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -1.1) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 14.0 meters away at (-12.4, -6.5). A pedestrian with ID 30 is 14.3 meters away at (-11.9, -7.9). A unknown object with ID 24 is 16.2 meters away at (-15.2, -5.8). A pedestrian with ID 33 is 22.5 meters away at (-18.6, -12.6). A unknown object with ID 29 is 22.7 meters away at (-7.9, 21.3). A unknown object with ID 17 is 24.1 meters away at (-8.4, 22.6). A vehicle with ID 31 is 25.6 meters away at (-10.8, 23.2). A pedestrian with ID 8 is 65.9 meters away at (-39.4, 52.9).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.00497879  0.00293575] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.00754316 0.00462288] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.16640502  1.0793453 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-12.414001   -6.5362444], 14.029608726501465 meters away.)"}
{"file_name": "images/scenario_522_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 1.6) m/s. Its current heading (yaw) is 0.34 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 17.8 meters away at (10.8, 14.2). A unknown object with ID 28 is 21.6 meters away at (-20.6, -6.7). A unknown object with ID 29 is 26.6 meters away at (-16.2, 21.1). A unknown object with ID 3 is 26.9 meters away at (17.8, 20.1). A unknown object with ID 17 is 27.9 meters away at (-16.6, 22.4). A unknown object with ID 2 is 29.0 meters away at (19.4, 21.5). A pedestrian with ID 33 is 29.5 meters away at (-26.7, -12.7). A unknown object with ID 1 is 31.1 meters away at (20.9, 23.0). A cyclist with ID 6 is 53.3 meters away at (42.9, 31.7).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.05741022 -0.0353099 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 6 is traveling at a (x, y) velocity of [-3.8971806 -7.2808633] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [10.821686 14.153898], 17.81689453125 meters away.)"}
{"file_name": "images/scenario_523_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -2.6) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 10.9 meters away at (-8.6, 6.7). A vehicle with ID 61 is 18.6 meters away at (3.7, -18.2). A unknown object with ID 60 is 20.0 meters away at (-6.6, -18.9). A vehicle with ID 59 is 20.0 meters away at (-6.4, 19.0). A pedestrian with ID 65 is 23.4 meters away at (23.4, -0.2). A pedestrian with ID 66 is 23.5 meters away at (23.4, -1.2). A vehicle with ID 63 is 23.7 meters away at (21.8, 9.4). A vehicle with ID 62 is 25.8 meters away at (-11.4, 23.2). A vehicle with ID 64 is 26.1 meters away at (21.8, 14.4). A vehicle with ID 69 is 26.6 meters away at (23.7, -12.1).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.8488348  0.5310033] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.0042374  0.6062008] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.81075984  0.6767478 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 14.35664   -16.615545 ]\n [ 17.908695   -2.3431847]\n [  8.049329  -11.713445 ]\n [ 12.699636  -14.371069 ]\n [ 16.521858   -0.6304778]\n [ 14.362151  -17.65146  ]\n [ 17.840065   -1.9789742]]", "nav_goal": "(217.34762573242188, 8.106695175170898)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.550018   6.7295113], 10.880677223205566 meters away.)"}
{"file_name": "images/scenario_523_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -4.5) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 69 is 10.8 meters away at (10.7, -1.1). A vehicle with ID 61 is 12.0 meters away at (-4.6, -11.0). A pedestrian with ID 66 is 14.7 meters away at (12.9, 7.2). A pedestrian with ID 65 is 15.5 meters away at (13.3, 8.0). A unknown object with ID 60 is 18.9 meters away at (-14.9, -11.8). A vehicle with ID 16 is 20.5 meters away at (-15.8, 13.0). A vehicle with ID 63 is 21.3 meters away at (13.5, 16.5). A vehicle with ID 70 is 22.5 meters away at (20.6, -9.0). A vehicle with ID 64 is 25.5 meters away at (13.5, 21.6). A vehicle with ID 71 is 28.3 meters away at (26.8, -8.8).", "velocity_description": "The vehicle with ID 69 is traveling at a (x, y) velocity of [-3.7476099  3.035728 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.0316038  0.6594402] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.9801012  0.6163677] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.6488652 -1.3367816] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [-1.7522529  1.4697961] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 14.35664   -16.615545 ]\n [ 17.908695   -2.3431847]\n [ 12.699636  -14.371069 ]\n [ 16.521858   -0.6304778]\n [ 14.362151  -17.65146  ]\n [ 17.840065   -1.9789742]]", "nav_goal": "(217.34762573242188, 8.106695175170898)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.711243  -1.1223459], 10.769883155822754 meters away.)"}
{"file_name": "images/scenario_523_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.4) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 6.4 meters away at (2.5, 5.9). A vehicle with ID 71 is 14.8 meters away at (14.8, 1.1). A vehicle with ID 76 is 15.5 meters away at (14.8, -4.6). A vehicle with ID 61 is 16.7 meters away at (-16.7, -1.2). A pedestrian with ID 73 is 17.3 meters away at (17.3, 1.2). A pedestrian with ID 66 is 18.5 meters away at (-1.0, 18.5). A pedestrian with ID 65 is 19.2 meters away at (-0.5, 19.2). A vehicle with ID 69 is 19.5 meters away at (-10.6, 16.4). A vehicle with ID 78 is 21.3 meters away at (19.5, -8.5). A vehicle with ID 63 is 26.5 meters away at (1.5, 26.4).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [-4.1444817  3.4043844] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-1.8871979  1.6072515] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.02519281 -0.01577247] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.76776546  0.58136296] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.7939733  0.597722 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-5.194364  4.33969 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-1.8318965  1.5691066] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 14.35664   -16.615545 ]\n [ 17.908695   -2.3431847]\n [ 12.699636  -14.371069 ]\n [ 16.521858   -0.6304778]\n [ 14.362151  -17.65146  ]\n [ 17.840065   -1.9789742]]", "nav_goal": "(217.34762573242188, 8.106695175170898)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.5054379 5.8842783], 6.395463466644287 meters away.)"}
{"file_name": "images/scenario_523_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -5.4) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 6.3 meters away at (0.2, 6.3). A vehicle with ID 76 is 10.8 meters away at (-4.1, 9.9). A vehicle with ID 71 is 11.8 meters away at (0.3, 11.8). A pedestrian with ID 73 is 12.4 meters away at (2.9, 12.0). A vehicle with ID 83 is 15.1 meters away at (14.2, -5.1). A vehicle with ID 52 is 19.8 meters away at (-17.0, -10.3). A vehicle with ID 81 is 23.7 meters away at (-7.0, -22.7). A vehicle with ID 38 is 24.8 meters away at (-20.1, -14.5). A vehicle with ID 21 is 27.6 meters away at (-21.8, -16.9). A vehicle with ID 17 is 28.2 meters away at (-10.1, -26.3).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [-2.3747258  2.0224147] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-2.4743257  2.0778017] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.10082872 0.1363699 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-3.020166   2.5350637] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 14.35664   -16.615545 ]\n [ 17.908695   -2.3431847]\n [ 12.699636  -14.371069 ]\n [ 16.521858   -0.6304778]\n [ 14.362151  -17.65146  ]\n [ 17.840065   -1.9789742]]", "nav_goal": "(217.34762573242188, 8.106695175170898)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.24329758 6.305752  ], 6.31044340133667 meters away.)"}
{"file_name": "images/scenario_524_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, 4.9) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 107 is 4.7 meters away at (4.7, -0.5). A unknown object with ID 91 is 5.1 meters away at (-3.2, 4.0). A pedestrian with ID 112 is 5.5 meters away at (3.3, 4.4). A unknown object with ID 64 is 5.7 meters away at (-1.8, -5.4). A pedestrian with ID 111 is 5.9 meters away at (4.1, 4.3). A pedestrian with ID 114 is 6.0 meters away at (1.1, 5.9). A pedestrian with ID 110 is 6.3 meters away at (5.4, 3.4). A pedestrian with ID 109 is 6.8 meters away at (4.1, 5.4). A pedestrian with ID 113 is 8.2 meters away at (-0.6, 8.2). A pedestrian with ID 103 is 9.5 meters away at (9.2, 2.2).", "velocity_description": "The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [ 0.9059226 -0.6091376] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [ 0.93739617 -0.6279141 ] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [ 0.9242152 -0.6112647] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.94049037 -0.5237903 ] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-1.1909283  0.6738917] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [-1.4894917   0.83599776] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-1.4680096  0.8378955] m/s.", "light_description": "There are active red lights at the following coordinates: [[-55.208504  18.655134]\n [-54.73887   18.34303 ]]", "nav_goal": "(-96.10816192626953, 213.10748291015625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 4.7189484  -0.52672005], 4.748253345489502 meters away.)"}
{"file_name": "images/scenario_524_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.8) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 117 is 4.2 meters away at (4.0, 1.2). A pedestrian with ID 116 is 5.1 meters away at (2.5, 4.4). A unknown object with ID 52 is 6.8 meters away at (-4.4, -5.2). A unknown object with ID 69 is 6.9 meters away at (6.3, -2.7). A pedestrian with ID 113 is 10.1 meters away at (10.0, 0.5). A unknown object with ID 49 is 10.3 meters away at (3.4, -9.7). A pedestrian with ID 115 is 11.1 meters away at (-2.5, -10.8). A vehicle with ID 45 is 11.5 meters away at (-9.9, 5.9). A unknown object with ID 91 is 11.6 meters away at (10.4, -5.1). A pedestrian with ID 109 is 15.4 meters away at (15.2, -2.2).", "velocity_description": "The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [-0.88607734  0.57054114] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [-1.3636136  0.788441 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [-1.3104736  0.9030038] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.462746   1.7835095] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-1.26871    0.6899846] m/s.", "light_description": "There are active red lights at the following coordinates: [[-55.208504  18.655134]\n [-54.73887   18.34303 ]]", "nav_goal": "(-96.10816192626953, 213.10748291015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [4.0064964 1.2053471], 4.183882713317871 meters away.)"}
{"file_name": "images/scenario_524_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 6.1) m/s. Its current heading (yaw) is 2.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 3.3 meters away at (-1.8, -2.7). A pedestrian with ID 116 is 13.1 meters away at (11.9, -5.5). A vehicle with ID 101 is 15.5 meters away at (-15.5, -1.1). A pedestrian with ID 123 is 16.0 meters away at (-5.9, -14.8). A unknown object with ID 52 is 17.1 meters away at (6.4, -15.9). A unknown object with ID 117 is 17.6 meters away at (14.8, -9.5). A pedestrian with ID 127 is 18.7 meters away at (-7.1, -17.4). A pedestrian with ID 51 is 19.3 meters away at (-19.2, 1.8). A pedestrian with ID 125 is 19.7 meters away at (-5.5, -18.9). A pedestrian with ID 126 is 19.7 meters away at (-6.2, -18.7).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [-0.44336492  0.17893584] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [ 0.00195586 -0.01980463] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 127 is traveling at a (x, y) velocity of [0.91470027 0.5498089 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.0116508 -0.0139379] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [0.6844333  0.82689637] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [0.71956134 0.7306941 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-55.208504  18.655134]\n [-54.73887   18.34303 ]]", "nav_goal": "(-96.10816192626953, 213.10748291015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.8252411 -2.7235851], 3.2786309719085693 meters away.)"}
{"file_name": "images/scenario_524_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 7.2) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 8.0 meters away at (-1.7, 7.8). A pedestrian with ID 41 is 11.0 meters away at (8.1, 7.3). A pedestrian with ID 73 is 11.2 meters away at (-2.1, 11.0). A pedestrian with ID 97 is 12.3 meters away at (-8.8, -8.6). A pedestrian with ID 39 is 12.8 meters away at (-8.7, -9.4). A pedestrian with ID 46 is 12.9 meters away at (4.4, 12.2). A pedestrian with ID 98 is 13.1 meters away at (-8.3, -10.1). A vehicle with ID 40 is 13.8 meters away at (-13.7, 1.6). A pedestrian with ID 51 is 13.8 meters away at (-7.7, -11.4). A vehicle with ID 29 is 14.7 meters away at (-5.8, 13.4).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.6245279 -0.774278 ] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.9366363  0.22803478] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [-0.0098137   0.01056338] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01508962  0.00145112] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.01489273 -0.00196122] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-0.01133924  0.00837204] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 3.9464033 -5.2991385] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.0019411   0.00456611] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-57.754913  28.340443]\n [-55.208504  18.655134]\n [-54.73887   18.34303 ]]", "nav_goal": "(-96.10816192626953, 213.10748291015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.6967583  7.7832794], 7.9660797119140625 meters away.)"}
{"file_name": "images/scenario_525_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 6.2) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 49 is 24.9 meters away at (-0.6, 24.9). A vehicle with ID 41 is 29.2 meters away at (-23.4, -17.4). A vehicle with ID 43 is 30.8 meters away at (-6.4, -30.1). A vehicle with ID 54 is 32.7 meters away at (12.1, -30.3). A vehicle with ID 46 is 33.1 meters away at (-22.3, -24.5). A vehicle with ID 42 is 36.0 meters away at (7.3, -35.3). A vehicle with ID 45 is 37.8 meters away at (2.4, -37.8). A vehicle with ID 50 is 43.4 meters away at (-36.2, -24.0). A vehicle with ID 37 is 45.4 meters away at (18.2, 41.6). A unknown object with ID 33 is 46.6 meters away at (23.4, 40.3).", "velocity_description": "The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.37273365 1.2672387 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-9.720468   3.3611145] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 5.785184  -1.9885359] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-8.846067   2.6609173] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 6.365623  -2.1657646] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.9050026 -2.0731566] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.9337345  -12.192652  ]\n [ -0.15150245  -9.5473995 ]]", "nav_goal": "(146.51681518554688, 176.58013916015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-0.63116527 24.877869  ], 24.885873794555664 meters away.)"}
{"file_name": "images/scenario_525_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 6.6) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 13.9 meters away at (13.9, -0.0). A pedestrian with ID 49 is 15.1 meters away at (-4.2, 14.5). A vehicle with ID 35 is 17.4 meters away at (17.4, -0.4). A vehicle with ID 36 is 23.2 meters away at (22.9, -4.1). A vehicle with ID 37 is 31.9 meters away at (13.7, 28.8). A vehicle with ID 54 is 37.7 meters away at (-10.0, -36.4). A vehicle with ID 39 is 38.0 meters away at (15.9, 34.5). A vehicle with ID 46 is 44.1 meters away at (-14.8, -41.5). A vehicle with ID 45 is 50.6 meters away at (-2.1, -50.6). A vehicle with ID 55 is 68.7 meters away at (-28.0, -62.7).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.45586073 1.3488972 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-9.083846   3.1719189] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 5.9517817 -2.0684032] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(146.51681518554688, 176.58013916015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.3949096e+01 -1.3395309e-02], 13.949102401733398 meters away.)"}
{"file_name": "images/scenario_525_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.2) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A pedestrian with ID 49 is 8.9 meters away at (-7.8, 4.2). A vehicle with ID 26 is 15.9 meters away at (9.6, -12.7). A vehicle with ID 35 is 18.5 meters away at (13.0, -13.1). A vehicle with ID 37 is 18.6 meters away at (9.3, 16.2). A vehicle with ID 39 is 24.6 meters away at (11.5, 21.8). A vehicle with ID 3 is 53.9 meters away at (14.6, 51.9). A vehicle with ID 46 is 58.7 meters away at (-7.7, -58.2). A vehicle with ID 22 is 59.1 meters away at (-31.0, -50.3). A vehicle with ID 9 is 64.1 meters away at (24.4, 59.3).", "velocity_description": "The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.30348736 1.2074028 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.1848617 -3.1656437] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 5.4995265 -1.8447201] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.642657 -2.374105] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(146.51681518554688, 176.58013916015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-7.8215322  4.1633377], 8.860572814941406 meters away.)"}
{"file_name": "images/scenario_525_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 5.7) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 6.7 meters away at (5.1, 4.3). A vehicle with ID 39 is 12.2 meters away at (7.3, 9.8). A pedestrian with ID 49 is 12.6 meters away at (-11.2, -5.8). A vehicle with ID 24 is 33.9 meters away at (-2.6, 33.8). A vehicle with ID 3 is 35.3 meters away at (8.3, 34.3). A vehicle with ID 9 is 51.5 meters away at (20.2, 47.4). A vehicle with ID 31 is 63.6 meters away at (-23.9, -59.0). A vehicle with ID 22 is 70.3 meters away at (-22.1, -66.8).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.12848052 0.6802764 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.6191375 -4.4871063] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-9.221747   3.1786776] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.365794  -2.1217196] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.331231 -17.596582]]", "nav_goal": "(146.51681518554688, 176.58013916015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.13303  4.273876], 6.679372310638428 meters away.)"}
{"file_name": "images/scenario_526_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.0) m/s. Its current heading (yaw) is -2.01 ", "actor_description": " The most relevant actors are: A unknown object with ID 127 is 10.6 meters away at (-10.1, 3.1). A unknown object with ID 124 is 11.0 meters away at (-9.6, 5.4). A pedestrian with ID 111 is 11.1 meters away at (0.3, -11.1). A unknown object with ID 123 is 12.2 meters away at (-8.9, 8.3). A unknown object with ID 119 is 13.6 meters away at (-8.4, 10.6). A unknown object with ID 118 is 14.9 meters away at (-7.6, 12.9). A unknown object with ID 116 is 16.1 meters away at (-6.9, 14.6). A pedestrian with ID 122 is 17.4 meters away at (-9.6, 14.5). A unknown object with ID 109 is 17.7 meters away at (-17.6, 1.2). A unknown object with ID 117 is 19.0 meters away at (-6.0, 18.0).", "velocity_description": "The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.10833729  0.23143946] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 122 is traveling at a (x, y) velocity of [-0.63799894 -1.4378752 ] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.807829  38.02608  ]\n [13.496199  40.258305 ]\n [13.613284  40.47919  ]\n [ 2.7084067 28.921938 ]\n [ 6.0246825 27.734667 ]\n [13.71635   40.147175 ]\n [ 6.5861435 27.4159   ]\n [ 6.3703775 27.554565 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-10.085236    3.1261768], 10.558643341064453 meters away.)"}
{"file_name": "images/scenario_526_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -5.6) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 111 is 5.3 meters away at (5.1, 1.3). A unknown object with ID 127 is 15.5 meters away at (-4.7, 14.7). A unknown object with ID 124 is 17.5 meters away at (-4.2, 17.0). A unknown object with ID 112 is 19.3 meters away at (-16.3, -10.4). A unknown object with ID 123 is 20.2 meters away at (-3.6, 19.9). A pedestrian with ID 20 is 20.5 meters away at (-17.3, -11.0). A unknown object with ID 113 is 20.6 meters away at (-16.9, -11.8). A unknown object with ID 18 is 21.4 meters away at (-17.6, -12.2). A unknown object with ID 107 is 21.7 meters away at (-18.0, -12.0). A unknown object with ID 119 is 22.4 meters away at (-3.0, 22.2).", "velocity_description": "The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.04103794  0.02921035] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.03693345  0.02958037] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[13.496199  40.258305 ]\n [13.613284  40.47919  ]\n [ 2.7084067 28.921938 ]\n [ 6.0246825 27.734667 ]\n [13.71635   40.147175 ]\n [ 6.5861435 27.4159   ]\n [ 6.3703775 27.554565 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [5.0918946 1.2803116], 5.250389575958252 meters away.)"}
{"file_name": "images/scenario_526_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.3) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 112 is 11.4 meters away at (-11.4, 0.3). A unknown object with ID 113 is 12.0 meters away at (-12.0, -1.0). A pedestrian with ID 20 is 12.5 meters away at (-12.5, -0.3). A unknown object with ID 18 is 12.8 meters away at (-12.7, -1.5). A unknown object with ID 69 is 13.5 meters away at (-13.4, 1.8). A unknown object with ID 73 is 13.7 meters away at (-13.6, 1.5). A unknown object with ID 99 is 14.4 meters away at (-14.4, -0.4). A pedestrian with ID 125 is 14.9 meters away at (-14.6, 2.8). A pedestrian with ID 111 is 15.7 meters away at (10.0, 12.1). A vehicle with ID 114 is 16.9 meters away at (-16.0, -5.3).", "velocity_description": "The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00844532  0.00295825] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [0.6835655  0.96388596] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [ 0.00993023 -0.01276213] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.7084067 28.921938 ]\n [ 6.0246825 27.734667 ]\n [ 6.5861435 27.4159   ]\n [ 6.3703775 27.554565 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.40517      0.32224655], 11.409721374511719 meters away.)"}
{"file_name": "images/scenario_526_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.2) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 9.3 meters away at (-8.9, -2.8). A unknown object with ID 113 is 11.7 meters away at (-7.5, 9.0). A unknown object with ID 18 is 11.8 meters away at (-8.2, 8.6). A pedestrian with ID 5 is 12.4 meters away at (-12.4, 0.4). A unknown object with ID 112 is 12.4 meters away at (-6.8, 10.4). A vehicle with ID 114 is 12.5 meters away at (-11.5, 4.8). A pedestrian with ID 20 is 12.6 meters away at (-7.9, 9.9). A unknown object with ID 92 is 13.4 meters away at (-13.3, -1.2). A pedestrian with ID 4 is 13.4 meters away at (-13.4, 1.1). A unknown object with ID 98 is 13.6 meters away at (-13.6, -0.2).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [2.707305  6.0689473] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.35641462 -0.55113167] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.02339429 0.02333493] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.6213413  -0.77562815] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.7084067 28.921938 ]\n [ 6.0246825 27.734667 ]\n [ 6.5861435 27.4159   ]\n [ 6.3703775 27.554565 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.861498 -2.817257], 9.298552513122559 meters away.)"}
{"file_name": "images/scenario_527_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 1.1) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 72 is 3.1 meters away at (3.1, -0.4). A unknown object with ID 73 is 4.1 meters away at (4.0, 0.8). A pedestrian with ID 80 is 17.2 meters away at (2.5, -17.0). A vehicle with ID 83 is 19.6 meters away at (-11.4, 15.9). A vehicle with ID 85 is 21.7 meters away at (-19.5, 9.5). A unknown object with ID 71 is 25.2 meters away at (-17.4, 18.3). A unknown object with ID 82 is 25.5 meters away at (3.0, -25.3). A unknown object with ID 32 is 26.9 meters away at (-18.9, 19.2). A vehicle with ID 55 is 28.8 meters away at (-25.1, -14.2). A unknown object with ID 59 is 29.1 meters away at (-10.0, 27.3).", "velocity_description": "The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.02126035  0.06415031] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-0.8852509   0.14569509] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 3.4683988 -2.7397888] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-261.5017395019531, 136.6278533935547)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 3.080781   -0.39266086], 3.105703592300415 meters away.)"}
{"file_name": "images/scenario_527_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.7) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 72 is 4.9 meters away at (4.6, -1.6). A unknown object with ID 73 is 5.5 meters away at (5.5, -0.4). A vehicle with ID 85 is 9.6 meters away at (-9.5, 1.5). A vehicle with ID 83 is 18.7 meters away at (-13.5, 12.9). A pedestrian with ID 80 is 18.7 meters away at (4.3, -18.3). A unknown object with ID 53 is 20.4 meters away at (-10.6, 17.5). A unknown object with ID 70 is 20.6 meters away at (-10.5, 17.7). A unknown object with ID 71 is 23.5 meters away at (-16.0, 17.2). A unknown object with ID 32 is 25.2 meters away at (-17.5, 18.1). A vehicle with ID 55 is 28.1 meters away at (-23.6, -15.3).", "velocity_description": "The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 5.228436  -4.1272125] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-1.5057111 -2.2888286] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.4535813 -0.3191451] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-261.5017395019531, 136.6278533935547)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 4.6054487 -1.5529313], 4.8602213859558105 meters away.)"}
{"file_name": "images/scenario_527_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 1.1) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 72 is 7.4 meters away at (6.7, -3.2). A unknown object with ID 73 is 7.8 meters away at (7.5, -2.0). A vehicle with ID 85 is 10.3 meters away at (4.3, -9.4). A vehicle with ID 83 is 12.7 meters away at (-11.6, 5.1). A unknown object with ID 53 is 17.8 meters away at (-8.8, 15.5). A unknown object with ID 70 is 18.2 meters away at (-8.4, 16.1). A unknown object with ID 71 is 20.8 meters away at (-13.8, 15.6). A pedestrian with ID 80 is 21.1 meters away at (6.3, -20.1). A unknown object with ID 32 is 22.4 meters away at (-15.3, 16.4). A vehicle with ID 79 is 26.7 meters away at (-26.0, -6.4).", "velocity_description": "The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 6.5829473 -5.058762 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [ 1.9358906 -3.5241442] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.12227386 -0.16079773] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-261.5017395019531, 136.6278533935547)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 6.650281 -3.163951], 7.364565372467041 meters away.)"}
{"file_name": "images/scenario_527_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 2.9) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 5.8 meters away at (0.2, -5.8). A unknown object with ID 40 is 11.6 meters away at (10.9, -3.9). A unknown object with ID 53 is 12.4 meters away at (-4.1, 11.7). A unknown object with ID 70 is 12.9 meters away at (-3.8, 12.3). A unknown object with ID 72 is 13.3 meters away at (11.3, -7.0). A unknown object with ID 73 is 13.5 meters away at (12.2, -5.8). A unknown object with ID 71 is 14.9 meters away at (-9.2, 11.7). A unknown object with ID 32 is 16.5 meters away at (-10.7, 12.6). A vehicle with ID 79 is 23.7 meters away at (-21.4, -10.2). A vehicle with ID 33 is 25.2 meters away at (6.5, 24.4).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [ 4.8408437 -3.6731565] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-261.5017395019531, 136.6278533935547)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.17587185 -5.8038344 ], 5.8064985275268555 meters away.)"}
{"file_name": "images/scenario_528_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 3.5) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 48 is 5.6 meters away at (-1.2, -5.5). A unknown object with ID 50 is 5.8 meters away at (-3.9, -4.2). A unknown object with ID 47 is 6.5 meters away at (1.1, -6.4). A unknown object with ID 52 is 7.7 meters away at (-7.1, -3.0). A unknown object with ID 45 is 8.1 meters away at (3.4, -7.4). A unknown object with ID 40 is 9.4 meters away at (4.8, -8.0). A unknown object with ID 39 is 10.7 meters away at (6.3, -8.7). A unknown object with ID 53 is 11.1 meters away at (-11.0, -1.5). A unknown object with ID 54 is 14.7 meters away at (-14.7, -0.0). A vehicle with ID 15 is 14.8 meters away at (13.7, -5.6).", "velocity_description": "The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.9508686  2.930375 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[21.854177  -4.2938395]\n [23.647789  -1.3282937]\n [23.762432  -1.0967822]]", "nav_goal": "(-245.18446350097656, 190.8655242919922)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.1617584 -5.4882183], 5.609832763671875 meters away.)"}
{"file_name": "images/scenario_528_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.7) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 54 is 7.4 meters away at (2.0, -7.1). A unknown object with ID 53 is 10.3 meters away at (5.7, -8.5). A unknown object with ID 52 is 13.8 meters away at (9.5, -10.0). A unknown object with ID 50 is 17.1 meters away at (12.8, -11.3). A vehicle with ID 15 is 18.0 meters away at (16.6, -7.0). A unknown object with ID 48 is 20.0 meters away at (15.5, -12.6). A unknown object with ID 47 is 22.4 meters away at (17.8, -13.5). A unknown object with ID 22 is 22.4 meters away at (-22.1, 3.6). A unknown object with ID 45 is 24.8 meters away at (20.1, -14.5). A unknown object with ID 40 is 26.3 meters away at (21.5, -15.1).", "velocity_description": "The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-7.066829   3.0242321] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[21.854177  -4.2938395]\n [23.647789  -1.3282937]]", "nav_goal": "(-245.18446350097656, 190.8655242919922)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 1.9971809 -7.1088037], 7.384024620056152 meters away.)"}
{"file_name": "images/scenario_528_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.8) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 6.0 meters away at (-4.5, -4.0). A unknown object with ID 37 is 10.1 meters away at (-9.6, -3.1). A vehicle with ID 15 is 21.5 meters away at (19.8, -8.3). A unknown object with ID 54 is 24.4 meters away at (19.6, -14.6). A unknown object with ID 53 is 28.3 meters away at (23.3, -16.1). A unknown object with ID 52 is 32.3 meters away at (27.1, -17.6). A vehicle with ID 31 is 35.8 meters away at (-0.2, 35.8). A unknown object with ID 50 is 35.8 meters away at (30.4, -18.9). A unknown object with ID 48 is 38.8 meters away at (33.1, -20.1). A pedestrian with ID 28 is 40.7 meters away at (0.5, 40.7).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-7.406185   3.2555797] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.263464  -0.3050581] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.00375458 -0.00479164] m/s.", "light_description": "There are active red lights at the following coordinates: [[21.854177  -4.2938395]\n [23.647789  -1.3282937]\n [23.762432  -1.0967822]]", "nav_goal": "(-245.18446350097656, 190.8655242919922)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.5211296 -3.983099 ], 6.025420188903809 meters away.)"}
{"file_name": "images/scenario_528_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, 3.7) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 13.0 meters away at (7.7, -10.5). A unknown object with ID 22 is 17.2 meters away at (12.8, -11.4). A vehicle with ID 15 is 23.9 meters away at (22.1, -9.2). A vehicle with ID 31 is 32.6 meters away at (18.7, 26.8). A unknown object with ID 54 is 43.1 meters away at (37.0, -22.0). A unknown object with ID 52 is 51.0 meters away at (44.5, -25.0). A unknown object with ID 50 is 54.5 meters away at (47.8, -26.2). A unknown object with ID 48 is 57.5 meters away at (50.5, -27.4). A vehicle with ID 5 is 57.9 meters away at (-57.5, 7.1). A unknown object with ID 47 is 60.0 meters away at (52.9, -28.4).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-7.710732   3.3925445] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 1.1873711 -1.3982357] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-245.18446350097656, 190.8655242919922)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  7.726322 -10.489403], 13.027802467346191 meters away.)"}
{"file_name": "images/scenario_529_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, -5.3) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 6.7 meters away at (-6.6, -1.3). A vehicle with ID 23 is 7.4 meters away at (3.3, -6.6). A unknown object with ID 24 is 15.5 meters away at (12.1, -9.6). A vehicle with ID 4 is 26.8 meters away at (-20.8, -17.0). A vehicle with ID 22 is 30.9 meters away at (8.7, 29.7). A vehicle with ID 26 is 36.8 meters away at (36.5, -4.1). A unknown object with ID 6 is 45.6 meters away at (-26.4, -37.2). A vehicle with ID 27 is 56.8 meters away at (-9.4, 56.0). A vehicle with ID 29 is 63.1 meters away at (-14.3, 61.4). A vehicle with ID 21 is 63.6 meters away at (56.6, -29.0).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-8.740722 -7.06481 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-7.9452505  9.000622 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-8.184737 10.067463] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.9795675 10.297659 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.0699959 -9.319348 ]\n [ 0.8321008 -8.808526 ]]", "nav_goal": "(-236.7744598388672, -183.9886016845703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-6.6057653 -1.288084 ], 6.730177879333496 meters away.)"}
{"file_name": "images/scenario_529_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -6.2) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 18.0 meters away at (17.3, 4.8). A unknown object with ID 24 is 26.2 meters away at (26.1, 1.9). A vehicle with ID 4 is 32.0 meters away at (-24.7, -20.2). A vehicle with ID 26 is 43.8 meters away at (33.7, 28.0). A vehicle with ID 11 is 53.8 meters away at (2.1, 53.7). A vehicle with ID 21 is 55.3 meters away at (55.3, 2.0). A vehicle with ID 22 is 60.6 meters away at (6.0, 60.3). A vehicle with ID 27 is 67.6 meters away at (4.8, 67.4). A vehicle with ID 5 is 70.4 meters away at (69.6, -10.7). A vehicle with ID 9 is 71.5 meters away at (69.6, -16.4).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-9.463803 -7.677715] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-8.877901 10.619311] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.235555 -7.119997] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.74178   9.789522] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-8.686135  9.992175] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-4.648459   5.5246973] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.4809957  9.162261 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-6.823437  14.872441 ]\n [-8.086621  13.99594  ]\n [19.321484  -6.961748 ]\n [ 1.0699959 -9.319348 ]\n [ 0.8321008 -8.808526 ]]", "nav_goal": "(-236.7744598388672, -183.9886016845703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [17.302643   4.7884817], 17.953022003173828 meters away.)"}
{"file_name": "images/scenario_529_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, -6.7) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 36.3 meters away at (-27.7, -23.5). A vehicle with ID 23 is 38.3 meters away at (33.9, 17.8). A unknown object with ID 24 is 45.3 meters away at (42.8, 14.9). A vehicle with ID 21 is 65.9 meters away at (56.3, 34.2). A vehicle with ID 9 is 71.9 meters away at (69.9, 16.8). A vehicle with ID 5 is 75.9 meters away at (73.9, 17.4).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [-10.18976   -8.279755] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.7701297  9.344881 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-8.390945 10.298386] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.323839   7.9488783] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.321484  -6.961748 ]\n [ 1.0699959 -9.319348 ]\n [ 0.8321008 -8.808526 ]]", "nav_goal": "(-236.7744598388672, -183.9886016845703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-27.721794 -23.453232], 36.31187057495117 meters away.)"}
{"file_name": "images/scenario_529_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, -7.0) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 41.2 meters away at (-31.8, -26.2). A vehicle with ID 13 is 47.4 meters away at (-38.8, -27.3). A vehicle with ID 23 is 59.7 meters away at (50.8, 31.4).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [-10.83478   -8.351414] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0.41800734 0.41210172] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.0699959 -9.319348 ]\n [ 0.8321008 -8.808526 ]]", "nav_goal": "(-236.7744598388672, -183.9886016845703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-31.82264  -26.205036], 41.22358703613281 meters away.)"}
{"file_name": "images/scenario_530_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 18.3 meters away at (9.0, -16.0). A vehicle with ID 24 is 21.3 meters away at (-10.6, 18.5). A vehicle with ID 30 is 21.8 meters away at (-18.7, 11.1). A vehicle with ID 23 is 23.9 meters away at (23.6, 3.7). A vehicle with ID 17 is 27.0 meters away at (26.9, 2.4). A vehicle with ID 21 is 31.2 meters away at (29.3, 10.9). A vehicle with ID 4 is 32.5 meters away at (31.6, 7.8). A unknown object with ID 26 is 34.6 meters away at (33.1, -9.9). A vehicle with ID 20 is 41.4 meters away at (38.2, 15.9). A pedestrian with ID 11 is 43.1 meters away at (-42.5, 6.9).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [10.64881  -8.823125] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [10.489691 -8.746551] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3471315  0.30791602] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.345085  -6.6048403]\n [15.1108675 -2.319648 ]\n [ 8.64801   -7.3558693]\n [ 9.024982  -6.794633 ]\n [20.7727    -7.4937925]]", "nav_goal": "(10.316312789916992, 192.1875457763672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  8.969051 -15.992855], 18.33617401123047 meters away.)"}
{"file_name": "images/scenario_530_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 6.3 meters away at (1.8, -6.1). A vehicle with ID 24 is 21.3 meters away at (-10.6, 18.5). A vehicle with ID 23 is 23.9 meters away at (23.6, 3.7). A vehicle with ID 17 is 27.0 meters away at (26.9, 2.4). A vehicle with ID 21 is 31.2 meters away at (29.3, 10.9). A vehicle with ID 4 is 32.5 meters away at (31.6, 7.8). A unknown object with ID 26 is 34.6 meters away at (33.1, -9.9). A pedestrian with ID 11 is 40.4 meters away at (-39.9, 6.8). A vehicle with ID 20 is 41.4 meters away at (38.2, 16.0). A vehicle with ID 22 is 45.6 meters away at (30.4, -34.0).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [10.309024 -8.674787] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.2534237  -0.42662284] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [10.906484 -9.326401] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.345085  -6.6048403]\n [15.1108675 -2.319648 ]\n [ 8.64801   -7.3558693]\n [ 9.024982  -6.794633 ]\n [20.7727    -7.4937925]]", "nav_goal": "(10.316312789916992, 192.1875457763672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.7740605 -6.0795393], 6.333094596862793 meters away.)"}
{"file_name": "images/scenario_530_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 21.3 meters away at (-10.6, 18.5). A vehicle with ID 10 is 23.4 meters away at (-21.5, 9.3). A vehicle with ID 23 is 23.9 meters away at (23.6, 3.7). A vehicle with ID 17 is 27.0 meters away at (26.9, 2.4). A vehicle with ID 21 is 31.3 meters away at (29.3, 11.0). A vehicle with ID 30 is 32.3 meters away at (22.4, -23.3). A vehicle with ID 4 is 32.5 meters away at (31.5, 7.8). A unknown object with ID 26 is 34.6 meters away at (33.1, -9.9). A pedestrian with ID 11 is 37.8 meters away at (-37.4, 5.6). A vehicle with ID 20 is 41.4 meters away at (38.1, 16.0).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 13.584617 -11.219024] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [10.343939 -8.723511] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.2070265 -0.6135579] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.345085  -6.6048403]\n [15.1108675 -2.319648 ]\n [ 8.64801   -7.3558693]\n [ 9.024982  -6.794633 ]\n [20.7727    -7.4937925]]", "nav_goal": "(10.316312789916992, 192.1875457763672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-10.635111  18.504349], 21.342832565307617 meters away.)"}
{"file_name": "images/scenario_530_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -2.4) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 11.1 meters away at (2.9, -10.7). A vehicle with ID 23 is 22.2 meters away at (21.5, 5.6). A vehicle with ID 24 is 24.0 meters away at (-12.7, 20.4). A vehicle with ID 17 is 25.2 meters away at (24.8, 4.2). A vehicle with ID 21 is 30.1 meters away at (27.2, 12.8). A vehicle with ID 4 is 31.0 meters away at (29.5, 9.5). A pedestrian with ID 11 is 37.7 meters away at (-37.2, 6.0). A vehicle with ID 18 is 38.0 meters away at (-31.5, 21.3). A vehicle with ID 20 is 40.2 meters away at (36.1, 17.7). A vehicle with ID 2 is 49.2 meters away at (42.2, 25.3).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [ 12.974354 -10.834758] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.99585384 -0.6967075 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 9.419374  -7.9018435] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.345085  -6.6048403]\n [15.1108675 -2.319648 ]\n [20.7727    -7.4937925]]", "nav_goal": "(10.316312789916992, 192.1875457763672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.9172058 -10.734858 ], 11.124174118041992 meters away.)"}
{"file_name": "images/scenario_531_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -1.3) m/s. Its current heading (yaw) is -0.89 ", "actor_description": " The most relevant actors are: A unknown object with ID 72 is 8.1 meters away at (-7.9, -1.4). A vehicle with ID 37 is 12.6 meters away at (-7.3, -10.2). A unknown object with ID 53 is 13.5 meters away at (-1.4, 13.4). A unknown object with ID 76 is 13.6 meters away at (-2.7, 13.4). A unknown object with ID 82 is 14.3 meters away at (10.4, 9.7). A unknown object with ID 77 is 14.9 meters away at (-4.7, 14.2). A vehicle with ID 35 is 15.0 meters away at (-8.9, -12.1). A unknown object with ID 79 is 15.1 meters away at (-0.7, 15.1). A vehicle with ID 69 is 15.4 meters away at (-14.9, -4.1). A vehicle with ID 81 is 16.1 meters away at (-3.9, 15.6).", "velocity_description": "The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.9385667 -1.3569347], 8.053702354431152 meters away.)"}
{"file_name": "images/scenario_531_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -2.9) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 72 is 10.2 meters away at (-9.7, 3.1). A vehicle with ID 37 is 10.6 meters away at (-8.9, -5.9). A vehicle with ID 35 is 12.9 meters away at (-10.3, -7.8). A vehicle with ID 34 is 15.4 meters away at (-11.8, -9.9). A vehicle with ID 69 is 16.5 meters away at (-16.5, 0.2). A vehicle with ID 33 is 17.8 meters away at (-13.3, -11.7). A unknown object with ID 53 is 18.0 meters away at (-2.9, 17.8). A unknown object with ID 76 is 18.2 meters away at (-4.3, 17.7). A vehicle with ID 16 is 18.4 meters away at (-16.9, 7.2). A vehicle with ID 67 is 18.5 meters away at (-5.1, -17.7).", "velocity_description": "The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [4.007488 2.371928] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.72333    3.0750225], 10.19798469543457 meters away.)"}
{"file_name": "images/scenario_531_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.7) m/s. Its current heading (yaw) is -2.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 6.8 meters away at (-6.8, -0.3). A vehicle with ID 35 is 8.6 meters away at (-8.3, -2.2). A vehicle with ID 34 is 10.7 meters away at (-9.9, -4.2). A vehicle with ID 67 is 12.5 meters away at (-3.1, -12.2). A vehicle with ID 33 is 12.8 meters away at (-11.3, -6.1). A vehicle with ID 66 is 14.8 meters away at (-4.6, -14.1). A vehicle with ID 36 is 15.2 meters away at (-13.0, -7.9). A vehicle with ID 16 is 15.5 meters away at (-6.3, 14.2). A vehicle with ID 69 is 15.5 meters away at (-14.4, 5.9). A vehicle with ID 65 is 17.1 meters away at (-6.4, -15.8).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 4.0203757 -0.987976 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.773342  -0.2986126], 6.779921054840088 meters away.)"}
{"file_name": "images/scenario_531_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.4) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 5.2 meters away at (-3.6, 3.8). A vehicle with ID 34 is 5.5 meters away at (-5.2, 1.9). A vehicle with ID 37 is 6.1 meters away at (-2.2, 5.7). A vehicle with ID 67 is 6.3 meters away at (1.5, -6.1). A vehicle with ID 33 is 6.7 meters away at (-6.7, 0.0). A vehicle with ID 66 is 8.0 meters away at (0.0, -8.0). A vehicle with ID 36 is 8.6 meters away at (-8.4, -1.8). A vehicle with ID 65 is 10.0 meters away at (-1.7, -9.8). A vehicle with ID 38 is 14.4 meters away at (-12.6, -7.0). A unknown object with ID 14 is 15.1 meters away at (-7.2, -13.2).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6278946  3.7594595], 5.224476337432861 meters away.)"}
{"file_name": "images/scenario_532_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -2.2) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A unknown object with ID 27 is 8.6 meters away at (3.1, -8.0). A vehicle with ID 24 is 12.9 meters away at (1.9, -12.8). A vehicle with ID 25 is 14.5 meters away at (4.1, -13.9). A vehicle with ID 33 is 18.1 meters away at (-9.9, -15.2). A vehicle with ID 28 is 18.8 meters away at (18.3, -4.4). A vehicle with ID 40 is 19.4 meters away at (13.2, -14.2). A vehicle with ID 42 is 19.9 meters away at (1.9, 19.8). A vehicle with ID 38 is 20.6 meters away at (-19.9, 5.2). A vehicle with ID 35 is 22.5 meters away at (10.1, -20.1). A vehicle with ID 37 is 25.1 meters away at (12.3, -21.9).", "velocity_description": "The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-1.6160585 -1.0787401] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(86.60562133789062, 63.604007720947266)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 3.1086707 -7.970272 ], 8.555061340332031 meters away.)"}
{"file_name": "images/scenario_532_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -1.9) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 9.0 meters away at (-2.8, -8.5). A vehicle with ID 25 is 9.6 meters away at (-0.7, -9.6). A vehicle with ID 40 is 13.0 meters away at (4.3, -12.3). A vehicle with ID 28 is 13.5 meters away at (13.5, -0.1). A unknown object with ID 1 is 16.4 meters away at (16.2, -2.3). A vehicle with ID 35 is 16.6 meters away at (5.3, -15.8). A vehicle with ID 33 is 18.3 meters away at (-14.8, -10.9). A vehicle with ID 37 is 19.1 meters away at (7.4, -17.6). A vehicle with ID 41 is 20.1 meters away at (19.5, -5.0). A vehicle with ID 46 is 23.7 meters away at (18.1, -15.3).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.8125086 -1.392983 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(86.60562133789062, 63.604007720947266)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.8226252 -8.510742 ], 8.966601371765137 meters away.)"}
{"file_name": "images/scenario_532_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.8) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 7.8 meters away at (-3.7, -6.9). A vehicle with ID 24 is 8.2 meters away at (-5.9, -5.7). A vehicle with ID 28 is 10.7 meters away at (10.4, 2.6). A vehicle with ID 40 is 12.5 meters away at (-4.2, -11.7). A unknown object with ID 1 is 13.1 meters away at (13.1, 0.4). A vehicle with ID 35 is 13.2 meters away at (2.2, -13.0). A vehicle with ID 37 is 15.5 meters away at (4.3, -14.9). A vehicle with ID 41 is 16.5 meters away at (16.3, -2.3). A vehicle with ID 46 is 19.5 meters away at (14.9, -12.6). A vehicle with ID 33 is 19.6 meters away at (-17.9, -8.1).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.7656112 -1.1323992] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(86.60562133789062, 63.604007720947266)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.7305145 -6.9019203], 7.845587730407715 meters away.)"}
{"file_name": "images/scenario_532_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.1) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 7.7 meters away at (-4.6, -6.1). A vehicle with ID 24 is 8.5 meters away at (-6.8, -5.1). A vehicle with ID 28 is 10.1 meters away at (9.5, 3.3). A unknown object with ID 1 is 12.3 meters away at (12.3, 1.1). A vehicle with ID 35 is 12.4 meters away at (1.3, -12.3). A vehicle with ID 37 is 14.6 meters away at (3.3, -14.2). A vehicle with ID 41 is 15.6 meters away at (15.5, -1.6). A unknown object with ID 2 is 16.6 meters away at (7.5, -14.9). A vehicle with ID 46 is 18.4 meters away at (14.0, -11.9). A vehicle with ID 33 is 20.1 meters away at (-18.7, -7.3).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(86.60562133789062, 63.604007720947266)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.589739 -6.131359], 7.658933639526367 meters away.)"}
{"file_name": "images/scenario_533_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -1.5) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 70 is 7.8 meters away at (-7.4, -2.5). A vehicle with ID 16 is 11.5 meters away at (-11.2, 2.6). A pedestrian with ID 91 is 12.9 meters away at (12.0, 4.8). A vehicle with ID 46 is 13.0 meters away at (-6.6, -11.2). A vehicle with ID 44 is 15.6 meters away at (-8.3, -13.2). A vehicle with ID 94 is 17.9 meters away at (-9.7, -15.1). A vehicle with ID 45 is 20.4 meters away at (-11.2, -17.1). A vehicle with ID 84 is 21.7 meters away at (-18.8, -10.8). A vehicle with ID 43 is 22.9 meters away at (-12.9, -18.9). A vehicle with ID 87 is 23.4 meters away at (-2.7, -23.2).", "velocity_description": "The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.3409519  0.32747656] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 1.419583   -0.62183356] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-7.392496  -2.5417304], 7.817249298095703 meters away.)"}
{"file_name": "images/scenario_533_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -3.3) m/s. Its current heading (yaw) is -1.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 11.2 meters away at (-9.2, -6.4). A vehicle with ID 16 is 11.7 meters away at (-9.0, 7.5). A vehicle with ID 44 is 13.6 meters away at (-10.7, -8.5). A pedestrian with ID 91 is 14.9 meters away at (12.2, 8.6). A vehicle with ID 94 is 16.1 meters away at (-12.3, -10.3). A vehicle with ID 45 is 18.4 meters away at (-13.8, -12.2). A vehicle with ID 87 is 19.1 meters away at (-5.4, -18.3). A vehicle with ID 43 is 20.8 meters away at (-15.2, -14.2). A vehicle with ID 85 is 21.5 meters away at (-7.1, -20.3). A vehicle with ID 84 is 22.4 meters away at (-21.6, -5.9).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 2.8007252 -0.5660039] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 1.3563592  -0.51703906] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.187338 -6.393894], 11.193259239196777 meters away.)"}
{"file_name": "images/scenario_533_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -3.3) m/s. Its current heading (yaw) is -2.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 7.3 meters away at (-7.2, 0.3). A vehicle with ID 44 is 8.9 meters away at (-8.8, -1.8). A vehicle with ID 94 is 11.0 meters away at (-10.4, -3.5). A vehicle with ID 16 is 11.7 meters away at (-1.8, 11.6). A vehicle with ID 87 is 12.2 meters away at (-3.6, -11.6). A vehicle with ID 45 is 13.1 meters away at (-11.9, -5.4). A vehicle with ID 85 is 14.6 meters away at (-5.3, -13.6). A vehicle with ID 43 is 15.3 meters away at (-13.4, -7.5). A vehicle with ID 83 is 17.0 meters away at (-6.9, -15.6). A vehicle with ID 42 is 19.4 meters away at (-16.0, -11.0).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 2.2461498 -1.9851527] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.247049    0.28517437], 7.252657890319824 meters away.)"}
{"file_name": "images/scenario_533_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -3.9) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 87 is 5.0 meters away at (1.9, -4.6). A vehicle with ID 94 is 6.0 meters away at (-4.9, 3.5). A vehicle with ID 44 is 6.2 meters away at (-3.3, 5.2). A vehicle with ID 45 is 6.6 meters away at (-6.4, 1.6). A vehicle with ID 85 is 6.6 meters away at (0.2, -6.6). A vehicle with ID 46 is 7.5 meters away at (-1.8, 7.2). A vehicle with ID 43 is 7.9 meters away at (-7.9, -0.4). A vehicle with ID 83 is 8.7 meters away at (-1.5, -8.6). A vehicle with ID 42 is 11.4 meters away at (-10.7, -3.9). A unknown object with ID 81 is 13.7 meters away at (-6.6, -12.0).", "velocity_description": "The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.8704605 -4.6308575], 4.994343280792236 meters away.)"}
{"file_name": "images/scenario_534_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 1.7) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 7.1 meters away at (-6.6, -2.6). A unknown object with ID 34 is 9.0 meters away at (-8.0, 4.2). A vehicle with ID 39 is 10.1 meters away at (-10.0, -1.4). A pedestrian with ID 42 is 12.3 meters away at (2.7, -12.0). A vehicle with ID 44 is 14.0 meters away at (-6.5, -12.5). A vehicle with ID 47 is 14.8 meters away at (-13.6, -5.8). A pedestrian with ID 48 is 15.3 meters away at (-14.9, -3.6). A pedestrian with ID 37 is 15.9 meters away at (-15.5, -3.6). A pedestrian with ID 40 is 16.0 meters away at (12.9, -9.4). A pedestrian with ID 38 is 16.2 meters away at (-15.6, -4.2).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.1199622 -3.2768338] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.01685081 -0.00081383] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.01626605 -0.02652648] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00117845 -0.00717433] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.6517751  -0.76216555] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.04915709 -0.01421278] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.291404724121094, 24.707996368408203)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.6298184 -2.6085696], 7.1245436668396 meters away.)"}
{"file_name": "images/scenario_534_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 3.6) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 12.6 meters away at (-12.6, -1.2). A vehicle with ID 58 is 15.6 meters away at (-13.6, 7.8). A vehicle with ID 39 is 16.1 meters away at (-14.6, -6.8). A pedestrian with ID 42 is 17.5 meters away at (-2.0, -17.4). A vehicle with ID 44 is 21.0 meters away at (-11.1, -17.8). A pedestrian with ID 48 is 21.4 meters away at (-19.5, -8.8). A vehicle with ID 47 is 21.4 meters away at (-18.2, -11.2). A vehicle with ID 33 is 21.9 meters away at (-16.3, -14.7). A pedestrian with ID 38 is 22.4 meters away at (-20.3, -9.5). A pedestrian with ID 12 is 22.4 meters away at (12.5, -18.5).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 0.92033446 -0.56169266] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.00041386  0.00301652] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.03037635 0.02651887] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.8538537 -3.534378 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00375846 -0.00915033] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00456846 -0.02487662] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.291404724121094, 24.707996368408203)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-12.584375   -1.1546102], 12.637231826782227 meters away.)"}
{"file_name": "images/scenario_534_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 3.6) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 18.5 meters away at (-7.7, -16.8). A vehicle with ID 58 is 18.9 meters away at (-18.9, -0.3). A unknown object with ID 34 is 20.7 meters away at (-18.8, -8.7). A pedestrian with ID 65 is 24.6 meters away at (-4.9, 24.1). A vehicle with ID 39 is 25.2 meters away at (-20.8, -14.2). A pedestrian with ID 54 is 26.0 meters away at (-1.0, 26.0). A pedestrian with ID 42 is 26.2 meters away at (-8.1, -24.9). A pedestrian with ID 57 is 26.9 meters away at (-1.5, 26.8). A pedestrian with ID 48 is 30.5 meters away at (-25.8, -16.3). A vehicle with ID 44 is 30.7 meters away at (-17.3, -25.3).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 0.44297805 -0.26383775] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.29673287 -0.95180416] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.9591096 1.2678757] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.02099822 0.00580379] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.921511  1.1632679] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.02768846 0.00676231] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.291404724121094, 24.707996368408203)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -7.668946 -16.79862 ], 18.46635627746582 meters away.)"}
{"file_name": "images/scenario_534_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 2.0) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A pedestrian with ID 65 is 19.8 meters away at (-11.0, 16.4). A pedestrian with ID 54 is 22.8 meters away at (-3.7, 22.5). A vehicle with ID 58 is 23.1 meters away at (-21.8, -7.6). A pedestrian with ID 57 is 23.6 meters away at (-4.2, 23.2). A unknown object with ID 23 is 26.1 meters away at (-12.7, -22.8). A vehicle with ID 39 is 32.6 meters away at (-25.7, -20.1). A pedestrian with ID 42 is 33.3 meters away at (-13.0, -30.7). A vehicle with ID 83 is 36.0 meters away at (35.9, -3.1). A vehicle with ID 85 is 37.2 meters away at (-12.3, 35.1). A pedestrian with ID 48 is 37.7 meters away at (-30.6, -22.0).", "velocity_description": "The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.6753884 -0.9353673] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.0975152 1.0460701] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 1.4968141 -1.299474 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.0857294 1.0505376] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.00441566 -0.0029354 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.01962565 0.00173853] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(33.291404724121094, 24.707996368408203)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-11.009205  16.43228 ], 19.779342651367188 meters away.)"}
{"file_name": "images/scenario_535_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 0.4) m/s. Its current heading (yaw) is 3.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 44.5 meters away at (-44.4, -4.0). A unknown object with ID 8 is 52.4 meters away at (-51.8, -7.8).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-44.366295   -3.9647331], 44.543094635009766 meters away.)"}
{"file_name": "images/scenario_535_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, -0.3) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 30.6 meters away at (-25.9, 16.2).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-25.942587  16.215958], 30.59370994567871 meters away.)"}
{"file_name": "images/scenario_535_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, -0.3) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_535_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -0.3) m/s. Its current heading (yaw) is -3.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 50.7 meters away at (-32.3, -39.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-32.341137 -39.081238], 50.72762680053711 meters away.)"}
{"file_name": "images/scenario_536_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 1.8) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 13.7 meters away at (-9.8, 9.5). A pedestrian with ID 25 is 15.1 meters away at (-9.4, 11.8). A unknown object with ID 29 is 22.4 meters away at (-7.9, 21.0). A vehicle with ID 34 is 29.4 meters away at (-15.6, 24.9). A unknown object with ID 27 is 32.3 meters away at (26.1, -19.0). A unknown object with ID 30 is 34.0 meters away at (27.4, -20.2). A pedestrian with ID 32 is 39.8 meters away at (7.0, -39.1). A vehicle with ID 35 is 44.1 meters away at (0.8, -44.1). A vehicle with ID 44 is 55.2 meters away at (-53.1, -15.2). A vehicle with ID 31 is 55.6 meters away at (-40.8, 37.8).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.13096322 -0.39018467] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.9974815  1.1056349] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.46576145 -0.5381618 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-238.25729370117188, 55.02876663208008)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.820723  9.535203], 13.68819522857666 meters away.)"}
{"file_name": "images/scenario_536_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.3) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 10.4 meters away at (-7.4, 7.4). A pedestrian with ID 25 is 10.8 meters away at (-6.4, 8.6). A unknown object with ID 29 is 19.5 meters away at (-5.5, 18.7). A vehicle with ID 34 is 26.2 meters away at (-13.1, 22.7). A pedestrian with ID 6 is 29.5 meters away at (14.6, -25.6). A unknown object with ID 30 is 37.4 meters away at (29.9, -22.4). A pedestrian with ID 32 is 40.3 meters away at (7.3, -39.6). A vehicle with ID 35 is 48.6 meters away at (2.2, -48.6). A vehicle with ID 31 is 52.1 meters away at (-38.1, 35.5). A vehicle with ID 44 is 53.5 meters away at (-50.6, -17.5).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.11784256 -0.34612006] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.02552645 -0.01444538] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.1598352  0.8952861] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.7064148 -1.510106 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-238.25729370117188, 55.02876663208008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.3897324  7.3582015], 10.428387641906738 meters away.)"}
{"file_name": "images/scenario_536_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 10.2 meters away at (-7.3, 7.2). A pedestrian with ID 25 is 10.4 meters away at (-6.3, 8.3). A pedestrian with ID 7 is 10.6 meters away at (8.4, 6.6). A unknown object with ID 29 is 19.4 meters away at (-5.4, 18.6). A vehicle with ID 34 is 26.0 meters away at (-13.0, 22.6). A unknown object with ID 30 is 37.4 meters away at (29.9, -22.5). A pedestrian with ID 32 is 38.3 meters away at (5.4, -37.9). A vehicle with ID 31 is 51.8 meters away at (-37.9, 35.4). A vehicle with ID 35 is 52.7 meters away at (0.2, -52.7). A vehicle with ID 44 is 53.5 meters away at (-50.5, -17.6).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.38421816 -0.03802146] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.00852942 -0.00477007] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.0736388  0.7574123] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-1.7296643 -2.8524907] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-238.25729370117188, 55.02876663208008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.2659464  7.2130647], 10.238275527954102 meters away.)"}
{"file_name": "images/scenario_536_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 10.2 meters away at (-7.3, 7.2). A pedestrian with ID 25 is 10.6 meters away at (-6.7, 8.2). A unknown object with ID 29 is 19.4 meters away at (-5.3, 18.6). A vehicle with ID 34 is 26.0 meters away at (-13.0, 22.5). A pedestrian with ID 32 is 36.2 meters away at (3.3, -36.0). A unknown object with ID 30 is 37.5 meters away at (30.0, -22.5). A pedestrian with ID 23 is 39.9 meters away at (-37.5, 13.4). A vehicle with ID 31 is 51.8 meters away at (-37.9, 35.3). A vehicle with ID 44 is 53.5 meters away at (-50.5, -17.7). A vehicle with ID 46 is 57.2 meters away at (-42.6, 38.1).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.01919405  0.00451548] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.85896367  1.1203445 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.49821916 0.53454405] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-238.25729370117188, 55.02876663208008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.2627964  7.199083 ], 10.226192474365234 meters away.)"}
{"file_name": "images/scenario_537_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.3) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 74 is 17.4 meters away at (-5.9, -16.3). A unknown object with ID 72 is 17.4 meters away at (-7.7, -15.6). A unknown object with ID 71 is 17.6 meters away at (-9.5, -14.8). A unknown object with ID 75 is 17.6 meters away at (-4.4, -17.0). A unknown object with ID 69 is 18.2 meters away at (-11.8, -13.8). A pedestrian with ID 11 is 18.8 meters away at (18.3, 4.3). A unknown object with ID 68 is 19.2 meters away at (-14.5, -12.6). A unknown object with ID 66 is 21.1 meters away at (-17.8, -11.3). A unknown object with ID 50 is 23.7 meters away at (-21.6, -9.8). A unknown object with ID 70 is 26.6 meters away at (-25.3, -8.3).", "velocity_description": "The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.3683292  -0.74690413] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 49.6364   -34.585373]\n [ 53.127697 -39.79051 ]\n [ 53.34013  -39.93093 ]\n [ 52.728813 -41.4289  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ -5.880447 -16.340061], 17.36598014831543 meters away.)"}
{"file_name": "images/scenario_537_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -1.7) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 13.4 meters away at (11.6, 6.7). A unknown object with ID 75 is 18.7 meters away at (-13.4, -12.9). A unknown object with ID 74 is 19.3 meters away at (-15.0, -12.2). A unknown object with ID 72 is 20.4 meters away at (-16.8, -11.5). A unknown object with ID 71 is 21.5 meters away at (-18.7, -10.7). A unknown object with ID 28 is 22.2 meters away at (-6.4, -21.3). A unknown object with ID 69 is 23.1 meters away at (-20.9, -9.7). A unknown object with ID 68 is 25.1 meters away at (-23.6, -8.5). A unknown object with ID 66 is 27.9 meters away at (-27.0, -7.2). A unknown object with ID 50 is 31.3 meters away at (-30.8, -5.6).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.2202805  -0.95231676] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 49.6364   -34.585373]\n [ 53.127697 -39.79051 ]\n [ 53.34013  -39.93093 ]\n [ 52.728813 -41.4289  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [11.59466    6.6954126], 13.38897705078125 meters away.)"}
{"file_name": "images/scenario_537_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -1.0) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 10.7 meters away at (7.7, 7.4). A unknown object with ID 75 is 22.0 meters away at (-19.5, -10.2). A vehicle with ID 73 is 22.5 meters away at (-21.9, 5.2). A unknown object with ID 74 is 23.1 meters away at (-21.0, -9.5). A unknown object with ID 72 is 24.5 meters away at (-22.9, -8.8). A unknown object with ID 71 is 26.0 meters away at (-24.7, -8.0). A unknown object with ID 69 is 27.9 meters away at (-27.0, -7.0). A unknown object with ID 68 is 30.3 meters away at (-29.7, -5.8). A unknown object with ID 66 is 33.3 meters away at (-33.0, -4.5). A unknown object with ID 50 is 37.0 meters away at (-36.9, -3.0).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.145261 -0.97489 ] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [ 8.725565  -4.6357045] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 49.6364   -34.585373]\n [ 53.127697 -39.79051 ]\n [ 53.34013  -39.93093 ]\n [ 52.728813 -41.4289  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [7.744835 7.427512], 10.730815887451172 meters away.)"}
{"file_name": "images/scenario_537_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.3) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 9.4 meters away at (6.6, 6.7). A vehicle with ID 73 is 11.5 meters away at (-11.4, -1.7). A unknown object with ID 36 is 23.3 meters away at (-15.8, -17.2). A vehicle with ID 63 is 24.3 meters away at (-3.9, -24.0). A unknown object with ID 75 is 24.4 meters away at (-22.7, -8.9). A unknown object with ID 74 is 25.6 meters away at (-24.2, -8.2). A unknown object with ID 72 is 27.1 meters away at (-26.1, -7.4). A unknown object with ID 71 is 28.7 meters away at (-27.9, -6.6). A unknown object with ID 69 is 30.7 meters away at (-30.2, -5.7). A unknown object with ID 68 is 33.2 meters away at (-32.9, -4.5).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.0101924 -1.1471437] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [ 5.229292  -3.0342302] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-2.5891187  7.1218443] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 40.257053 -17.85339 ]\n [ 49.6364   -34.585373]\n [ 53.127697 -39.79051 ]\n [ 39.333176 -21.107885]\n [ 53.34013  -39.93093 ]\n [ 52.728813 -41.4289  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [6.568077 6.666921], 9.358818054199219 meters away.)"}
{"file_name": "images/scenario_538_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -1.1) m/s. Its current heading (yaw) is -2.93 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 24.5 meters away at (-24.0, -5.1). A pedestrian with ID 10 is 71.0 meters away at (-71.0, -1.4).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.30334276 1.6409954 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.1478446 0.6242641] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-24.021137  -5.055799], 24.547426223754883 meters away.)"}
{"file_name": "images/scenario_538_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -0.8) m/s. Its current heading (yaw) is -2.96 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 13.3 meters away at (-13.3, -0.3). A pedestrian with ID 2 is 43.4 meters away at (-28.8, -32.4). A pedestrian with ID 10 is 59.2 meters away at (-59.2, 2.1).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.8916732  0.99391276] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.52887934 -0.99750334] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.0353914 0.8500147] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-13.34133    -0.2758975], 13.344182014465332 meters away.)"}
{"file_name": "images/scenario_538_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -0.8) m/s. Its current heading (yaw) is -2.96 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 4.4 meters away at (-3.2, 3.0). A pedestrian with ID 2 is 39.1 meters away at (-21.7, -32.5). A cyclist with ID 14 is 39.2 meters away at (-21.6, -32.8). A vehicle with ID 1 is 41.8 meters away at (-17.3, -38.0). A pedestrian with ID 10 is 49.8 meters away at (-49.5, 5.5).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [1.0220824 0.7634015] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.4577466  -0.97431487] m/s.The cyclist with ID 14 is traveling at a (x, y) velocity of [ 0.2404969 -1.5535507] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.5091609 1.0048318] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-3.197485   3.0251808], 4.40177583694458 meters away.)"}
{"file_name": "images/scenario_538_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -1.1) m/s. Its current heading (yaw) is -2.91 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 10.0 meters away at (7.7, 6.4). A unknown object with ID 18 is 33.2 meters away at (13.2, 30.5). A pedestrian with ID 2 is 35.0 meters away at (-13.6, -32.3). A vehicle with ID 1 is 37.2 meters away at (-8.4, -36.3). A pedestrian with ID 10 is 42.4 meters away at (-41.4, 9.3).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.79603666 0.75128686] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.6221226 -0.8406961] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.57546175  0.7592144 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [7.6932335 6.3651586], 9.985042572021484 meters away.)"}
{"file_name": "images/scenario_539_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.3) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 4.3 meters away at (-4.3, -0.3). A vehicle with ID 47 is 8.6 meters away at (-6.2, -5.9). A vehicle with ID 31 is 12.9 meters away at (11.0, -6.6). A vehicle with ID 34 is 13.3 meters away at (13.2, -1.8). A unknown object with ID 36 is 14.5 meters away at (13.6, 5.0). A vehicle with ID 28 is 14.5 meters away at (-8.2, -11.9). A vehicle with ID 32 is 15.0 meters away at (9.6, -11.6). A vehicle with ID 53 is 16.8 meters away at (8.9, -14.2). A unknown object with ID 37 is 16.8 meters away at (16.0, 5.1). A unknown object with ID 39 is 19.2 meters away at (18.6, 5.1).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(156.5181884765625, -158.25338745117188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.301009   -0.31916142], 4.312834739685059 meters away.)"}
{"file_name": "images/scenario_539_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.6) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 3.5 meters away at (-3.3, 1.2). A vehicle with ID 47 is 7.2 meters away at (-1.3, 7.1). A vehicle with ID 41 is 12.8 meters away at (0.6, 12.8). A vehicle with ID 53 is 13.9 meters away at (13.8, -1.1). A vehicle with ID 32 is 14.6 meters away at (14.6, 1.5). A vehicle with ID 9 is 16.7 meters away at (-8.8, -14.2). A vehicle with ID 31 is 17.3 meters away at (16.0, 6.5). A vehicle with ID 34 is 21.4 meters away at (18.2, 11.3). A unknown object with ID 36 is 26.0 meters away at (18.5, 18.2). A unknown object with ID 37 is 27.8 meters away at (21.0, 18.3).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(156.5181884765625, -158.25338745117188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.2869215  1.167654 ], 3.488161325454712 meters away.)"}
{"file_name": "images/scenario_539_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -5.1) m/s. Its current heading (yaw) is -1.95 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 4.7 meters away at (-4.2, 2.0). A vehicle with ID 9 is 4.9 meters away at (-4.4, -2.2). A vehicle with ID 28 is 13.2 meters away at (1.0, 13.1). A vehicle with ID 30 is 16.2 meters away at (-0.1, -16.2). A vehicle with ID 47 is 19.3 meters away at (3.1, 19.1). A vehicle with ID 53 is 21.5 meters away at (18.3, 11.2). A vehicle with ID 38 is 21.6 meters away at (-1.7, -21.5). A vehicle with ID 32 is 23.2 meters away at (18.8, 13.6). A vehicle with ID 41 is 25.3 meters away at (5.0, 24.8). A vehicle with ID 42 is 26.0 meters away at (-11.7, -23.3).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(156.5181884765625, -158.25338745117188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-4.223711   2.0115547], 4.678256988525391 meters away.)"}
{"file_name": "images/scenario_539_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.7) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 5.5 meters away at (-0.6, 5.5). A vehicle with ID 30 is 9.3 meters away at (3.8, -8.4). A vehicle with ID 3 is 13.3 meters away at (-12.3, 5.0). A vehicle with ID 38 is 14.0 meters away at (2.2, -13.8). A vehicle with ID 42 is 17.4 meters away at (-7.7, -15.6). A vehicle with ID 14 is 20.1 meters away at (-18.8, 7.1). A vehicle with ID 51 is 20.8 meters away at (-0.2, -20.8). A vehicle with ID 4 is 20.8 meters away at (20.6, -3.0). A vehicle with ID 28 is 21.5 meters away at (4.8, 20.9). A vehicle with ID 55 is 23.7 meters away at (-9.6, -21.7).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(156.5181884765625, -158.25338745117188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.6000538  5.4545937], 5.487500190734863 meters away.)"}
{"file_name": "images/scenario_540_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.5) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 23.3 meters away at (17.6, -15.3). A unknown object with ID 24 is 25.1 meters away at (19.0, -16.4). A pedestrian with ID 30 is 36.3 meters away at (-35.3, -8.3). A vehicle with ID 26 is 42.2 meters away at (-36.2, -21.7). A vehicle with ID 27 is 64.4 meters away at (-51.2, 39.0). A vehicle with ID 33 is 75.1 meters away at (58.5, -47.2). A vehicle with ID 3 is 75.9 meters away at (-60.8, 45.4). A vehicle with ID 34 is 77.9 meters away at (30.3, -71.8).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.97016025 0.7127645 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-196.485107421875, -182.1544952392578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 17.62171  -15.306902], 23.341506958007812 meters away.)"}
{"file_name": "images/scenario_540_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 23.7 meters away at (17.9, -15.5). A unknown object with ID 5 is 33.4 meters away at (-24.6, 22.6). A pedestrian with ID 30 is 33.4 meters away at (-32.8, -6.7). A vehicle with ID 26 is 42.4 meters away at (-36.5, -21.5). A vehicle with ID 27 is 64.0 meters away at (-50.8, 38.8). A vehicle with ID 20 is 72.1 meters away at (-68.5, -22.6). A vehicle with ID 3 is 75.4 meters away at (-60.3, 45.2). A vehicle with ID 33 is 75.5 meters away at (58.8, -47.4). A pedestrian with ID 11 is 77.6 meters away at (-75.1, -19.7).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [1.1785748 0.8558918] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.02407933 -0.05361952] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-196.485107421875, -182.1544952392578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 17.892189  -15.5041275], 23.675058364868164 meters away.)"}
{"file_name": "images/scenario_540_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.7) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 25.3 meters away at (19.2, -16.4). A pedestrian with ID 8 is 26.2 meters away at (-9.2, 24.6). A unknown object with ID 15 is 27.1 meters away at (20.6, -17.6). A vehicle with ID 1 is 34.2 meters away at (-20.9, 27.1). A vehicle with ID 26 is 42.1 meters away at (-36.4, -21.1). A vehicle with ID 27 is 62.4 meters away at (-49.2, 38.4). A vehicle with ID 20 is 71.0 meters away at (-67.1, -23.0). A vehicle with ID 3 is 73.9 meters away at (-58.9, 44.6). A pedestrian with ID 11 is 77.0 meters away at (-74.1, -20.9). A vehicle with ID 33 is 77.1 meters away at (59.9, -48.5).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.02278857 0.00993178] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.04903018 -0.07584884] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-196.485107421875, -182.1544952392578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 19.23115  -16.417004], 25.285472869873047 meters away.)"}
{"file_name": "images/scenario_540_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 1.5) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 23.0 meters away at (-4.0, 22.7). A vehicle with ID 1 is 29.4 meters away at (-15.5, 24.9). A unknown object with ID 22 is 30.6 meters away at (24.7, -18.0). A unknown object with ID 15 is 32.4 meters away at (26.0, -19.3). A vehicle with ID 26 is 39.0 meters away at (-32.2, -22.0). A unknown object with ID 6 is 51.1 meters away at (7.9, -50.5). A vehicle with ID 27 is 57.2 meters away at (-44.2, 36.2). A vehicle with ID 20 is 66.5 meters away at (-61.5, -25.2). A vehicle with ID 3 is 68.6 meters away at (-53.8, 42.6). A vehicle with ID 18 is 71.4 meters away at (-64.9, -29.8).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.01612052 -0.00898887] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-196.485107421875, -182.1544952392578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.0135803 22.674831 ], 23.027305603027344 meters away.)"}
{"file_name": "images/scenario_541_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.5) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 8.1 meters away at (2.9, -7.6). A pedestrian with ID 72 is 9.4 meters away at (-5.6, -7.5). A vehicle with ID 67 is 11.6 meters away at (11.1, -3.6). A unknown object with ID 63 is 11.7 meters away at (11.7, 0.5). A vehicle with ID 64 is 12.1 meters away at (7.7, -9.3). A pedestrian with ID 65 is 14.6 meters away at (6.2, -13.2). A vehicle with ID 70 is 16.0 meters away at (-2.5, -15.8). A vehicle with ID 68 is 17.3 meters away at (13.2, -11.2). A vehicle with ID 71 is 20.9 meters away at (20.5, -4.1). A vehicle with ID 69 is 22.0 meters away at (-16.9, -14.2).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 0.03487248 -0.01248127] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.6227403  0.5969225] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.04310088 -0.01041547] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ -3.4499366 -10.858821 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.8886147 -7.573461 ], 8.105640411376953 meters away.)"}
{"file_name": "images/scenario_541_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 3.2) m/s. Its current heading (yaw) is 2.18 ", "actor_description": " The most relevant actors are: A pedestrian with ID 72 is 10.8 meters away at (-1.5, -10.7). A vehicle with ID 62 is 12.7 meters away at (6.9, -10.7). A vehicle with ID 67 is 13.5 meters away at (12.3, -5.6). A unknown object with ID 63 is 15.9 meters away at (15.7, -2.5). A vehicle with ID 17 is 16.2 meters away at (-16.2, -0.1). A vehicle with ID 64 is 17.0 meters away at (11.8, -12.3). A vehicle with ID 75 is 21.6 meters away at (-20.2, 7.6). A vehicle with ID 68 is 22.3 meters away at (17.2, -14.2). A vehicle with ID 61 is 22.7 meters away at (-3.3, 22.5). A vehicle with ID 71 is 25.5 meters away at (24.5, -7.1).", "velocity_description": "The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 0.01162203 -0.00467873] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.7252322  0.632896 ] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 1.1696206  -0.33713722] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -1.5069046 -10.716738 ], 10.822163581848145 meters away.)"}
{"file_name": "images/scenario_541_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 6.0) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 12.9 meters away at (-2.0, 12.8). A vehicle with ID 17 is 14.5 meters away at (-10.3, -10.1). A vehicle with ID 67 is 16.9 meters away at (9.5, -14.0). A vehicle with ID 60 is 19.0 meters away at (0.3, 19.0). A vehicle with ID 75 is 19.0 meters away at (-18.9, -1.9). A pedestrian with ID 72 is 20.4 meters away at (-0.4, -20.4). A unknown object with ID 63 is 20.9 meters away at (16.9, -12.2). A vehicle with ID 62 is 21.9 meters away at (8.0, -20.4). A vehicle with ID 58 is 23.6 meters away at (-22.5, -7.2). A vehicle with ID 14 is 25.2 meters away at (2.3, 25.1).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [3.4070342 0.7877826] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.3666861   0.42350453] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.16978714 -0.1536344 ] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.6529355 -1.4927481] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.014998 12.766313], 12.924355506896973 meters away.)"}
{"file_name": "images/scenario_541_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.5) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 6.4 meters away at (-6.4, -0.9). A vehicle with ID 60 is 6.7 meters away at (-4.1, 5.3). A vehicle with ID 14 is 11.5 meters away at (-2.1, 11.3). A vehicle with ID 17 is 19.9 meters away at (-7.4, -18.5). A vehicle with ID 67 is 27.5 meters away at (3.6, -27.2). A vehicle with ID 5 is 30.4 meters away at (12.7, 27.7). A vehicle with ID 58 is 30.8 meters away at (-20.1, -23.3). A vehicle with ID 7 is 33.3 meters away at (-5.1, 33.0). A vehicle with ID 62 is 34.4 meters away at (3.6, -34.2). A vehicle with ID 4 is 34.5 meters away at (5.7, 34.0).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [3.4103339 4.825146 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.4439123  0.5332355] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 3.1027288 -1.0061616] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.3753376  -0.92783356], 6.44249963760376 meters away.)"}
{"file_name": "images/scenario_542_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 17.5 meters away at (-8.1, -15.5). A vehicle with ID 15 is 36.9 meters away at (12.2, -34.8). A vehicle with ID 14 is 39.0 meters away at (-5.7, -38.6). A pedestrian with ID 18 is 46.2 meters away at (22.6, -40.3). A vehicle with ID 12 is 48.1 meters away at (-11.5, -46.7). A vehicle with ID 21 is 77.7 meters away at (62.2, -46.6).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.2255743  -0.15034227] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.861015  -3.9106286] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [3.3510282 4.512923 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.25962245 -1.1738127 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [3.4495168 4.4440804] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 2.3145413 -1.9921699] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.003202  -11.370279 ]\n [ 11.540387  -23.00279  ]\n [ 15.05803   -11.304426 ]\n [ 14.9978485 -11.376077 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -8.12874  -15.462467], 17.468952178955078 meters away.)"}
{"file_name": "images/scenario_542_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 31.0 meters away at (-0.4, -31.0). A vehicle with ID 12 is 39.9 meters away at (-6.2, -39.4). A vehicle with ID 15 is 44.6 meters away at (2.8, -44.5). A pedestrian with ID 18 is 48.3 meters away at (23.1, -42.4). A unknown object with ID 6 is 60.3 meters away at (41.1, -44.1).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [2.0698786 2.9542186] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.1625671 2.9514515] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.6527214 -5.5443125] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.3078269 -1.1426761] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.003202  -11.370279 ]\n [ 15.05803   -11.304426 ]\n [ 14.9978485 -11.376077 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -0.43990207 -30.964808  ], 30.967931747436523 meters away.)"}
{"file_name": "images/scenario_542_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 26.9 meters away at (2.5, -26.8). A vehicle with ID 12 is 35.4 meters away at (-3.2, -35.2). A vehicle with ID 15 is 56.8 meters away at (-6.6, -56.4). A unknown object with ID 6 is 60.2 meters away at (41.1, -44.1).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0.95264107 1.354485  ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0.9124277 1.2831279] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.7904696 -6.218272 ] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.003202  -11.370279 ]\n [ 15.05803   -11.304426 ]\n [ 14.9978485 -11.376077 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.5432968 -26.758623 ], 26.87921714782715 meters away.)"}
{"file_name": "images/scenario_542_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 25.3 meters away at (3.9, -25.0). A vehicle with ID 12 is 33.1 meters away at (-1.7, -33.0). A vehicle with ID 16 is 68.7 meters away at (49.2, -48.0). A vehicle with ID 15 is 71.0 meters away at (-16.0, -69.2).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0.79167414 0.8786765 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0.8222732 1.2350972] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-4.5253744  3.7062914] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.449021  -6.9504848] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.003202  -11.370279 ]\n [ 15.05803   -11.304426 ]\n [ 14.9978485 -11.376077 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  3.8642156 -24.991632 ], 25.288610458374023 meters away.)"}
{"file_name": "images/scenario_543_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -5.1) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 4.1 meters away at (-1.9, 3.6). A pedestrian with ID 63 is 5.3 meters away at (-5.2, 1.1). A vehicle with ID 64 is 5.8 meters away at (-5.7, -1.0). A vehicle with ID 62 is 6.3 meters away at (3.6, -5.2). A pedestrian with ID 58 is 6.8 meters away at (-2.3, 6.4). A vehicle with ID 59 is 7.8 meters away at (7.7, -0.8). A pedestrian with ID 60 is 8.7 meters away at (-3.5, 8.0). A vehicle with ID 57 is 8.8 meters away at (2.3, 8.5). A vehicle with ID 56 is 10.0 meters away at (-0.3, -10.0). A vehicle with ID 66 is 13.1 meters away at (-11.0, -7.1).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.04109809 -0.01738921] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.8686331 -0.5714576] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.7646799 -0.7620832] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-62.907715 -73.8755  ]\n [-64.29455  -72.162796]\n [-62.976345 -73.51129 ]]", "nav_goal": "(79.31739807128906, -208.30581665039062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.9084563  3.645708 ], 4.115020275115967 meters away.)"}
{"file_name": "images/scenario_543_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -5.9) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 4.2 meters away at (-1.6, 3.9). A vehicle with ID 35 is 6.9 meters away at (-6.6, -2.1). A vehicle with ID 56 is 9.2 meters away at (9.1, 1.1). A vehicle with ID 64 is 10.5 meters away at (3.6, 9.9). A pedestrian with ID 63 is 13.0 meters away at (4.1, 12.3). A vehicle with ID 62 is 14.2 meters away at (12.9, 5.9). A vehicle with ID 61 is 16.6 meters away at (7.5, 14.8). A pedestrian with ID 58 is 17.3 meters away at (5.7, 16.4). A pedestrian with ID 60 is 18.1 meters away at (4.5, 17.6). A vehicle with ID 55 is 19.2 meters away at (-7.0, -17.9).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.02219792  0.02895513] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.7119185 -0.7500937] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.67033243 -0.8311812 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-62.907715 -73.8755  ]\n [-62.976345 -73.51129 ]]", "nav_goal": "(79.31739807128906, -208.30581665039062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.6444569  3.867117 ], 4.20224142074585 meters away.)"}
{"file_name": "images/scenario_543_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -6.1) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 6.7 meters away at (3.3, -5.9). A pedestrian with ID 28 is 6.9 meters away at (-6.5, 2.0). A pedestrian with ID 24 is 8.2 meters away at (-8.2, 0.5). A vehicle with ID 35 is 10.6 meters away at (3.6, 9.9). A unknown object with ID 45 is 10.9 meters away at (-9.8, 4.8). A vehicle with ID 66 is 18.1 meters away at (8.6, 15.9). A vehicle with ID 8 is 22.9 meters away at (-21.5, -7.9). A vehicle with ID 56 is 23.4 meters away at (19.3, 13.1). A unknown object with ID 51 is 24.0 meters away at (-23.6, 4.1). A vehicle with ID 64 is 26.0 meters away at (13.9, 21.9).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.7140317 0.9696026] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.8486626 0.8680694] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-70.71456  -80.627014]\n [-62.907715 -73.8755  ]\n [-72.76708  -83.245766]\n [-62.976345 -73.51129 ]]", "nav_goal": "(79.31739807128906, -208.30581665039062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.3100433 -5.859947 ], 6.7301836013793945 meters away.)"}
{"file_name": "images/scenario_543_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, -6.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 12.1 meters away at (-11.4, 4.2). A vehicle with ID 55 is 14.7 meters away at (13.4, 6.1). A pedestrian with ID 24 is 14.8 meters away at (3.5, 14.4). A vehicle with ID 34 is 15.7 meters away at (-12.7, -9.2). A unknown object with ID 45 is 16.7 meters away at (0.3, 16.7). A pedestrian with ID 28 is 17.1 meters away at (5.1, 16.3). A vehicle with ID 1 is 22.8 meters away at (-17.3, -14.8). A pedestrian with ID 3 is 22.9 meters away at (-19.6, -11.7). A pedestrian with ID 4 is 23.3 meters away at (-19.1, -13.4). A vehicle with ID 35 is 25.9 meters away at (13.8, 22.0).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.62991476 0.9543375 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.7487062 1.1510082] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.01009442 0.04838477] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.7774272 0.801824 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-70.71456  -80.627014]\n [-62.907715 -73.8755  ]\n [-72.76708  -83.245766]\n [-61.327053 -79.8563  ]\n [-64.29455  -72.162796]\n [-58.744347 -77.824326]\n [-62.976345 -73.51129 ]]", "nav_goal": "(79.31739807128906, -208.30581665039062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.385555    4.2206993], 12.1427001953125 meters away.)"}
{"file_name": "images/scenario_544_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -1.7) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 8.5 meters away at (8.3, -2.0). A vehicle with ID 16 is 14.0 meters away at (2.2, -13.8). A vehicle with ID 14 is 19.4 meters away at (16.6, 10.1). A vehicle with ID 17 is 22.4 meters away at (-17.7, -13.7). A vehicle with ID 22 is 30.1 meters away at (-29.0, -8.0). A vehicle with ID 21 is 60.8 meters away at (48.8, 36.3).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [5.0277743 5.3411036] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [1.1569107 5.78199  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.32587  -4.399207] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.5786963  -0.96627694] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 2.982693  -1.9023727] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.7367663 -6.3247333] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.111454 -13.490765]\n [-15.741325 -14.339286]]", "nav_goal": "(-201.30526733398438, -200.51705932617188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.256329  -1.9670486], 8.48741626739502 meters away.)"}
{"file_name": "images/scenario_544_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.1) m/s. Its current heading (yaw) is -2.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 10.0 meters away at (9.2, 4.0). A vehicle with ID 16 is 10.1 meters away at (10.1, -0.5). A vehicle with ID 17 is 12.6 meters away at (-5.3, -11.4). A vehicle with ID 22 is 22.7 meters away at (-19.2, -12.1). A vehicle with ID 13 is 23.7 meters away at (21.4, 10.2). A vehicle with ID 21 is 45.1 meters away at (36.5, 26.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.219441  -2.8175478] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [5.413677 5.95102 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [6.1489086 2.454307 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 5.3903384 -2.4584465] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [6.525488  5.5352616] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-6.082265 -4.844245] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.593865 -18.015053]\n [-16.111454 -13.490765]\n [-13.512656 -16.630823]\n [-15.741325 -14.339286]]", "nav_goal": "(-201.30526733398438, -200.51705932617188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [9.172876  3.9558613], 9.989520072937012 meters away.)"}
{"file_name": "images/scenario_544_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 4.4 meters away at (4.4, -0.2). A vehicle with ID 17 is 7.7 meters away at (7.3, -2.4). A vehicle with ID 22 is 14.6 meters away at (-6.7, -13.0). A vehicle with ID 16 is 26.7 meters away at (23.8, 12.0). A vehicle with ID 21 is 31.0 meters away at (25.4, 17.8). A vehicle with ID 13 is 42.6 meters away at (36.4, 22.2). A vehicle with ID 3 is 64.0 meters away at (51.2, 38.5). A unknown object with ID 4 is 79.0 meters away at (-39.9, -68.2).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.5374252 -1.3900775] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [6.5739307 5.711849 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [6.30927   1.7759485] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [7.919952 6.59677 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-5.1321917 -4.1931267] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [7.9731894 6.4069805] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.4176497 -5.7767906] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.593865 -18.015053]\n [-16.111454 -13.490765]\n [-13.512656 -16.630823]\n [-15.741325 -14.339286]]", "nav_goal": "(-201.30526733398438, -200.51705932617188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.4178596  -0.21930742], 4.423299312591553 meters away.)"}
{"file_name": "images/scenario_544_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.2 meters away at (2.6, -1.9). A vehicle with ID 22 is 7.7 meters away at (5.7, -5.3). A vehicle with ID 21 is 18.8 meters away at (15.9, 10.1). A vehicle with ID 17 is 24.1 meters away at (21.8, 10.4). A vehicle with ID 8 is 31.7 meters away at (13.1, -28.8). A vehicle with ID 3 is 47.0 meters away at (37.8, 27.9). A vehicle with ID 16 is 47.7 meters away at (40.5, 25.3). A vehicle with ID 13 is 63.4 meters away at (52.7, 35.2). A unknown object with ID 4 is 79.0 meters away at (-39.9, -68.2).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.40266368 -0.39167652] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [6.3853993 5.692242 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.9624746 -3.3537495] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [7.8056154 6.75354  ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.535732   4.2147636] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.184947  -4.9390745] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [8.479186 6.689645] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [8.772425 6.870277] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.593865  -18.015053 ]\n [-16.111454  -13.490765 ]\n [ -2.5784047 -30.937597 ]\n [ -2.5824633 -30.943602 ]\n [-13.512656  -16.630823 ]\n [-15.741325  -14.339286 ]\n [ -1.6215777 -29.877043 ]\n [ -2.3713565 -31.077707 ]]", "nav_goal": "(-201.30526733398438, -200.51705932617188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.5904446 -1.8901596], 3.206728219985962 meters away.)"}
{"file_name": "images/scenario_545_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.5) m/s. Its current heading (yaw) is -2.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 7.4 meters away at (-2.1, 7.1). A vehicle with ID 8 is 10.2 meters away at (-10.1, 0.9). A vehicle with ID 13 is 26.1 meters away at (17.7, 19.2). A vehicle with ID 16 is 33.0 meters away at (-17.9, -27.8). A vehicle with ID 12 is 33.4 meters away at (-3.1, -33.3). A pedestrian with ID 17 is 37.0 meters away at (-27.6, -24.7). A vehicle with ID 3 is 42.0 meters away at (10.1, -40.7). A vehicle with ID 20 is 59.1 meters away at (-40.6, -42.9). A vehicle with ID 19 is 59.5 meters away at (11.5, -58.4). A vehicle with ID 15 is 74.4 meters away at (52.6, 52.6).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.831681 -4.226508] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.265934 -5.954587] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.8920165 1.1052599] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.1423173  6.981886 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0.46941227 5.971182  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.921581 -14.51108 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.0689757  7.0835657], 7.379537105560303 meters away.)"}
{"file_name": "images/scenario_545_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 7.5 meters away at (-1.8, 7.3). A vehicle with ID 8 is 10.0 meters away at (-9.9, 1.1). A vehicle with ID 13 is 16.4 meters away at (11.2, 11.9). A vehicle with ID 3 is 26.1 meters away at (-4.1, -25.8). A vehicle with ID 16 is 32.5 meters away at (-17.5, -27.4). A pedestrian with ID 17 is 33.8 meters away at (-25.5, -22.2). A vehicle with ID 1 is 46.4 meters away at (10.4, -45.2). A vehicle with ID 20 is 58.7 meters away at (-40.3, -42.7). A vehicle with ID 19 is 59.3 meters away at (11.8, -58.2). A unknown object with ID 14 is 61.2 meters away at (49.7, 35.7).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-2.71259   -3.0106578] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.465814   7.4689803] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.8366887 1.1429644] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 7.104451  -6.2713656] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.921581 -14.51108 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.785034  7.315964], 7.530582904815674 meters away.)"}
{"file_name": "images/scenario_545_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 7.5 meters away at (-1.8, 7.3). A vehicle with ID 8 is 9.9 meters away at (-9.8, 1.2). A vehicle with ID 13 is 10.6 meters away at (7.3, 7.7). A vehicle with ID 3 is 22.0 meters away at (-19.0, -11.1). A pedestrian with ID 17 is 31.2 meters away at (-23.8, -20.1). A vehicle with ID 16 is 32.4 meters away at (-17.5, -27.3). A vehicle with ID 11 is 47.0 meters away at (-25.8, -39.3). A vehicle with ID 20 is 58.6 meters away at (-40.3, -42.6). A vehicle with ID 19 is 59.1 meters away at (11.6, -57.9). A unknown object with ID 14 is 61.3 meters away at (49.8, 35.8).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.3941118 -1.4903395] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.727679  7.432507] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.72933537 0.9356186 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [4.622497 4.835902] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.921581 -14.51108 ]\n [-18.093725 -31.672066]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.7784302  7.309673 ], 7.522907257080078 meters away.)"}
{"file_name": "images/scenario_545_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 7.5 meters away at (-1.8, 7.3). A vehicle with ID 13 is 7.8 meters away at (5.4, 5.6). A vehicle with ID 8 is 9.9 meters away at (-9.9, 1.2). A pedestrian with ID 17 is 29.0 meters away at (-22.3, -18.5). A vehicle with ID 16 is 32.4 meters away at (-17.5, -27.3). A vehicle with ID 11 is 36.9 meters away at (-18.5, -31.9). A vehicle with ID 20 is 58.5 meters away at (-40.2, -42.5). A vehicle with ID 19 is 59.0 meters away at (11.6, -57.9). A unknown object with ID 14 is 61.3 meters away at (49.8, 35.8).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.45782647 -0.47983983] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.47593695 0.5620424 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.7598064 2.800483 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.921581 -14.51108 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.7811363  7.3173847], 7.531040191650391 meters away.)"}
{"file_name": "images/scenario_546_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 0.0) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 44 is 3.8 meters away at (-0.7, 3.8). A unknown object with ID 43 is 7.7 meters away at (-4.5, -6.3). A unknown object with ID 50 is 8.2 meters away at (-5.6, -6.0). A unknown object with ID 47 is 12.7 meters away at (-10.0, -7.9). A unknown object with ID 49 is 14.8 meters away at (-11.5, -9.4). A unknown object with ID 28 is 15.3 meters away at (-12.0, -9.4). A unknown object with ID 48 is 15.7 meters away at (-12.6, -9.4). A unknown object with ID 52 is 16.1 meters away at (-13.1, -9.4). A vehicle with ID 55 is 18.3 meters away at (-14.0, -11.8). A vehicle with ID 16 is 19.1 meters away at (-19.1, 0.9).", "velocity_description": "The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.06267368 0.01156317] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.8376438  -0.07190172] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-0.68653774  3.756378  ], 3.8186004161834717 meters away.)"}
{"file_name": "images/scenario_546_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 1.5) m/s. Its current heading (yaw) is 0.53 ", "actor_description": " The most relevant actors are: A pedestrian with ID 44 is 6.0 meters away at (-5.6, 2.0). A unknown object with ID 43 is 12.0 meters away at (-9.4, -7.5). A unknown object with ID 50 is 12.7 meters away at (-10.5, -7.3). A unknown object with ID 47 is 17.5 meters away at (-14.9, -9.1). A unknown object with ID 49 is 19.5 meters away at (-16.4, -10.6). A unknown object with ID 21 is 19.9 meters away at (-16.8, -10.6). A unknown object with ID 28 is 20.1 meters away at (-17.0, -10.6). A unknown object with ID 48 is 20.7 meters away at (-17.8, -10.6). A unknown object with ID 52 is 21.4 meters away at (-18.7, -10.5). A vehicle with ID 55 is 23.2 meters away at (-19.2, -12.9).", "velocity_description": "The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.01666003 -0.7001037 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.626482   2.0496192], 5.988174915313721 meters away.)"}
{"file_name": "images/scenario_546_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 3.4) m/s. Its current heading (yaw) is 1.14 ", "actor_description": " The most relevant actors are: A pedestrian with ID 44 is 10.9 meters away at (-10.1, -4.0). A unknown object with ID 43 is 18.5 meters away at (-13.6, -12.5). A unknown object with ID 50 is 19.2 meters away at (-14.7, -12.3). A unknown object with ID 47 is 23.8 meters away at (-19.2, -14.1). A unknown object with ID 60 is 24.6 meters away at (6.1, 23.8). A unknown object with ID 10 is 25.4 meters away at (7.7, 24.3). A unknown object with ID 34 is 25.7 meters away at (4.6, 25.3). A unknown object with ID 49 is 25.9 meters away at (-20.6, -15.7). A vehicle with ID 16 is 26.3 meters away at (-25.7, -5.5). A unknown object with ID 21 is 26.3 meters away at (-21.0, -15.8).", "velocity_description": "The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.10006511  0.0928078 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 2.3065882  -0.16524519] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-10.131608   -4.0187206], 10.89952278137207 meters away.)"}
{"file_name": "images/scenario_546_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 4.4) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 14.6 meters away at (2.9, 14.4). A unknown object with ID 60 is 16.3 meters away at (2.6, 16.1). A unknown object with ID 10 is 17.0 meters away at (4.3, 16.4). A pedestrian with ID 44 is 17.5 meters away at (-13.5, -11.2). A unknown object with ID 34 is 17.8 meters away at (1.5, 17.7). A unknown object with ID 29 is 18.9 meters away at (5.0, 18.2). A unknown object with ID 9 is 19.0 meters away at (5.1, 18.3). A unknown object with ID 8 is 21.1 meters away at (5.9, 20.3). A unknown object with ID 7 is 23.1 meters away at (6.6, 22.2). A unknown object with ID 33 is 24.8 meters away at (6.0, 24.0).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.02571009 -0.03613925] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.9064703 14.353396 ], 14.644710540771484 meters away.)"}
{"file_name": "images/scenario_547_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.4) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 4.9 meters away at (4.9, -0.4). A vehicle with ID 39 is 12.3 meters away at (-6.2, 10.6). A vehicle with ID 6 is 19.4 meters away at (-14.9, 12.4). A vehicle with ID 8 is 25.3 meters away at (19.2, -16.5). A vehicle with ID 41 is 30.2 meters away at (6.2, -29.5). A vehicle with ID 42 is 32.9 meters away at (4.5, -32.5). A vehicle with ID 43 is 35.0 meters away at (1.8, -35.0). A vehicle with ID 50 is 37.0 meters away at (30.4, -21.2). A vehicle with ID 44 is 38.5 meters away at (0.7, -38.5). A vehicle with ID 46 is 42.3 meters away at (-1.0, -42.3).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [-7.2606697  6.056904 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-3.7789435  6.407129 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-5.457648  4.733593] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.9234295  4.9734955] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-9.970647  8.473228] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.682426  28.558489]\n [-38.059402  27.997253]\n [-21.077244  23.886726]\n [-19.19622   24.941559]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.8790507  -0.42919827], 4.897891998291016 meters away.)"}
{"file_name": "images/scenario_547_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 4.8) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 4.4 meters away at (4.0, 1.9). A vehicle with ID 39 is 15.6 meters away at (4.1, 15.1). A vehicle with ID 6 is 19.2 meters away at (-14.7, 12.3). A vehicle with ID 8 is 23.5 meters away at (17.8, -15.3). A vehicle with ID 50 is 26.8 meters away at (22.5, -14.5). A vehicle with ID 51 is 32.8 meters away at (-27.2, 18.4). A vehicle with ID 41 is 42.2 meters away at (17.0, -38.6). A vehicle with ID 22 is 44.2 meters away at (-35.8, 26.0). A vehicle with ID 42 is 44.3 meters away at (15.3, -41.6). A vehicle with ID 43 is 45.8 meters away at (12.6, -44.1).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [-3.3953643  6.196898 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [3.1250513 6.892998 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-5.245866  4.611134] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.1636395  5.269936 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-8.39638    7.2123485] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.682426  28.558489]\n [-38.059402  27.997253]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.9634361 1.8619614], 4.37900972366333 meters away.)"}
{"file_name": "images/scenario_547_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.4) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 15.7 meters away at (14.5, 5.9). A vehicle with ID 6 is 18.9 meters away at (-13.8, 12.9). A vehicle with ID 51 is 19.0 meters away at (-16.5, 9.3). A vehicle with ID 8 is 22.1 meters away at (16.7, -14.5). A vehicle with ID 50 is 22.4 meters away at (19.1, -11.7). A vehicle with ID 22 is 30.3 meters away at (-25.2, 16.8). A vehicle with ID 39 is 31.9 meters away at (24.8, 20.0). A vehicle with ID 3 is 37.8 meters away at (-28.9, 24.3). A vehicle with ID 19 is 49.2 meters away at (-37.5, 31.8). A vehicle with ID 2 is 49.8 meters away at (-40.1, 29.5).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [3.3646696 6.483969 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-4.2519326  5.2006307] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.629118  4.816732] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-5.375795  4.690804] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [6.3709393 7.763379 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.532813   4.5945535] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.5559945  4.566654 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.682426  28.558489]\n [-38.059402  27.997253]\n [-21.077244  23.886726]\n [-19.19622   24.941559]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [14.509542   5.9091034], 15.66666316986084 meters away.)"}
{"file_name": "images/scenario_547_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.0) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 5.6 meters away at (-5.6, -0.1). A vehicle with ID 22 is 16.1 meters away at (-14.2, 7.5). A vehicle with ID 6 is 17.0 meters away at (-10.7, 13.1). A vehicle with ID 8 is 21.9 meters away at (16.6, -14.3). A vehicle with ID 4 is 26.6 meters away at (-22.3, 14.4). A vehicle with ID 50 is 26.6 meters away at (23.8, -11.9). A vehicle with ID 2 is 35.4 meters away at (-29.2, 20.1). A vehicle with ID 3 is 37.5 meters away at (-28.7, 24.1). A vehicle with ID 40 is 37.5 meters away at (36.0, 10.4). A vehicle with ID 1 is 45.0 meters away at (-36.5, 26.4).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.721656   3.9924943] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.4220715  4.6508393] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-0.90299076  4.975529  ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.851847  4.076361] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [6.230686 7.532984] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.682426  28.558489]\n [-38.059402  27.997253]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.5824127  -0.05783463], 5.582712173461914 meters away.)"}
{"file_name": "images/scenario_548_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.5) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 9.2 meters away at (-3.2, -8.7). A vehicle with ID 43 is 12.2 meters away at (-11.8, -3.3). A vehicle with ID 44 is 16.8 meters away at (-15.2, -7.2). A pedestrian with ID 13 is 17.7 meters away at (9.7, 14.8). A unknown object with ID 45 is 19.8 meters away at (-1.9, 19.7). A unknown object with ID 46 is 20.0 meters away at (1.2, 20.0). A unknown object with ID 48 is 21.9 meters away at (2.7, 21.7). A vehicle with ID 47 is 22.4 meters away at (-18.9, -11.9). A unknown object with ID 40 is 24.1 meters away at (23.9, 2.8). A vehicle with ID 49 is 24.7 meters away at (-13.5, -20.7).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.10820323 -0.20975636] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.1831257 -8.65713  ], 9.223784446716309 meters away.)"}
{"file_name": "images/scenario_548_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 1.6) m/s. Its current heading (yaw) is 0.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 13.5 meters away at (-7.1, -11.5). A vehicle with ID 43 is 16.8 meters away at (-15.6, -6.1). A unknown object with ID 46 is 17.3 meters away at (-2.9, 17.1). A unknown object with ID 45 is 17.8 meters away at (-5.9, 16.8). A unknown object with ID 48 is 18.9 meters away at (-1.3, 18.8). A unknown object with ID 40 is 20.0 meters away at (20.0, 0.0). A unknown object with ID 41 is 21.0 meters away at (20.9, 1.1). A vehicle with ID 44 is 21.6 meters away at (-19.1, -10.1). A unknown object with ID 51 is 23.9 meters away at (-11.4, 21.0). A unknown object with ID 50 is 25.0 meters away at (-17.4, 17.9).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ -7.0604906 -11.527688 ], 13.51806640625 meters away.)"}
{"file_name": "images/scenario_548_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.7) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A unknown object with ID 40 is 12.1 meters away at (12.1, -0.4). A unknown object with ID 41 is 13.0 meters away at (13.0, 0.7). A vehicle with ID 42 is 19.1 meters away at (-14.9, -11.9). A unknown object with ID 46 is 19.9 meters away at (-10.8, 16.7). A unknown object with ID 48 is 20.6 meters away at (-9.2, 18.4). A unknown object with ID 45 is 21.5 meters away at (-13.8, 16.4). A vehicle with ID 53 is 24.1 meters away at (3.8, 23.8). A vehicle with ID 43 is 24.4 meters away at (-23.5, -6.5). A unknown object with ID 51 is 28.2 meters away at (-19.3, 20.6). A vehicle with ID 44 is 28.9 meters away at (-27.0, -10.5).", "velocity_description": "The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [12.060153   -0.38225913], 12.06620979309082 meters away.)"}
{"file_name": "images/scenario_548_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -4.1) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A unknown object with ID 40 is 6.3 meters away at (2.8, 5.7). A unknown object with ID 41 is 7.8 meters away at (3.7, 6.8). A unknown object with ID 30 is 19.2 meters away at (2.0, -19.1). A vehicle with ID 53 is 30.1 meters away at (-5.2, 29.7). A unknown object with ID 46 is 30.3 meters away at (-20.0, 22.8). A unknown object with ID 48 is 30.7 meters away at (-18.5, 24.5). A vehicle with ID 38 is 31.8 meters away at (28.2, -14.7). A unknown object with ID 45 is 32.3 meters away at (-23.1, 22.6). A vehicle with ID 43 is 32.8 meters away at (-32.8, -0.3). A vehicle with ID 36 is 37.1 meters away at (32.2, -18.4).", "velocity_description": "The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [2.759369  5.6529284], 6.2904462814331055 meters away.)"}
{"file_name": "images/scenario_549_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -2.5) m/s. Its current heading (yaw) is -1.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 40.0 meters away at (39.0, 9.1). A vehicle with ID 14 is 47.1 meters away at (10.6, -45.9). A vehicle with ID 6 is 49.5 meters away at (48.3, 11.0). A vehicle with ID 8 is 62.7 meters away at (19.4, -59.6). A vehicle with ID 3 is 71.3 meters away at (25.0, -66.8). A pedestrian with ID 15 is 73.2 meters away at (69.7, 22.2).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 3.8975484 -1.03497  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.665827   2.8643608] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.1199399  -0.39071018] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(49.694732666015625, -282.6595764160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [38.997166  9.09444 ], 40.043575286865234 meters away.)"}
{"file_name": "images/scenario_549_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -4.5) m/s. Its current heading (yaw) is -1.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 38.4 meters away at (-15.7, 35.1). A vehicle with ID 14 is 47.3 meters away at (17.9, -43.8). A vehicle with ID 4 is 54.2 meters away at (24.5, -48.3). A vehicle with ID 3 is 64.7 meters away at (24.7, -59.8).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 2.9297261 -3.283343 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(49.694732666015625, -282.6595764160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-15.67894   35.057728], 38.40407943725586 meters away.)"}
{"file_name": "images/scenario_549_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -6.3) m/s. Its current heading (yaw) is -1.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 35.6 meters away at (12.4, 33.4). A vehicle with ID 4 is 43.1 meters away at (21.4, -37.5). A vehicle with ID 14 is 46.1 meters away at (18.4, -42.3). A vehicle with ID 3 is 53.5 meters away at (21.5, -49.0).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [-5.8938146 -1.0991921] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.27439383 -5.6453223 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(49.694732666015625, -282.6595764160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.408635 33.412876], 35.64259338378906 meters away.)"}
{"file_name": "images/scenario_549_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -7.6) m/s. Its current heading (yaw) is -1.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 29.4 meters away at (17.8, -23.4). A cyclist with ID 13 is 29.6 meters away at (12.2, -26.9). A vehicle with ID 10 is 29.8 meters away at (12.2, -27.2). A vehicle with ID 3 is 39.3 meters away at (18.0, -35.0). A vehicle with ID 14 is 42.6 meters away at (14.8, -40.0).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [0.10660071 0.06156302] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.04760275 -6.274265  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(49.694732666015625, -282.6595764160156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 17.777561 -23.392616], 29.381221771240234 meters away.)"}
{"file_name": "images/scenario_550_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.1) m/s. Its current heading (yaw) is -0.23 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 6.2 meters away at (-4.4, -4.3). A unknown object with ID 21 is 32.8 meters away at (-22.4, 23.9). A pedestrian with ID 30 is 38.6 meters away at (-37.6, -8.8). A unknown object with ID 9 is 38.7 meters away at (-25.7, -29.0). A pedestrian with ID 24 is 45.7 meters away at (21.3, 40.4). A pedestrian with ID 25 is 48.2 meters away at (23.0, 42.4). A pedestrian with ID 31 is 69.9 meters away at (29.0, 63.6). A pedestrian with ID 11 is 75.8 meters away at (31.8, 68.8).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.8799287  -0.31835502] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.02088035 -0.0117873 ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01382211  0.06199553] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.01362289  0.00272762] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.79441565 1.0225394 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.9341438 0.7178478] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-4.4409657 -4.3492894], 6.215987205505371 meters away.)"}
{"file_name": "images/scenario_550_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.3) m/s. Its current heading (yaw) is -0.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 5.6 meters away at (-3.5, -4.4). A unknown object with ID 14 is 16.6 meters away at (-15.1, -6.8). A unknown object with ID 20 is 17.3 meters away at (-15.7, -7.2). A pedestrian with ID 7 is 25.4 meters away at (19.5, -16.3). A unknown object with ID 9 is 39.1 meters away at (-26.7, -28.6). A pedestrian with ID 30 is 39.3 meters away at (-38.4, -8.4). A pedestrian with ID 15 is 40.8 meters away at (-40.1, -7.6). A pedestrian with ID 24 is 45.5 meters away at (20.8, 40.4). A pedestrian with ID 25 is 48.1 meters away at (22.4, 42.5). A pedestrian with ID 31 is 72.2 meters away at (30.0, 65.6).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.68178433 -0.29507804] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.05100718 1.2348464 ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.0584066   0.01936532] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.09306248  0.16143326] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.03260575 -0.0576507 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.04833827  0.00604361] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.4878439 1.1920702] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-3.4597697 -4.439414 ], 5.62835693359375 meters away.)"}
{"file_name": "images/scenario_550_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 0.8) m/s. Its current heading (yaw) is 0.30 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 7.9 meters away at (-5.7, -5.5). A pedestrian with ID 7 is 21.4 meters away at (16.0, -14.2). A pedestrian with ID 30 is 43.3 meters away at (-42.5, -8.3). A pedestrian with ID 24 is 43.6 meters away at (16.6, 40.4). A pedestrian with ID 25 is 46.3 meters away at (18.6, 42.4). A pedestrian with ID 22 is 78.8 meters away at (31.9, 72.1).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0128368 -0.4709137] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.37401083 1.1249443 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.00400166 0.02473246] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01639647 -0.08957121] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.03474795 -0.01262133] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.84953856 0.90926474] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.660058 -5.471473], 7.872310638427734 meters away.)"}
{"file_name": "images/scenario_550_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 3.2) m/s. Its current heading (yaw) is 1.07 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 13.5 meters away at (-8.3, -10.6). A pedestrian with ID 7 is 20.5 meters away at (12.5, -16.2). A pedestrian with ID 24 is 38.3 meters away at (12.2, 36.3). A pedestrian with ID 25 is 40.8 meters away at (13.9, 38.3). A pedestrian with ID 30 is 48.6 meters away at (-46.9, -12.7). A pedestrian with ID 8 is 69.8 meters away at (25.2, 65.2). A pedestrian with ID 22 is 75.7 meters away at (29.0, 69.9). A pedestrian with ID 13 is 78.1 meters away at (29.1, 72.5).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0268259 -0.5247965] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.44729793 0.9109461 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.06640092  0.00747977] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.07077393  0.00919399] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.05156045 -0.15753675] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.6270561 1.238545 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.53683436 0.9220128 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.93112236 -0.5600051 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ -8.3447  -10.61646], 13.50345230102539 meters away.)"}
{"file_name": "images/scenario_551_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 9.5) m/s. Its current heading (yaw) is 1.86 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-26.293542861938477, 298.8924560546875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_551_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 9.6) m/s. Its current heading (yaw) is 1.83 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-26.293542861938477, 298.8924560546875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_551_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 10.0) m/s. Its current heading (yaw) is 1.77 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-26.293542861938477, 298.8924560546875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_551_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 10.1) m/s. Its current heading (yaw) is 1.74 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-26.293542861938477, 298.8924560546875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_552_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.3) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A cyclist with ID 59 is 10.3 meters away at (3.0, 9.8). A vehicle with ID 86 is 18.1 meters away at (-3.5, -17.7). A unknown object with ID 60 is 19.8 meters away at (-2.1, 19.7). A unknown object with ID 62 is 20.0 meters away at (-2.2, 19.9). A unknown object with ID 61 is 21.4 meters away at (-0.9, 21.4). A unknown object with ID 41 is 21.4 meters away at (-3.0, 21.2). A unknown object with ID 67 is 22.2 meters away at (-4.0, 21.8). A cyclist with ID 87 is 22.2 meters away at (-1.8, -22.1). A unknown object with ID 64 is 24.1 meters away at (0.3, 24.1). A vehicle with ID 78 is 26.1 meters away at (10.2, 24.0).", "velocity_description": "The cyclist with ID 59 is traveling at a (x, y) velocity of [-3.0959952 -6.9275684] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 87 is traveling at a (x, y) velocity of [ 0.5483067  -0.96002966] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-2.6484728 -5.574199 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.87572479248047, -269.19537353515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [3.0386388 9.791916 ], 10.252557754516602 meters away.)"}
{"file_name": "images/scenario_552_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.4) m/s. Its current heading (yaw) is -1.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 86 is 4.1 meters away at (2.8, -2.9). A cyclist with ID 8 is 10.8 meters away at (2.3, -10.6). A cyclist with ID 59 is 11.5 meters away at (3.1, 11.0). A unknown object with ID 24 is 25.1 meters away at (-24.4, -5.8). A unknown object with ID 15 is 27.1 meters away at (-25.7, -8.7). A unknown object with ID 66 is 28.1 meters away at (-25.9, -11.0). A unknown object with ID 65 is 29.3 meters away at (-26.3, -12.9). A vehicle with ID 78 is 30.0 meters away at (11.2, 27.8). A vehicle with ID 90 is 31.0 meters away at (-29.0, -11.0). A pedestrian with ID 89 is 31.9 meters away at (-30.6, -8.9).", "velocity_description": "The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 8 is traveling at a (x, y) velocity of [-1.55357   -1.0601819] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-2.997196 -6.383259] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-2.5841262 -5.784922 ] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.01577239 -0.01877012] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.87572479248047, -269.19537353515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.8281898 -2.9173145], 4.063173770904541 meters away.)"}
{"file_name": "images/scenario_552_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -7.7) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A cyclist with ID 8 is 7.9 meters away at (6.6, 4.4). A vehicle with ID 86 is 15.0 meters away at (8.8, 12.1). A cyclist with ID 59 is 17.6 meters away at (0.3, 17.6). A unknown object with ID 66 is 20.2 meters away at (-19.8, 4.1). A unknown object with ID 65 is 20.4 meters away at (-20.2, 2.3). A unknown object with ID 24 is 20.6 meters away at (-18.4, 9.4). A unknown object with ID 15 is 20.6 meters away at (-19.6, 6.5). A unknown object with ID 30 is 22.4 meters away at (-19.5, 11.1). A unknown object with ID 43 is 31.3 meters away at (-9.0, 30.0). A vehicle with ID 78 is 34.1 meters away at (12.5, 31.7).", "velocity_description": "The cyclist with ID 8 is traveling at a (x, y) velocity of [-0.47664967 -0.05965364] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-6.00442   -2.2208562] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-2.304226 -5.484716] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.87572479248047, -269.19537353515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [6.639084  4.3537674], 7.939314842224121 meters away.)"}
{"file_name": "images/scenario_552_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -7.5) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A cyclist with ID 8 is 22.6 meters away at (11.4, 19.5). A unknown object with ID 65 is 23.0 meters away at (-14.9, 17.5). A unknown object with ID 66 is 24.2 meters away at (-14.5, 19.4). A unknown object with ID 15 is 26.0 meters away at (-14.3, 21.7). A unknown object with ID 24 is 27.9 meters away at (-13.1, 24.6). A pedestrian with ID 29 is 28.0 meters away at (-1.7, -28.0). A pedestrian with ID 16 is 28.9 meters away at (-19.2, 21.6). A unknown object with ID 30 is 29.9 meters away at (-14.2, 26.3). A vehicle with ID 86 is 30.9 meters away at (14.2, 27.5). A vehicle with ID 19 is 34.0 meters away at (-6.0, -33.5).", "velocity_description": "The cyclist with ID 8 is traveling at a (x, y) velocity of [-0.57606184 -0.12697689] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.13088673  0.18507871] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00526151 0.00587195] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.4576228 -6.1469707] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.87572479248047, -269.19537353515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [11.449113 19.459015], 22.577322006225586 meters away.)"}
{"file_name": "images/scenario_553_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.6) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 55.9 meters away at (50.5, -23.8).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-8.879388   4.0070724] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 50.539753 -23.798561], 55.8626708984375 meters away.)"}
{"file_name": "images/scenario_553_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 5.7) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 46.3 meters away at (-39.8, 23.6). A vehicle with ID 6 is 52.6 meters away at (45.8, -26.0).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.585512  4.222056] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-39.795166  23.629421], 46.28179931640625 meters away.)"}
{"file_name": "images/scenario_553_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 6.1) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 28.5 meters away at (-25.9, 11.9). A vehicle with ID 6 is 49.8 meters away at (40.3, -29.4).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.484342   4.6419888] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-25.949352  11.90201 ], 28.548673629760742 meters away.)"}
{"file_name": "images/scenario_553_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 5.8) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 12.6 meters away at (-12.6, 0.0). A vehicle with ID 6 is 46.8 meters away at (35.5, -30.5). A vehicle with ID 5 is 78.2 meters away at (-54.6, 55.9).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-8.730336  6.211591] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-1.7628376  3.916725 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.2604519e+01  1.9836426e-03], 12.60451889038086 meters away.)"}
{"file_name": "images/scenario_554_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 23.4 meters away at (-17.4, -15.6). A vehicle with ID 6 is 24.9 meters away at (-4.7, 24.4). A vehicle with ID 1 is 32.9 meters away at (21.2, 25.1). A vehicle with ID 27 is 37.6 meters away at (-18.2, 32.9). A vehicle with ID 33 is 41.6 meters away at (-15.1, 38.8). A vehicle with ID 7 is 46.2 meters away at (30.0, 35.2). A vehicle with ID 10 is 49.5 meters away at (29.7, 39.6). A vehicle with ID 11 is 54.6 meters away at (-22.9, 49.5). A vehicle with ID 34 is 64.3 meters away at (-46.3, -44.7). A vehicle with ID 35 is 74.4 meters away at (-52.8, -52.3).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [-7.785028 -9.092696] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 2.8988783 -2.9367704] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [5.9218073 6.9514446] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-4.684689  3.85747 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [4.8854947 5.8193893] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.300526 -6.37399 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.997124 26.029055]\n [14.135911 27.136957]\n [14.383963 27.760244]\n [24.7436   33.6278  ]\n [14.313173 27.66266 ]\n [24.420618 33.841816]\n [10.647755 24.781925]]", "nav_goal": "(-54.99606704711914, 154.78907775878906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-17.416553 -15.604942], 23.384836196899414 meters away.)"}
{"file_name": "images/scenario_554_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 6.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 13.9 meters away at (-10.6, 9.1). A vehicle with ID 10 is 22.3 meters away at (12.0, 18.8). A vehicle with ID 1 is 33.7 meters away at (21.8, 25.7). A vehicle with ID 27 is 35.3 meters away at (-27.8, 21.8). A vehicle with ID 25 is 41.8 meters away at (-32.7, 26.1). A vehicle with ID 7 is 45.9 meters away at (29.9, 34.9). A vehicle with ID 33 is 49.4 meters away at (-34.2, 35.5). A unknown object with ID 14 is 49.4 meters away at (46.9, -15.7). A vehicle with ID 11 is 50.2 meters away at (-32.5, 38.3). A vehicle with ID 31 is 57.3 meters away at (-37.9, 43.0).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 0.88221306 -0.99550813] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.7258875 -3.150704 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [4.284131  5.0918374] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [4.2651105 5.1606703] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-4.915817   4.2659764] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-54.99606704711914, 154.78907775878906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.559837   9.07341 ], 13.92253303527832 meters away.)"}
{"file_name": "images/scenario_554_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 2.9 meters away at (-2.3, 1.7). A vehicle with ID 6 is 21.0 meters away at (-20.6, -4.2). A vehicle with ID 1 is 28.9 meters away at (18.7, 22.0). A vehicle with ID 3 is 34.4 meters away at (17.2, 29.7). A vehicle with ID 27 is 39.5 meters away at (-38.4, 9.3). A vehicle with ID 7 is 40.6 meters away at (26.6, 30.7). A vehicle with ID 25 is 45.3 meters away at (-43.2, 13.7). A vehicle with ID 11 is 50.3 meters away at (-43.1, 25.8). A unknown object with ID 20 is 62.4 meters away at (41.4, 46.7). A vehicle with ID 17 is 68.6 meters away at (66.4, -17.2).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.4419217 -2.3952725] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.4377723 4.008985 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.7031584 -6.613536 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [2.7995718 3.3720756] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-54.99606704711914, 154.78907775878906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.3319283  1.6707611], 2.8686811923980713 meters away.)"}
{"file_name": "images/scenario_554_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.4) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 6.6 meters away at (-3.4, 5.6). A vehicle with ID 1 is 21.9 meters away at (14.2, 16.7). A vehicle with ID 10 is 22.3 meters away at (-13.4, -17.8). A vehicle with ID 7 is 31.5 meters away at (20.7, 23.8). A vehicle with ID 6 is 34.3 meters away at (-30.5, -15.9). A unknown object with ID 20 is 47.2 meters away at (31.6, 35.0). A vehicle with ID 2 is 56.9 meters away at (36.9, 43.3). A vehicle with ID 4 is 70.3 meters away at (45.8, 53.4).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.791302  -5.4975257] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.7787815 2.1237974] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 1.2419945 -5.2618637] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.3815157 1.5939094] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.371918 33.66109 ]\n [19.696526 33.317284]]", "nav_goal": "(-54.99606704711914, 154.78907775878906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.4293442  5.6244125], 6.587443828582764 meters away.)"}
{"file_name": "images/scenario_555_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 0.8) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 3.7 meters away at (3.5, 1.2). A vehicle with ID 39 is 6.9 meters away at (-3.8, 5.7). A cyclist with ID 43 is 7.1 meters away at (3.1, -6.4). A vehicle with ID 38 is 10.0 meters away at (8.2, 5.7). A vehicle with ID 56 is 14.8 meters away at (-10.3, 10.7). A vehicle with ID 45 is 17.3 meters away at (-14.2, 10.0). A vehicle with ID 44 is 18.8 meters away at (-5.9, 17.9). A vehicle with ID 30 is 21.4 meters away at (21.4, 1.2). A vehicle with ID 33 is 22.3 meters away at (-5.6, -21.6). A pedestrian with ID 46 is 25.2 meters away at (-24.6, 5.2).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.7075858   0.44411278] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.80277365  0.54861665] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-11.636227   6.461929] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 8.97883  -5.176236] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.59194314  0.69770074] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-1.0364738  1.0488604] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.1845117 -4.196092 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 9.272898  -5.0409207] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-6.1804    -3.5849626] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.3584323   0.82383114] m/s.", "light_description": "There are active red lights at the following coordinates: [[-36.48008    33.235146 ]\n [-31.854637    9.359938 ]\n [-37.446533   18.482872 ]\n [-37.392067   30.468605 ]\n [-28.109566    8.4762125]\n [-34.615616   14.907706 ]\n [-31.900942    9.114264 ]]", "nav_goal": "(100.47637939453125, 247.61143493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.4798453 1.2490993], 3.6972384452819824 meters away.)"}
{"file_name": "images/scenario_555_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.1) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 4.0 meters away at (3.8, 1.2). A vehicle with ID 39 is 7.0 meters away at (-3.8, 5.9). A vehicle with ID 44 is 12.3 meters away at (8.9, 8.6). A vehicle with ID 56 is 14.8 meters away at (-9.9, 10.9). A vehicle with ID 45 is 17.5 meters away at (-14.0, 10.5). A cyclist with ID 43 is 17.7 meters away at (-16.7, 6.1). A pedestrian with ID 46 is 26.5 meters away at (-25.8, 6.1). A pedestrian with ID 42 is 28.1 meters away at (0.2, -28.1). A vehicle with ID 38 is 29.2 meters away at (28.7, -5.7). A vehicle with ID 47 is 30.2 meters away at (-29.7, -5.7).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.7841974  0.5323239] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.58409935  0.40835777] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 7.1151466 -4.30005  ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.4686651   0.45450807] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-10.038773    6.3438096] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.3732933   0.81378585] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [1.3005166 0.4617104] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 9.668036  -5.0419917] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-36.48008    33.235146 ]\n [-31.854637    9.359938 ]\n [-37.446533   18.482872 ]\n [-37.392067   30.468605 ]\n [-28.109566    8.4762125]\n [-34.615616   14.907706 ]\n [-31.900942    9.114264 ]]", "nav_goal": "(100.47637939453125, 247.61143493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.8188882 1.1739337], 3.995250701904297 meters away.)"}
{"file_name": "images/scenario_555_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 3.1 meters away at (2.0, 2.3). A vehicle with ID 39 is 7.7 meters away at (-4.4, 6.4). A vehicle with ID 56 is 16.1 meters away at (-10.8, 12.0). A vehicle with ID 45 is 17.5 meters away at (-13.9, 10.5). A vehicle with ID 44 is 24.0 meters away at (24.0, -0.1). A pedestrian with ID 10 is 26.4 meters away at (6.5, 25.6). A pedestrian with ID 42 is 27.8 meters away at (2.8, -27.7). A vehicle with ID 51 is 28.6 meters away at (-24.4, 14.9). A pedestrian with ID 46 is 29.2 meters away at (-28.2, 7.7). A vehicle with ID 47 is 30.2 meters away at (-29.6, -5.8).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.6375262   0.40373155] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.41208908  0.29471335] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.8557975  0.9649911] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 8.098477 -4.28179 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00603816  0.01458348] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [1.1217743  0.06486859] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 1.7516493 -4.449895 ] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.2554078   0.91371626] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-36.48008    33.235146 ]\n [-31.854637    9.359938 ]\n [-37.446533   18.482872 ]\n [-37.392067   30.468605 ]\n [-28.109566    8.4762125]\n [-34.615616   14.907706 ]\n [-31.900942    9.114264 ]]", "nav_goal": "(100.47637939453125, 247.61143493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.0345564 2.3191717], 3.0851218700408936 meters away.)"}
{"file_name": "images/scenario_555_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 3.2 meters away at (1.0, 3.0). A vehicle with ID 39 is 9.3 meters away at (-5.8, 7.4). A vehicle with ID 45 is 18.5 meters away at (-14.6, 11.3). A vehicle with ID 51 is 20.8 meters away at (-20.7, 1.6). A vehicle with ID 56 is 21.4 meters away at (-13.8, 16.4). A pedestrian with ID 10 is 26.4 meters away at (6.5, 25.5). A pedestrian with ID 42 is 28.2 meters away at (5.3, -27.7). A vehicle with ID 47 is 30.1 meters away at (-29.6, -5.9). A vehicle with ID 49 is 30.8 meters away at (-3.2, 30.6). A cyclist with ID 48 is 31.1 meters away at (-31.0, 1.7).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.8233698  0.5412536] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-1.2932043  0.9712296] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-0.88290626  1.1254381 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 1.2909337 -8.521016 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-1.8724396  3.4769983] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00594595 -0.00225248] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.3616349  -0.06158243] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [-0.00760021 -0.05004651] m/s.", "light_description": "There are active red lights at the following coordinates: [[-36.48008    33.235146 ]\n [-31.854637    9.359938 ]\n [-37.446533   18.482872 ]\n [-37.392067   30.468605 ]\n [-28.109566    8.4762125]\n [-34.615616   14.907706 ]\n [-31.900942    9.114264 ]]", "nav_goal": "(100.47637939453125, 247.61143493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.0169601 2.9975224], 3.1653354167938232 meters away.)"}
{"file_name": "images/scenario_556_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 1.8) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 9.0 meters away at (-3.0, -8.4). A vehicle with ID 68 is 11.0 meters away at (-10.8, -2.1). A vehicle with ID 70 is 16.1 meters away at (-14.7, -6.5). A vehicle with ID 71 is 17.9 meters away at (-9.1, -15.4). A vehicle with ID 67 is 20.5 meters away at (-1.1, 20.5). A vehicle with ID 73 is 20.9 meters away at (-18.0, -10.7). A vehicle with ID 74 is 22.7 meters away at (-12.4, -19.0). A vehicle with ID 77 is 23.3 meters away at (-6.4, 22.4). A vehicle with ID 69 is 24.6 meters away at (24.6, 1.0). A vehicle with ID 88 is 25.4 meters away at (23.7, 9.1).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [-2.6234438  0.7452449] m/s.", "light_description": "There are active red lights at the following coordinates: [[-56.795315 -63.150497]\n [-57.14348  -62.985657]\n [-55.81517  -63.630756]\n [-58.280617 -61.986332]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.021122 -8.449911], 8.973750114440918 meters away.)"}
{"file_name": "images/scenario_556_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 3.7) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 16.0 meters away at (-7.8, -14.0). A vehicle with ID 67 is 16.1 meters away at (-5.9, 15.0). A vehicle with ID 68 is 17.4 meters away at (-15.6, -7.7). A vehicle with ID 88 is 17.4 meters away at (16.9, 4.2). A vehicle with ID 69 is 20.3 meters away at (19.8, -4.4). A vehicle with ID 77 is 20.3 meters away at (-11.2, 16.9). A vehicle with ID 70 is 22.9 meters away at (-19.5, -12.0). A pedestrian with ID 23 is 23.3 meters away at (7.5, 22.1). A vehicle with ID 71 is 25.1 meters away at (-13.9, -20.9). A pedestrian with ID 65 is 26.1 meters away at (24.9, 7.7).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [-1.0128012   0.13060659] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01300013 -0.00056611] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.0020368  -0.27292827] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ -7.8444757 -13.992456 ], 16.04134178161621 meters away.)"}
{"file_name": "images/scenario_556_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.2) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 88 is 6.4 meters away at (3.8, -5.1). A pedestrian with ID 23 is 13.1 meters away at (-0.2, 13.1). A vehicle with ID 67 is 15.0 meters away at (-13.7, 6.0). A vehicle with ID 69 is 18.0 meters away at (12.0, -13.4). A pedestrian with ID 65 is 19.3 meters away at (19.2, -2.1). A pedestrian with ID 64 is 19.8 meters away at (19.7, -1.4). A pedestrian with ID 43 is 20.5 meters away at (15.9, 12.9). A vehicle with ID 77 is 20.5 meters away at (-18.9, 8.0). A vehicle with ID 60 is 21.0 meters away at (7.8, 19.5). A vehicle with ID 72 is 23.7 meters away at (17.9, -15.6).", "velocity_description": "The vehicle with ID 88 is traveling at a (x, y) velocity of [-4.597278   -0.82954305] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01163947  0.0665689 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.0734668  -0.27529755] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 1.1052998  -0.22235923] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.01126604 0.02845342] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.7630053 -5.142297 ], 6.372081756591797 meters away.)"}
{"file_name": "images/scenario_556_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.5) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 2.4 meters away at (2.4, -0.5). A unknown object with ID 50 is 3.2 meters away at (2.5, -2.1). A vehicle with ID 60 is 8.9 meters away at (-1.3, 8.8). A pedestrian with ID 23 is 9.8 meters away at (-9.4, 2.5). A unknown object with ID 20 is 11.3 meters away at (8.9, 7.0). A vehicle with ID 61 is 13.5 meters away at (2.7, 13.2). A pedestrian with ID 64 is 17.8 meters away at (12.7, -12.5). A pedestrian with ID 65 is 18.1 meters away at (12.3, -13.3). A unknown object with ID 58 is 19.5 meters away at (14.3, 13.3). A vehicle with ID 62 is 19.6 meters away at (6.9, 18.3).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.02427831 0.01181064] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 1.0754976  -0.22157434] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.1253253  -0.14564504] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.3915997 -0.5220642], 2.4479174613952637 meters away.)"}
{"file_name": "images/scenario_557_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 1.6) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 15.8 meters away at (-15.7, 1.4). A vehicle with ID 34 is 19.7 meters away at (-19.6, 1.8). A vehicle with ID 2 is 26.4 meters away at (25.8, 5.3). A vehicle with ID 31 is 33.9 meters away at (25.5, -22.3). A unknown object with ID 36 is 35.6 meters away at (-28.2, 21.8). A vehicle with ID 33 is 35.7 meters away at (30.2, -19.1). A unknown object with ID 37 is 36.4 meters away at (-29.5, 21.3). A unknown object with ID 38 is 37.4 meters away at (-30.6, 21.6).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.01094383 -0.09872404] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.571172  -3.5775633] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-1.2969912 -4.6450853] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-184.5574188232422, -131.470947265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-15.733014    1.3775163], 15.793204307556152 meters away.)"}
{"file_name": "images/scenario_557_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 1.4) m/s. Its current heading (yaw) is 2.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 6.2 meters away at (-5.9, -1.9). A vehicle with ID 34 is 9.8 meters away at (-9.7, -1.4). A unknown object with ID 36 is 26.2 meters away at (-18.3, 18.7). A unknown object with ID 38 is 27.7 meters away at (-20.7, 18.4). A vehicle with ID 2 is 27.9 meters away at (27.6, -3.5). A vehicle with ID 31 is 43.6 meters away at (35.3, -25.6). A vehicle with ID 33 is 52.0 meters away at (39.6, -33.7).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00275673 -0.00572231] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.1336346 -1.2351354] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 0.30498266 -6.5311036 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-184.5574188232422, -131.470947265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.9323196 -1.9159098], 6.234029769897461 meters away.)"}
{"file_name": "images/scenario_557_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 1.1) m/s. Its current heading (yaw) is 2.95 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 4.2 meters away at (1.3, -4.0). A pedestrian with ID 32 is 6.7 meters away at (5.2, -4.1). A vehicle with ID 2 is 28.3 meters away at (27.9, -5.2). A vehicle with ID 31 is 54.3 meters away at (46.4, -28.2).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.07593254 0.10144311] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.8337264  1.3966566] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-184.5574188232422, -131.470947265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.2771282 -4.018589 ], 4.216647148132324 meters away.)"}
{"file_name": "images/scenario_557_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 0.7) m/s. Its current heading (yaw) is 3.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 14.8 meters away at (13.6, -6.0). A vehicle with ID 2 is 28.1 meters away at (27.7, -4.3).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-6.500073  1.401302] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-184.5574188232422, -131.470947265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [13.572544  -6.0250063], 14.849736213684082 meters away.)"}
{"file_name": "images/scenario_558_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -10.8) m/s. Its current heading (yaw) is -0.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 41.1 meters away at (-20.4, 35.7). A vehicle with ID 4 is 60.7 meters away at (-40.7, 45.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(126.19593048095703, -273.04876708984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-20.449894  35.70112 ], 41.14326095581055 meters away.)"}
{"file_name": "images/scenario_558_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -11.5) m/s. Its current heading (yaw) is -1.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 67.1 meters away at (-34.3, 57.7). A vehicle with ID 1 is 67.7 meters away at (32.9, -59.2).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(126.19593048095703, -273.04876708984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-34.257046  57.66568 ], 67.07366180419922 meters away.)"}
{"file_name": "images/scenario_558_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -12.3) m/s. Its current heading (yaw) is -1.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 41.3 meters away at (21.6, -35.3). A pedestrian with ID 2 is 51.8 meters away at (29.1, -42.8).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.1833067  0.26095554] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(126.19593048095703, -273.04876708984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 21.588696 -35.266678], 41.349853515625 meters away.)"}
{"file_name": "images/scenario_558_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -12.7) m/s. Its current heading (yaw) is -1.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 15.0 meters away at (11.0, -10.2). A pedestrian with ID 2 is 24.5 meters away at (17.6, -17.2).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.29840598  0.18808126] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(126.19593048095703, -273.04876708984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 10.971146 -10.237068], 15.005452156066895 meters away.)"}
{"file_name": "images/scenario_559_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.1) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 42 is 49.5 meters away at (-37.1, 32.8). A unknown object with ID 39 is 50.5 meters away at (-39.1, 31.9). A unknown object with ID 37 is 52.1 meters away at (-41.4, 31.6). A unknown object with ID 38 is 54.0 meters away at (-43.2, 32.3). A unknown object with ID 40 is 55.9 meters away at (-45.0, 33.3). A unknown object with ID 41 is 57.3 meters away at (-46.3, 33.7). A vehicle with ID 44 is 58.3 meters away at (-45.7, 36.1). A unknown object with ID 43 is 59.7 meters away at (-48.5, 34.8). A unknown object with ID 3 is 61.3 meters away at (-50.0, 35.6). A unknown object with ID 1 is 62.5 meters away at (-50.7, 36.6).", "velocity_description": "The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-37.147022  32.76344 ], 49.531246185302734 meters away.)"}
{"file_name": "images/scenario_559_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 3.2) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 23.7 meters away at (2.2, 23.6). A unknown object with ID 33 is 24.9 meters away at (-0.2, 24.9). A unknown object with ID 42 is 34.6 meters away at (-22.2, 26.6). A unknown object with ID 39 is 35.3 meters away at (-24.1, 25.7). A unknown object with ID 37 is 36.6 meters away at (-26.4, 25.4). A unknown object with ID 38 is 38.5 meters away at (-28.3, 26.1). A unknown object with ID 40 is 40.4 meters away at (-30.0, 27.0). A unknown object with ID 41 is 41.7 meters away at (-31.4, 27.4). A vehicle with ID 44 is 43.1 meters away at (-30.9, 30.0). A unknown object with ID 43 is 44.1 meters away at (-33.5, 28.6).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.230978 23.587143], 23.692415237426758 meters away.)"}
{"file_name": "images/scenario_559_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.1) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 21.4 meters away at (-8.9, 19.4). A unknown object with ID 42 is 21.4 meters away at (-7.0, 20.3). A unknown object with ID 37 is 22.1 meters away at (-11.2, 19.1). A unknown object with ID 38 is 23.7 meters away at (-13.0, 19.8). A unknown object with ID 33 is 23.9 meters away at (15.1, 18.5). A unknown object with ID 35 is 24.5 meters away at (17.5, 17.2). A unknown object with ID 40 is 25.5 meters away at (-14.8, 20.8). A unknown object with ID 41 is 26.7 meters away at (-16.2, 21.2). A vehicle with ID 44 is 28.4 meters away at (-15.7, 23.7). A unknown object with ID 43 is 28.8 meters away at (-18.3, 22.3).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.935879 19.397598], 21.356889724731445 meters away.)"}
{"file_name": "images/scenario_559_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 2.8) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 13.3 meters away at (2.8, 13.0). A unknown object with ID 38 is 13.8 meters away at (0.9, 13.8). A unknown object with ID 39 is 14.3 meters away at (5.1, 13.3). A unknown object with ID 40 is 14.7 meters away at (-0.8, 14.7). A unknown object with ID 41 is 15.3 meters away at (-2.2, 15.1). A unknown object with ID 42 is 15.9 meters away at (7.0, 14.2). A unknown object with ID 43 is 16.8 meters away at (-4.3, 16.2). A vehicle with ID 31 is 17.1 meters away at (-7.0, 15.6). A vehicle with ID 44 is 17.8 meters away at (-1.7, 17.7). A unknown object with ID 3 is 18.0 meters away at (-5.7, 17.1).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [12.561036 -5.222763] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.7810478 13.027559 ], 13.321093559265137 meters away.)"}
{"file_name": "images/scenario_560_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.8) m/s. Its current heading (yaw) is 0.53 ", "actor_description": " The most relevant actors are: A cyclist with ID 38 is 19.4 meters away at (13.5, 13.9). A vehicle with ID 40 is 22.4 meters away at (-1.0, -22.3). A pedestrian with ID 42 is 30.0 meters away at (-13.4, -26.8). A pedestrian with ID 43 is 30.0 meters away at (-12.7, -27.1). A unknown object with ID 13 is 33.1 meters away at (29.6, -14.8). A unknown object with ID 50 is 33.1 meters away at (31.6, -10.0). A vehicle with ID 41 is 34.2 meters away at (0.3, -34.2). A unknown object with ID 51 is 34.4 meters away at (29.9, -17.0). A pedestrian with ID 45 is 35.6 meters away at (-15.5, -32.0). A vehicle with ID 37 is 37.2 meters away at (-36.6, 6.5).", "velocity_description": "The cyclist with ID 38 is traveling at a (x, y) velocity of [3.6315775 8.675071 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 1.6683443 -4.0709815] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.30731595 0.46544838] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.3664565 0.5551806] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.8185078 -5.4112544] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.78664964 -1.0278257 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 7.5585866 -2.9920607] m/s.", "light_description": "There are active red lights at the following coordinates: [[  3.7940435  -25.837835  ]\n [ -0.08369322 -24.331795  ]\n [  3.2325826  -25.519068  ]\n [  3.5782778  -25.699167  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a cyclist at [13.518705 13.860469], 19.361507415771484 meters away.)"}
{"file_name": "images/scenario_560_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 3.3) m/s. Its current heading (yaw) is 0.96 ", "actor_description": " The most relevant actors are: A pedestrian with ID 31 is 12.5 meters away at (-1.2, 12.4). A vehicle with ID 37 is 28.9 meters away at (-28.6, -4.4). A unknown object with ID 50 is 30.3 meters away at (26.2, -15.0). A unknown object with ID 13 is 31.4 meters away at (24.3, -19.8). A cyclist with ID 38 is 32.5 meters away at (15.7, 28.4). A unknown object with ID 51 is 33.1 meters away at (24.6, -22.1). A pedestrian with ID 43 is 36.5 meters away at (-18.0, -31.8). A pedestrian with ID 42 is 36.7 meters away at (-18.7, -31.6). A vehicle with ID 40 is 37.0 meters away at (-5.4, -36.6). A pedestrian with ID 52 is 44.0 meters away at (3.3, -43.8).", "velocity_description": "The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.52443296 1.1462998 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 5.7359924 -2.2179737] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 3.852272 10.482231] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.0183848   0.02220686] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.02385666  0.00578638] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.71089154 -4.7812905 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.01241669 0.00758312] m/s.", "light_description": "There are active red lights at the following coordinates: [[  3.7940435  -25.837835  ]\n [ -0.08369322 -24.331795  ]\n [  3.2325826  -25.519068  ]\n [  3.5782778  -25.699167  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-1.1787062 12.403147 ], 12.459028244018555 meters away.)"}
{"file_name": "images/scenario_560_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 4.7) m/s. Its current heading (yaw) is 1.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 27.8 meters away at (-23.5, -14.9). A unknown object with ID 50 is 31.5 meters away at (22.0, -22.5). A unknown object with ID 13 is 33.9 meters away at (20.1, -27.3). A unknown object with ID 51 is 35.9 meters away at (20.4, -29.5). A pedestrian with ID 43 is 45.1 meters away at (-22.1, -39.2). A pedestrian with ID 42 is 45.1 meters away at (-22.4, -39.1). A pedestrian with ID 62 is 46.4 meters away at (11.6, 44.9). A pedestrian with ID 60 is 46.7 meters away at (13.3, 44.8). A cyclist with ID 38 is 47.2 meters away at (19.5, 43.0). A pedestrian with ID 63 is 47.3 meters away at (11.8, 45.8).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [ 3.89755    -0.67312473] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.0449307  -0.01020992] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.05461572 -0.009309  ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.3863971  -0.04125324] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.409761    0.32703477] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 4.2179246 11.439051 ] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-1.286624   0.0094133] m/s.", "light_description": "There are active red lights at the following coordinates: [[  3.7940435  -25.837835  ]\n [ -0.08369322 -24.331795  ]\n [  3.2325826  -25.519068  ]\n [  3.5782778  -25.699167  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-23.518568 -14.879763], 27.830387115478516 meters away.)"}
{"file_name": "images/scenario_560_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 4.7) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A pedestrian with ID 25 is 7.2 meters away at (-7.1, 0.9). A vehicle with ID 37 is 31.4 meters away at (-20.2, -24.0). A unknown object with ID 50 is 36.4 meters away at (18.2, -31.5). A pedestrian with ID 62 is 36.7 meters away at (4.8, 36.4). A pedestrian with ID 60 is 37.3 meters away at (6.7, 36.7). A pedestrian with ID 63 is 37.5 meters away at (5.3, 37.1). A pedestrian with ID 14 is 42.4 meters away at (33.0, 26.5). A vehicle with ID 4 is 47.2 meters away at (-43.1, -19.5). A pedestrian with ID 43 is 54.9 meters away at (-25.9, -48.4). A pedestrian with ID 42 is 54.9 meters away at (-26.3, -48.2).", "velocity_description": "The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.6208602 1.2235613] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [3.7394094 0.7031784] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.2356111  0.5687662] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.3352621   0.47897324] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-1.2019999  0.5656914] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.04441084  0.00080242] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 7.176956 -2.73146 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.04701344 -0.01566129] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.05284016  0.01755015] m/s.", "light_description": "There are active red lights at the following coordinates: [[  3.7940435  -25.837835  ]\n [ -0.08369322 -24.331795  ]\n [  3.2325826  -25.519068  ]\n [  3.5782778  -25.699167  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.115694   0.9023495], 7.172679901123047 meters away.)"}
{"file_name": "images/scenario_561_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.4) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 14.0 meters away at (13.9, 1.8). A unknown object with ID 17 is 15.7 meters away at (15.2, 3.8). A unknown object with ID 18 is 17.0 meters away at (16.1, 5.6). A unknown object with ID 16 is 18.9 meters away at (17.6, 6.8). A unknown object with ID 8 is 29.9 meters away at (9.0, -28.5). A vehicle with ID 24 is 35.4 meters away at (-34.1, -9.8). A cyclist with ID 26 is 37.4 meters away at (-35.0, -13.2). A vehicle with ID 28 is 40.5 meters away at (-40.3, -3.6). A unknown object with ID 21 is 42.2 meters away at (33.1, 26.3). A unknown object with ID 7 is 43.7 meters away at (34.4, 26.9).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.00105799 -0.00911833] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.195904 -27.799978]\n [-34.111435 -48.98521 ]\n [-36.004124 -51.541824]\n [-31.99903  -46.335083]\n [-36.19354  -30.937098]]", "nav_goal": "(-204.67721557617188, 129.65830993652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [13.934517  1.779314], 14.047658920288086 meters away.)"}
{"file_name": "images/scenario_561_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -2.7) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 22.1 meters away at (20.2, 8.8). A unknown object with ID 17 is 24.1 meters away at (21.6, 10.8). A unknown object with ID 18 is 25.8 meters away at (22.5, 12.6). A unknown object with ID 16 is 27.7 meters away at (24.0, 13.8). A vehicle with ID 24 is 27.9 meters away at (-27.8, -2.5). A cyclist with ID 26 is 29.3 meters away at (-28.7, -5.9). A vehicle with ID 28 is 34.1 meters away at (-33.9, 3.7). A vehicle with ID 27 is 38.1 meters away at (-6.5, -37.5). A cyclist with ID 14 is 38.7 meters away at (-38.1, 6.8). A vehicle with ID 29 is 41.7 meters away at (-8.3, -40.8).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [-0.03230302  0.03902192] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 14 is traveling at a (x, y) velocity of [0.0291296  0.03030999] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.5698788   0.50549746] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.195904 -27.799978]\n [-29.293715 -32.250656]\n [-34.111435 -48.98521 ]\n [-36.004124 -51.541824]\n [-29.12606  -32.065205]\n [-31.99903  -46.335083]\n [-36.19354  -30.937098]]", "nav_goal": "(-204.67721557617188, 129.65830993652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [20.206015  8.838661], 22.054590225219727 meters away.)"}
{"file_name": "images/scenario_561_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.5) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 25.2 meters away at (-25.2, 0.7). A unknown object with ID 15 is 25.8 meters away at (22.8, 12.1). A cyclist with ID 26 is 26.2 meters away at (-26.1, -2.7). A unknown object with ID 17 is 28.0 meters away at (24.2, 14.1). A unknown object with ID 18 is 29.7 meters away at (25.1, 15.8). A unknown object with ID 16 is 31.6 meters away at (26.6, 17.0). A vehicle with ID 28 is 32.1 meters away at (-31.3, 6.9). A vehicle with ID 27 is 34.5 meters away at (-3.9, -34.3). A cyclist with ID 14 is 36.9 meters away at (-35.5, 10.1). A vehicle with ID 29 is 37.8 meters away at (-5.9, -37.4).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.00187983 -0.00629992] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 14 is traveling at a (x, y) velocity of [ 0.01920579 -0.03860158] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.195904 -27.799978]\n [-29.293715 -32.250656]\n [-34.111435 -48.98521 ]\n [-36.004124 -51.541824]\n [-29.12606  -32.065205]\n [-31.99903  -46.335083]\n [-36.19354  -30.937098]]", "nav_goal": "(-204.67721557617188, 129.65830993652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-25.171684     0.70482826], 25.181550979614258 meters away.)"}
{"file_name": "images/scenario_561_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 24.9 meters away at (-24.9, 0.9). A cyclist with ID 26 is 25.9 meters away at (-25.7, -2.6). A unknown object with ID 15 is 26.2 meters away at (23.1, 12.3). A unknown object with ID 17 is 28.3 meters away at (24.4, 14.3). A unknown object with ID 18 is 29.9 meters away at (25.2, 16.0). A vehicle with ID 28 is 31.9 meters away at (-31.1, 7.1). A vehicle with ID 27 is 34.2 meters away at (-3.7, -34.0). A vehicle with ID 1 is 36.0 meters away at (2.7, -35.9). A cyclist with ID 14 is 36.8 meters away at (-35.3, 10.3). A vehicle with ID 29 is 37.3 meters away at (-5.9, -36.9).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.5265211  -0.41545025] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.330191    0.32214403] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.0713336  2.8809943] m/s.The cyclist with ID 14 is traveling at a (x, y) velocity of [-0.03652999 -0.02672538] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.68106836  0.67040974] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.195904 -27.799978]\n [-29.293715 -32.250656]\n [-34.111435 -48.98521 ]\n [-36.004124 -51.541824]\n [-29.12606  -32.065205]\n [-29.102554 -43.964367]\n [-31.99903  -46.335083]\n [-36.19354  -30.937098]]", "nav_goal": "(-204.67721557617188, 129.65830993652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-24.89777      0.86208916], 24.912691116333008 meters away.)"}
{"file_name": "images/scenario_562_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 3.4) m/s. Its current heading (yaw) is 2.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 8.6 meters away at (7.4, 4.5). A pedestrian with ID 58 is 9.6 meters away at (5.2, 8.1). A unknown object with ID 59 is 10.7 meters away at (-0.4, 10.7). A pedestrian with ID 60 is 11.5 meters away at (-4.3, 10.7). A vehicle with ID 64 is 13.6 meters away at (-1.7, 13.5). A vehicle with ID 20 is 14.3 meters away at (-3.3, -13.9). A vehicle with ID 55 is 16.3 meters away at (-1.8, -16.2). A vehicle with ID 52 is 17.1 meters away at (-9.2, 14.4). A vehicle with ID 56 is 18.2 meters away at (0.3, -18.2). A unknown object with ID 45 is 19.2 meters away at (19.1, -2.2).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.93017167 0.7441271 ] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.5246306 0.7027307] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0.8603677 1.322028 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.19852  -60.794662]\n [-40.426113 -59.59305 ]\n [-42.520054 -56.80214 ]\n [-39.85578  -59.969753]]", "nav_goal": "(-227.49154663085938, 64.65985107421875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [7.389795 4.488518], 8.646146774291992 meters away.)"}
{"file_name": "images/scenario_562_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 3.2) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A pedestrian with ID 60 is 5.7 meters away at (2.2, 5.3). A unknown object with ID 59 is 6.4 meters away at (5.0, 4.1). A vehicle with ID 64 is 7.8 meters away at (3.6, 7.0). A vehicle with ID 52 is 8.7 meters away at (-3.8, 7.8). A pedestrian with ID 58 is 13.1 meters away at (12.8, 2.9). A vehicle with ID 57 is 13.3 meters away at (13.2, -1.8). A vehicle with ID 20 is 17.7 meters away at (4.6, -17.1). A vehicle with ID 55 is 23.2 meters away at (3.6, -22.9). A pedestrian with ID 68 is 23.2 meters away at (-9.6, -21.2). A vehicle with ID 53 is 24.3 meters away at (-14.4, 19.6).", "velocity_description": "The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.5683521 0.4088811] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.9055052  0.58207583] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [1.3291494 1.8813072] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.81588703 1.1313401 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-227.49154663085938, 64.65985107421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [2.1882143 5.292062 ], 5.726622104644775 meters away.)"}
{"file_name": "images/scenario_562_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 3.4) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 5.1 meters away at (4.9, 1.3). A pedestrian with ID 54 is 14.0 meters away at (-7.6, 11.8). A vehicle with ID 53 is 14.4 meters away at (-5.9, 13.1). A vehicle with ID 51 is 17.9 meters away at (-11.6, 13.7). A vehicle with ID 57 is 23.5 meters away at (22.0, -8.3). A vehicle with ID 20 is 26.0 meters away at (15.0, -21.2). A vehicle with ID 55 is 31.8 meters away at (12.3, -29.3). A vehicle with ID 56 is 34.5 meters away at (14.5, -31.3). A unknown object with ID 92 is 41.8 meters away at (-32.8, 25.9). A vehicle with ID 78 is 51.3 meters away at (-44.9, 24.8).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.17246883 -0.5682704 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0.5863398  0.97234905] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-227.49154663085938, 64.65985107421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.908388  1.3401489], 5.088051795959473 meters away.)"}
{"file_name": "images/scenario_562_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.3) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 3.7 meters away at (1.2, 3.5). A vehicle with ID 53 is 7.3 meters away at (3.3, 6.4). A vehicle with ID 51 is 7.4 meters away at (-2.4, 7.0). A vehicle with ID 52 is 15.2 meters away at (14.2, -5.4). A unknown object with ID 92 is 30.4 meters away at (-23.6, 19.1). A unknown object with ID 44 is 34.5 meters away at (-34.3, 3.1). A vehicle with ID 20 is 35.6 meters away at (25.4, -24.9). A vehicle with ID 78 is 40.0 meters away at (-35.7, 18.0). A unknown object with ID 6 is 41.2 meters away at (-38.6, 14.6). A unknown object with ID 8 is 42.4 meters away at (-40.8, 11.6).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.48935398 -0.8694238 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0.18848047 2.424596  ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-227.49154663085938, 64.65985107421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [1.2407799 3.5278473], 3.739684581756592 meters away.)"}
{"file_name": "images/scenario_563_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -1.9) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A unknown object with ID 71 is 18.7 meters away at (-5.4, -17.9). A unknown object with ID 20 is 19.4 meters away at (-1.7, -19.3). A unknown object with ID 43 is 21.0 meters away at (2.1, -20.9). A unknown object with ID 16 is 22.9 meters away at (5.4, -22.2). A unknown object with ID 68 is 24.9 meters away at (8.1, -23.5). A unknown object with ID 72 is 26.6 meters away at (10.4, -24.5). A unknown object with ID 74 is 28.1 meters away at (12.2, -25.3). A unknown object with ID 75 is 29.6 meters away at (14.0, -26.1). A unknown object with ID 76 is 31.0 meters away at (15.5, -26.8). A vehicle with ID 73 is 45.2 meters away at (-28.6, 35.0).", "velocity_description": "The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 70.21513  -39.4848  ]\n [ 67.54204  -29.570465]\n [ 67.76219  -29.681597]\n [ 67.65913  -29.349579]\n [ 70.16748  -39.5849  ]\n [ 72.90074  -48.02251 ]\n [ 69.19701  -42.676952]\n [ 72.68831  -47.88209 ]\n [ 72.28942  -49.52048 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ -5.3599486 -17.868372 ], 18.654966354370117 meters away.)"}
{"file_name": "images/scenario_563_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.2) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 19.1 meters away at (-6.0, -18.1). A unknown object with ID 43 is 19.2 meters away at (-9.4, -16.8). A unknown object with ID 45 is 19.4 meters away at (-16.5, 10.1). A unknown object with ID 68 is 19.6 meters away at (-3.3, -19.4). A unknown object with ID 20 is 20.1 meters away at (-13.2, -15.2). A unknown object with ID 72 is 20.3 meters away at (-1.1, -20.3). A unknown object with ID 74 is 21.1 meters away at (0.7, -21.1). A unknown object with ID 71 is 21.7 meters away at (-16.8, -13.7). A unknown object with ID 75 is 22.0 meters away at (2.6, -21.9). A unknown object with ID 76 is 23.0 meters away at (4.1, -22.6).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 70.21513  -39.4848  ]\n [ 67.54204  -29.570465]\n [ 67.76219  -29.681597]\n [ 67.65913  -29.349579]\n [ 70.16748  -39.5849  ]\n [ 72.90074  -48.02251 ]\n [ 69.19701  -42.676952]\n [ 72.68831  -47.88209 ]\n [ 72.28942  -49.52048 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ -6.0498714 -18.078362 ], 19.06378936767578 meters away.)"}
{"file_name": "images/scenario_563_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.1) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A unknown object with ID 75 is 19.3 meters away at (-8.3, -17.5). A unknown object with ID 76 is 19.4 meters away at (-6.8, -18.2). A unknown object with ID 74 is 19.6 meters away at (-10.2, -16.7). A unknown object with ID 72 is 19.9 meters away at (-12.0, -15.9). A unknown object with ID 68 is 20.6 meters away at (-14.2, -15.0). A unknown object with ID 16 is 21.8 meters away at (-16.9, -13.7). A unknown object with ID 43 is 23.7 meters away at (-20.2, -12.3). A unknown object with ID 20 is 26.3 meters away at (-24.0, -10.8). A unknown object with ID 29 is 26.7 meters away at (0.3, -26.7). A unknown object with ID 71 is 29.2 meters away at (-27.7, -9.3).", "velocity_description": "The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 70.21513  -39.4848  ]\n [ 67.54204  -29.570465]\n [ 67.76219  -29.681597]\n [ 67.65913  -29.349579]\n [ 70.16748  -39.5849  ]\n [ 72.90074  -48.02251 ]\n [ 69.19701  -42.676952]\n [ 72.68831  -47.88209 ]\n [ 72.28942  -49.52048 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ -8.300571 -17.476229], 19.347301483154297 meters away.)"}
{"file_name": "images/scenario_563_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.4) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A unknown object with ID 76 is 21.8 meters away at (-16.4, -14.3). A unknown object with ID 75 is 22.5 meters away at (-17.9, -13.6). A unknown object with ID 74 is 23.6 meters away at (-19.8, -12.8). A pedestrian with ID 79 is 24.4 meters away at (7.3, -23.2). A unknown object with ID 29 is 24.6 meters away at (-9.4, -22.8). A unknown object with ID 72 is 24.7 meters away at (-21.6, -12.0). A unknown object with ID 68 is 26.3 meters away at (-23.8, -11.0). A unknown object with ID 16 is 28.3 meters away at (-26.6, -9.7). A vehicle with ID 85 is 29.8 meters away at (29.5, -4.4). A vehicle with ID 52 is 30.8 meters away at (-9.6, -29.3).", "velocity_description": "The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.36853614 -1.185233  ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 70.21513  -39.4848  ]\n [ 67.54204  -29.570465]\n [ 67.76219  -29.681597]\n [ 67.65913  -29.349579]\n [ 70.16748  -39.5849  ]\n [ 72.90074  -48.02251 ]\n [ 69.19701  -42.676952]\n [ 72.68831  -47.88209 ]\n [ 72.28942  -49.52048 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-16.41653   -14.3199005], 21.78444480895996 meters away.)"}
{"file_name": "images/scenario_564_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.8) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 79 is 9.3 meters away at (-9.0, 2.3). A pedestrian with ID 61 is 14.3 meters away at (1.2, 14.3). A unknown object with ID 78 is 14.4 meters away at (-12.9, 6.3). A unknown object with ID 76 is 17.1 meters away at (-15.1, 7.9). A unknown object with ID 77 is 25.7 meters away at (-22.4, 12.6). A vehicle with ID 48 is 30.6 meters away at (25.7, -16.6). A unknown object with ID 80 is 31.5 meters away at (-27.2, 15.8). A pedestrian with ID 46 is 36.5 meters away at (-36.4, -2.5). A pedestrian with ID 10 is 37.5 meters away at (-21.3, 30.9). A vehicle with ID 97 is 38.4 meters away at (-37.1, 10.0).", "velocity_description": "The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.2486793  0.758521 ] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-6.605412  4.386242] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.3888717 -0.766901 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0801425  0.6304904] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [ 9.934267  -6.2639923] m/s.", "light_description": "There are active red lights at the following coordinates: [[-70.0617    25.187187]\n [ 50.718052 -40.168358]\n [ 50.92794  -40.304176]\n [-66.02998   21.743114]\n [-66.300964  22.075417]\n [-70.03476   25.172256]]", "nav_goal": "(-248.5601348876953, 163.74244689941406)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-9.016728   2.2696438], 9.297992706298828 meters away.)"}
{"file_name": "images/scenario_564_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 4.5) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A unknown object with ID 76 is 1.7 meters away at (-1.1, -1.3). A unknown object with ID 78 is 3.1 meters away at (1.0, -2.9). A unknown object with ID 79 is 8.5 meters away at (5.0, -6.9). A unknown object with ID 77 is 9.0 meters away at (-8.3, 3.4). A vehicle with ID 97 is 12.5 meters away at (-2.9, -12.2). A pedestrian with ID 61 is 14.5 meters away at (12.8, 6.8). A unknown object with ID 80 is 14.7 meters away at (-13.2, 6.5). A unknown object with ID 88 is 18.3 meters away at (-11.0, 14.6). A unknown object with ID 2 is 23.8 meters away at (-16.6, 17.0). A pedestrian with ID 46 is 23.8 meters away at (-19.7, -13.4).", "velocity_description": "The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [10.270147 -6.610425] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.1379019  0.9102725] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.2139137  -0.66801536] m/s.", "light_description": "There are active red lights at the following coordinates: [[-76.008804  39.298798]\n [-50.80734   37.030964]\n [-70.0617    25.187187]\n [-52.573338  34.55326 ]\n [-66.02998   21.743114]\n [-78.841034  37.483734]\n [-66.300964  22.075417]\n [-70.03476   25.172256]]", "nav_goal": "(-248.5601348876953, 163.74244689941406)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.0609493 -1.2946148], 1.673810362815857 meters away.)"}
{"file_name": "images/scenario_564_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 3.0) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 80 is 1.8 meters away at (-0.7, -1.6). A unknown object with ID 77 is 6.2 meters away at (4.1, -4.7). A unknown object with ID 88 is 6.7 meters away at (1.4, 6.5). A unknown object with ID 3 is 8.2 meters away at (4.5, 6.8). A unknown object with ID 2 is 9.8 meters away at (-4.1, 8.9). A unknown object with ID 76 is 14.8 meters away at (11.3, -9.4). A pedestrian with ID 10 is 15.4 meters away at (3.1, 15.1). A pedestrian with ID 28 is 15.6 meters away at (-7.2, 13.9). A pedestrian with ID 5 is 17.4 meters away at (-14.4, -9.8). A unknown object with ID 7 is 17.5 meters away at (-5.4, 16.6).", "velocity_description": "The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.4830601   0.24388085] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.7783216  0.3967656] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.2390701   0.16455974] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.80734   37.030964]\n [-70.0617    25.187187]\n [-52.573338  34.55326 ]\n [-66.02998   21.743114]\n [-66.300964  22.075417]\n [-70.03476   25.172256]]", "nav_goal": "(-248.5601348876953, 163.74244689941406)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.69615555 -1.6268387 ], 1.7695300579071045 meters away.)"}
{"file_name": "images/scenario_564_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 80 is 4.5 meters away at (2.6, -3.7). A unknown object with ID 88 is 6.4 meters away at (4.7, 4.3). A unknown object with ID 2 is 6.8 meters away at (-0.9, 6.7). A unknown object with ID 3 is 9.1 meters away at (7.8, 4.7). A unknown object with ID 77 is 10.0 meters away at (7.4, -6.8). A vehicle with ID 117 is 12.9 meters away at (-10.7, -7.2). A pedestrian with ID 28 is 14.5 meters away at (-6.8, 12.8). A pedestrian with ID 10 is 14.6 meters away at (5.6, 13.5). A unknown object with ID 7 is 14.6 meters away at (-2.2, 14.5). A unknown object with ID 9 is 14.9 meters away at (-4.8, 14.1).", "velocity_description": "The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [10.581362  -6.9759665] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2803109   0.78991604] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.44350547  0.3847352 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.80734   37.030964]\n [-70.0617    25.187187]\n [-52.573338  34.55326 ]\n [-79.76959   36.389194]\n [-66.02998   21.743114]\n [-66.300964  22.075417]\n [-70.03476   25.172256]]", "nav_goal": "(-248.5601348876953, 163.74244689941406)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 2.567749 -3.697256], 4.501448631286621 meters away.)"}
{"file_name": "images/scenario_565_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -4.5) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 69 is 6.3 meters away at (0.5, -6.3). A unknown object with ID 59 is 11.4 meters away at (10.0, -5.3). A unknown object with ID 72 is 12.4 meters away at (5.6, -11.0). A vehicle with ID 66 is 14.6 meters away at (-12.9, 6.8). A unknown object with ID 61 is 19.0 meters away at (16.4, -9.6). A unknown object with ID 63 is 24.1 meters away at (15.6, -18.4). A pedestrian with ID 76 is 28.6 meters away at (27.1, -9.3). A pedestrian with ID 70 is 29.1 meters away at (27.8, -8.8). A vehicle with ID 68 is 29.4 meters away at (-25.6, 14.5). A vehicle with ID 74 is 30.3 meters away at (8.3, 29.2).", "velocity_description": "The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.9778511  0.7712463] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.9854655  0.7864413] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(226.31504821777344, -98.04151916503906)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.53519726 -6.2993746 ], 6.32206916809082 meters away.)"}
{"file_name": "images/scenario_565_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.7) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 59 is 3.9 meters away at (-0.6, 3.9). A unknown object with ID 72 is 5.4 meters away at (-5.1, -1.8). A unknown object with ID 61 is 5.6 meters away at (5.6, -0.4). A unknown object with ID 63 is 10.4 meters away at (4.9, -9.2). A unknown object with ID 69 is 10.6 meters away at (-10.2, 3.0). A pedestrian with ID 76 is 14.6 meters away at (14.5, 1.6). A pedestrian with ID 70 is 15.3 meters away at (15.1, 2.1). A unknown object with ID 58 is 23.1 meters away at (18.9, -13.4). A unknown object with ID 64 is 26.0 meters away at (17.1, -19.6). A vehicle with ID 66 is 28.5 meters away at (-23.5, 16.0).", "velocity_description": "The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.0007826   0.75792164] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.0426018   0.74825674] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(226.31504821777344, -98.04151916503906)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.6378269  3.8767242], 3.9288437366485596 meters away.)"}
{"file_name": "images/scenario_565_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.6) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 63 is 6.0 meters away at (-5.9, 0.2). A vehicle with ID 35 is 6.9 meters away at (1.2, 6.8). A pedestrian with ID 14 is 8.9 meters away at (8.7, -1.9). A unknown object with ID 58 is 9.0 meters away at (8.0, -4.0). A unknown object with ID 61 is 10.4 meters away at (-5.2, 9.0). A unknown object with ID 64 is 11.9 meters away at (6.2, -10.2). A pedestrian with ID 24 is 12.3 meters away at (9.3, 8.0). A pedestrian with ID 76 is 12.7 meters away at (1.7, 12.6). A pedestrian with ID 70 is 13.2 meters away at (2.4, 12.9). A unknown object with ID 59 is 17.6 meters away at (-11.5, 13.3).", "velocity_description": "The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.01786503 -0.00315036] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.0231592  0.00591802] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.76457524  0.83079785] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.66908294  0.76489204] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(226.31504821777344, -98.04151916503906)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-5.9459     0.2399807], 5.950740814208984 meters away.)"}
{"file_name": "images/scenario_565_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -4.2) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 64 is 4.1 meters away at (-3.9, -1.4). A unknown object with ID 58 is 5.2 meters away at (-2.1, 4.8). A unknown object with ID 8 is 6.4 meters away at (1.7, -6.2). A pedestrian with ID 14 is 7.0 meters away at (-1.4, 6.8). A unknown object with ID 60 is 8.2 meters away at (7.6, -3.1). A vehicle with ID 53 is 8.9 meters away at (-1.6, 8.8). A unknown object with ID 62 is 12.4 meters away at (10.9, -5.9). A pedestrian with ID 39 is 15.4 meters away at (0.9, 15.3). A vehicle with ID 65 is 15.8 meters away at (15.2, -4.3). A unknown object with ID 5 is 16.6 meters away at (14.2, -8.7).", "velocity_description": "The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.02406691 0.00144119] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00303349 -0.00010246] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(226.31504821777344, -98.04151916503906)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-3.8813362 -1.3517342], 4.109982490539551 meters away.)"}
{"file_name": "images/scenario_566_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 6.4 meters away at (2.9, 5.6). A vehicle with ID 34 is 8.4 meters away at (-5.1, 6.7). A vehicle with ID 42 is 12.5 meters away at (-4.0, -11.8). A vehicle with ID 48 is 14.7 meters away at (-11.2, 9.6). A pedestrian with ID 55 is 15.6 meters away at (-0.8, 15.6). A vehicle with ID 50 is 16.3 meters away at (-9.3, 13.4). A vehicle with ID 46 is 17.1 meters away at (11.4, -12.8). A unknown object with ID 35 is 18.1 meters away at (-8.5, -15.9). A unknown object with ID 37 is 18.6 meters away at (-7.7, -17.0). A unknown object with ID 6 is 18.9 meters away at (-11.6, -15.0).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.0028199  -0.00024742] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.4166274 -7.460679 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.6533117  0.9238441] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-0.99275625  2.6818104 ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-42.309566  29.205412]\n [-44.212822  31.7074  ]\n [-33.52773   45.963978]\n [-26.168186  31.176172]\n [-44.29759   35.593697]\n [-22.188429  34.23476 ]\n [-36.64194   44.30356 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [2.9396648 5.6376963], 6.3580851554870605 meters away.)"}
{"file_name": "images/scenario_566_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 6.2 meters away at (3.1, 5.3). A vehicle with ID 34 is 8.0 meters away at (-4.9, 6.3). A vehicle with ID 46 is 13.8 meters away at (10.1, -9.3). A vehicle with ID 48 is 14.4 meters away at (-11.0, 9.2). A vehicle with ID 50 is 15.9 meters away at (-9.1, 13.1). A pedestrian with ID 55 is 17.2 meters away at (-2.0, 17.1). A vehicle with ID 58 is 22.9 meters away at (-16.5, 15.9). A vehicle with ID 59 is 23.7 meters away at (-13.9, 19.2). A pedestrian with ID 67 is 26.7 meters away at (-8.3, 25.4). A vehicle with ID 42 is 27.8 meters away at (7.1, -26.9).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00276231 -0.01083109] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-0.66273034  1.344323  ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.7159481   0.94203633] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.6720112   0.71951985] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.688781  -7.7081885] m/s.", "light_description": "There are active red lights at the following coordinates: [[-42.309566  29.205412]\n [-44.212822  31.7074  ]\n [-26.168186  31.176172]\n [-44.29759   35.593697]\n [-22.188429  34.23476 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [3.1343644 5.3315496], 6.184630870819092 meters away.)"}
{"file_name": "images/scenario_566_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 6.1 meters away at (3.1, 5.3). A vehicle with ID 34 is 7.9 meters away at (-4.9, 6.3). A vehicle with ID 46 is 11.2 meters away at (8.7, -7.0). A vehicle with ID 48 is 14.3 meters away at (-11.0, 9.2). A vehicle with ID 50 is 15.8 meters away at (-9.0, 13.0). A pedestrian with ID 55 is 19.2 meters away at (-3.2, 18.9). A vehicle with ID 58 is 22.8 meters away at (-16.4, 15.8). A vehicle with ID 59 is 23.6 meters away at (-13.8, 19.2). A pedestrian with ID 60 is 26.1 meters away at (19.8, -17.0). A pedestrian with ID 67 is 28.5 meters away at (-9.5, 26.9).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00027726 -0.00202141] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-0.7221201  0.9605964] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.70704234  0.89939237] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.1124068  0.8478949] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.5755503   0.89152855] m/s.", "light_description": "There are active red lights at the following coordinates: [[-42.309566  29.205412]\n [-44.212822  31.7074  ]\n [-26.168186  31.176172]\n [-44.29759   35.593697]\n [-22.188429  34.23476 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [3.1479957 5.265914 ], 6.135122299194336 meters away.)"}
{"file_name": "images/scenario_566_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 5.2 meters away at (4.0, 3.3). A vehicle with ID 34 is 7.9 meters away at (-4.8, 6.2). A vehicle with ID 46 is 9.9 meters away at (7.9, -6.1). A vehicle with ID 48 is 14.3 meters away at (-11.0, 9.2). A vehicle with ID 50 is 15.8 meters away at (-9.0, 13.0). A pedestrian with ID 55 is 21.2 meters away at (-4.7, 20.7). A vehicle with ID 58 is 22.8 meters away at (-16.4, 15.8). A vehicle with ID 59 is 23.6 meters away at (-13.9, 19.1). A pedestrian with ID 60 is 23.6 meters away at (17.4, -15.9). A vehicle with ID 51 is 26.8 meters away at (16.1, -21.4).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.8341286 -1.223102 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.6796715  0.8623215] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.0624149   0.37729502] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.2126474  1.1407216] m/s.", "light_description": "There are active red lights at the following coordinates: [[-42.309566  29.205412]\n [-44.212822  31.7074  ]\n [-26.168186  31.176172]\n [-44.29759   35.593697]\n [-22.188429  34.23476 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [3.9911304 3.341872 ], 5.205499649047852 meters away.)"}
{"file_name": "images/scenario_567_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 2.1) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 6.8 meters away at (-5.1, -4.5). A vehicle with ID 38 is 22.3 meters away at (-17.0, 14.6). A unknown object with ID 39 is 23.0 meters away at (18.7, 13.4). A vehicle with ID 40 is 26.2 meters away at (-20.8, 16.0). A vehicle with ID 41 is 27.1 meters away at (25.4, 9.4). A vehicle with ID 42 is 29.3 meters away at (-11.9, 26.8). A vehicle with ID 43 is 31.8 meters away at (-15.4, 27.9). A vehicle with ID 45 is 34.8 meters away at (-18.7, 29.3). A vehicle with ID 44 is 35.1 meters away at (-17.5, -30.5). A vehicle with ID 46 is 37.0 meters away at (-22.1, 29.7).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [-2.0532568 -6.192995 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-29.196938 -74.44082 ]\n [-28.999949 -74.482346]]", "nav_goal": "(184.1287078857422, 70.51112365722656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.0878587 -4.480912 ], 6.779740333557129 meters away.)"}
{"file_name": "images/scenario_567_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.8) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 17.5 meters away at (16.3, 6.4). A vehicle with ID 38 is 20.8 meters away at (-19.3, 7.7). A vehicle with ID 41 is 23.1 meters away at (23.0, 2.5). A vehicle with ID 42 is 24.5 meters away at (-14.3, 19.9). A vehicle with ID 40 is 24.9 meters away at (-23.2, 9.2). A vehicle with ID 37 is 27.5 meters away at (-11.9, -24.8). A vehicle with ID 43 is 27.5 meters away at (-17.7, 21.0). A vehicle with ID 45 is 30.8 meters away at (-21.1, 22.4). A vehicle with ID 35 is 32.5 meters away at (4.1, 32.2). A vehicle with ID 46 is 33.4 meters away at (-24.5, 22.8).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-2.182754  -6.4907055] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-29.196938 -74.44082 ]\n [-28.999949 -74.482346]]", "nav_goal": "(184.1287078857422, 70.51112365722656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [16.265892   6.4226522], 17.487987518310547 meters away.)"}
{"file_name": "images/scenario_567_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 7.1) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 13.4 meters away at (12.3, -5.4). A vehicle with ID 42 is 19.9 meters away at (-18.3, 8.0). A vehicle with ID 35 is 20.4 meters away at (0.1, 20.4). A vehicle with ID 41 is 21.1 meters away at (19.0, -9.3). A vehicle with ID 43 is 23.6 meters away at (-21.8, 9.1). A vehicle with ID 38 is 23.7 meters away at (-23.4, -4.1). A vehicle with ID 45 is 27.3 meters away at (-25.2, 10.4). A vehicle with ID 40 is 27.3 meters away at (-27.2, -2.5). A vehicle with ID 46 is 30.5 meters away at (-28.5, 10.8). A vehicle with ID 47 is 37.0 meters away at (34.1, -14.3).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(184.1287078857422, 70.51112365722656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [12.253402  -5.3624763], 13.375425338745117 meters away.)"}
{"file_name": "images/scenario_567_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 8.1) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 7.1 meters away at (-5.0, 5.0). A vehicle with ID 42 is 24.5 meters away at (-23.4, -7.4). A vehicle with ID 36 is 25.8 meters away at (2.0, 25.7). A vehicle with ID 38 is 34.6 meters away at (-28.5, -19.6). A vehicle with ID 34 is 35.3 meters away at (14.5, 32.2). A vehicle with ID 40 is 37.0 meters away at (-32.3, -18.0). A vehicle with ID 4 is 40.9 meters away at (7.0, 40.3). A vehicle with ID 2 is 46.6 meters away at (9.0, 45.7). A vehicle with ID 44 is 71.0 meters away at (-29.1, -64.8). A vehicle with ID 37 is 80.2 meters away at (-28.7, -74.9).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.3841232 -4.852871 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(184.1287078857422, 70.51112365722656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.0004807  5.015995 ], 7.08272647857666 meters away.)"}
{"file_name": "images/scenario_568_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.7) m/s. Its current heading (yaw) is 2.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 3.3 meters away at (1.9, 2.7). A vehicle with ID 34 is 8.0 meters away at (7.7, 2.2). A vehicle with ID 43 is 11.9 meters away at (11.2, -3.9). A vehicle with ID 38 is 13.5 meters away at (13.5, -1.2). A vehicle with ID 40 is 14.6 meters away at (12.1, -8.1). A vehicle with ID 47 is 18.9 meters away at (1.3, -18.8). A vehicle with ID 50 is 21.0 meters away at (20.2, -6.0). A pedestrian with ID 55 is 22.1 meters away at (-4.3, -21.7). A vehicle with ID 52 is 23.1 meters away at (6.8, -22.1). A vehicle with ID 59 is 23.9 meters away at (-16.0, 17.8).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.1403935  2.0546687] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-4.0827904  2.7299821] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-1.9583911  1.2522441] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.6401337  0.9198392] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 38.32116  -50.509792]\n [ 38.1067   -50.387547]\n [ 38.859566 -50.93551 ]\n [ 38.188133 -50.433838]\n [ 38.34845  -50.527344]\n [ 46.70311  -23.106228]]", "nav_goal": "(-189.95204162597656, -124.96602630615234)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.8906887 2.7480767], 3.335660219192505 meters away.)"}
{"file_name": "images/scenario_568_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 4.2 meters away at (-0.3, 4.2). A vehicle with ID 43 is 6.5 meters away at (6.4, -0.7). A vehicle with ID 34 is 8.2 meters away at (8.0, 2.0). A vehicle with ID 40 is 11.3 meters away at (9.4, -6.3). A vehicle with ID 38 is 14.0 meters away at (13.9, -1.5). A vehicle with ID 47 is 19.2 meters away at (1.7, -19.1). A pedestrian with ID 55 is 21.2 meters away at (-7.0, -20.0). A vehicle with ID 50 is 21.5 meters away at (20.5, -6.4). A vehicle with ID 59 is 23.4 meters away at (-15.6, 17.5). A vehicle with ID 52 is 23.5 meters away at (7.2, -22.4).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.205303   0.7932466] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-1.1486685  0.755759 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.4494653  1.0529474] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 46.70311  -23.106228]]", "nav_goal": "(-189.95204162597656, -124.96602630615234)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.31949186  4.2006226 ], 4.21275520324707 meters away.)"}
{"file_name": "images/scenario_568_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 4.1 meters away at (-0.2, 4.1). A vehicle with ID 43 is 5.6 meters away at (5.6, -0.1). A vehicle with ID 34 is 8.2 meters away at (8.0, 2.0). A vehicle with ID 40 is 9.4 meters away at (7.8, -5.3). A vehicle with ID 38 is 14.1 meters away at (14.0, -1.6). A vehicle with ID 47 is 19.2 meters away at (1.7, -19.1). A pedestrian with ID 55 is 20.4 meters away at (-9.8, -17.8). A vehicle with ID 50 is 21.5 meters away at (20.5, -6.4). A vehicle with ID 69 is 21.9 meters away at (-21.9, 0.5). A vehicle with ID 59 is 23.4 meters away at (-15.6, 17.5).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.40564457  0.2764262 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.5173677  1.09032  ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 0.7258907  -0.46574178] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 46.70311  -23.106228]]", "nav_goal": "(-189.95204162597656, -124.96602630615234)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.24544811  4.138583  ], 4.14585542678833 meters away.)"}
{"file_name": "images/scenario_568_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 4.1 meters away at (-0.3, 4.1). A vehicle with ID 43 is 5.6 meters away at (5.6, -0.1). A vehicle with ID 34 is 8.2 meters away at (8.0, 2.0). A vehicle with ID 40 is 9.0 meters away at (7.5, -5.0). A vehicle with ID 38 is 14.2 meters away at (14.1, -1.7). A vehicle with ID 47 is 19.2 meters away at (1.7, -19.1). A pedestrian with ID 55 is 20.3 meters away at (-12.8, -15.8). A vehicle with ID 69 is 21.4 meters away at (-21.4, 0.1). A vehicle with ID 50 is 21.5 meters away at (20.5, -6.4). A vehicle with ID 75 is 22.5 meters away at (-22.1, 4.1).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.468899   1.0086443] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 46.70311  -23.106228]]", "nav_goal": "(-189.95204162597656, -124.96602630615234)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.25600147  4.1392093 ], 4.147118091583252 meters away.)"}
{"file_name": "images/scenario_569_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 0.4) m/s. Its current heading (yaw) is 0.13 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 2.5 meters away at (-0.0, 2.5). A unknown object with ID 46 is 3.4 meters away at (-2.3, 2.5). A unknown object with ID 41 is 3.6 meters away at (2.0, 3.0). A vehicle with ID 10 is 4.7 meters away at (-1.8, 4.3). A unknown object with ID 58 is 5.1 meters away at (2.1, 4.6). A unknown object with ID 9 is 5.1 meters away at (-4.3, 2.8). A unknown object with ID 43 is 6.2 meters away at (-5.5, 3.0). A unknown object with ID 31 is 6.6 meters away at (1.2, 6.5). A unknown object with ID 44 is 7.6 meters away at (-6.8, 3.5). A unknown object with ID 34 is 7.7 meters away at (5.2, 5.6).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-0.03840303  2.494341  ], 2.4946365356445312 meters away.)"}
{"file_name": "images/scenario_569_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 1.2) m/s. Its current heading (yaw) is 0.46 ", "actor_description": " The most relevant actors are: A unknown object with ID 41 is 3.5 meters away at (-3.1, 1.6). A unknown object with ID 38 is 3.6 meters away at (1.3, 3.3). A unknown object with ID 34 is 4.2 meters away at (0.2, 4.2). A unknown object with ID 47 is 4.3 meters away at (3.9, -1.7). A unknown object with ID 58 is 4.3 meters away at (-3.0, 3.2). A unknown object with ID 37 is 5.2 meters away at (-5.1, 1.0). A unknown object with ID 39 is 5.2 meters away at (3.1, 4.2). A unknown object with ID 11 is 6.2 meters away at (0.1, 6.2). A unknown object with ID 31 is 6.5 meters away at (-3.9, 5.1). A unknown object with ID 42 is 7.1 meters away at (4.7, 5.3).", "velocity_description": "The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-3.1470346  1.5619392], 3.513329029083252 meters away.)"}
{"file_name": "images/scenario_569_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 1.8) m/s. Its current heading (yaw) is 0.69 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 2.0 meters away at (-1.6, 1.1). A unknown object with ID 42 is 2.3 meters away at (0.1, 2.3). A unknown object with ID 38 is 3.2 meters away at (-3.2, 0.3). A unknown object with ID 40 is 3.9 meters away at (1.5, 3.7). A unknown object with ID 34 is 4.5 meters away at (-4.4, 1.1). A unknown object with ID 47 is 4.7 meters away at (-0.6, -4.7). A unknown object with ID 11 is 5.5 meters away at (-4.5, 3.2). A unknown object with ID 36 is 5.9 meters away at (2.9, 5.2). A unknown object with ID 32 is 6.8 meters away at (-4.3, 5.2). A unknown object with ID 58 is 7.5 meters away at (-7.5, 0.2).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-1.5924625  1.1381145], 1.9573557376861572 meters away.)"}
{"file_name": "images/scenario_569_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 2.7) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 2.0 meters away at (-1.8, 0.6). A unknown object with ID 40 is 3.3 meters away at (-3.2, -0.9). A unknown object with ID 42 is 5.2 meters away at (-4.6, -2.2). A unknown object with ID 2 is 5.4 meters away at (-3.2, 4.4). A unknown object with ID 15 is 5.5 meters away at (-2.9, 4.7). A unknown object with ID 33 is 6.5 meters away at (-5.0, 4.2). A unknown object with ID 39 is 7.1 meters away at (-6.2, -3.3). A unknown object with ID 70 is 7.8 meters away at (-7.0, 3.6). A unknown object with ID 35 is 8.9 meters away at (-8.5, 2.6). A unknown object with ID 32 is 9.0 meters away at (-9.0, 0.7).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-1.8443203  0.6384344], 1.9516956806182861 meters away.)"}
{"file_name": "images/scenario_570_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -4.3) m/s. Its current heading (yaw) is -2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 3.8 meters away at (1.4, -3.6). A unknown object with ID 22 is 4.2 meters away at (0.6, 4.2). A vehicle with ID 26 is 7.7 meters away at (2.7, -7.2). A vehicle with ID 20 is 8.0 meters away at (7.9, 1.5). A vehicle with ID 21 is 9.7 meters away at (9.5, -1.9). A vehicle with ID 23 is 12.7 meters away at (11.8, -4.5). A vehicle with ID 27 is 16.0 meters away at (-6.6, -14.6). A vehicle with ID 28 is 26.5 meters away at (-16.1, -21.0). A vehicle with ID 4 is 27.1 meters away at (-21.2, -16.9). A vehicle with ID 29 is 33.8 meters away at (-21.6, -26.1).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-6.7395315 -5.322715 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.000109   3.1084259]\n [10.3394165 -3.9556556]\n [10.1015215 -3.4448335]\n [ 8.169829   2.9767137]]", "nav_goal": "(-236.29583740234375, -185.41859436035156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.3609695 -3.557891 ], 3.809307813644409 meters away.)"}
{"file_name": "images/scenario_570_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -4.3) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 7.2 meters away at (3.9, -6.0). A vehicle with ID 25 is 12.9 meters away at (11.8, 5.0). A vehicle with ID 26 is 13.2 meters away at (13.1, 1.4). A vehicle with ID 28 is 13.6 meters away at (-5.5, -12.4). A vehicle with ID 29 is 20.7 meters away at (-10.9, -17.6). A vehicle with ID 20 is 21.0 meters away at (18.4, 10.2). A vehicle with ID 21 is 21.2 meters away at (20.0, 6.8). A vehicle with ID 23 is 22.7 meters away at (22.3, 4.2). A vehicle with ID 17 is 25.8 meters away at (-18.0, -18.5). A vehicle with ID 31 is 27.2 meters away at (-16.9, -21.3).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [6.3480663 4.941563 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.000109   3.1084259]\n [10.3394165 -3.9556556]\n [10.1015215 -3.4448335]\n [ 8.169829   2.9767137]]", "nav_goal": "(-236.29583740234375, -185.41859436035156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.88595  -6.007284], 7.154583930969238 meters away.)"}
{"file_name": "images/scenario_570_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, -4.8) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 4.6 meters away at (4.5, -0.7). A vehicle with ID 28 is 6.9 meters away at (6.1, -3.3). A vehicle with ID 29 is 8.5 meters away at (0.7, -8.5). A vehicle with ID 31 is 13.4 meters away at (-5.3, -12.3). A vehicle with ID 27 is 15.7 meters away at (15.4, 3.0). A vehicle with ID 32 is 21.4 meters away at (-11.8, -17.8). A vehicle with ID 26 is 26.9 meters away at (24.7, 10.6). A vehicle with ID 25 is 27.3 meters away at (23.4, 14.1). A pedestrian with ID 13 is 32.7 meters away at (-27.3, -18.0). A vehicle with ID 4 is 35.3 meters away at (-27.1, -22.6).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [4.5396314 3.5213234] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.0788853 0.9172452] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-7.3154535 -6.2557793] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.000109   3.1084259]\n [10.3394165 -3.9556556]\n [10.1015215 -3.4448335]\n [ 8.169829   2.9767137]]", "nav_goal": "(-236.29583740234375, -185.41859436035156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.5073853  -0.72584534], 4.565454483032227 meters away.)"}
{"file_name": "images/scenario_570_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -5.7) m/s. Its current heading (yaw) is -2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 7.4 meters away at (1.0, -7.3). A vehicle with ID 31 is 7.7 meters away at (7.6, -1.7). A pedestrian with ID 13 is 13.3 meters away at (-12.2, -5.4). A vehicle with ID 29 is 13.7 meters away at (13.6, 2.0). A vehicle with ID 8 is 15.0 meters away at (-7.4, -13.0). A unknown object with ID 18 is 18.9 meters away at (18.9, -1.2). A vehicle with ID 28 is 20.3 meters away at (19.0, 7.2). A vehicle with ID 17 is 28.9 meters away at (24.5, 15.3). A vehicle with ID 27 is 31.5 meters away at (28.3, 13.7). A vehicle with ID 4 is 38.2 meters away at (-29.1, -24.7).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.1504153 1.1083282] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [1.1862769 0.8133269] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.5397642 1.9977487] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-7.7867274 -6.240707 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.000109   3.1084259]\n [10.3394165 -3.9556556]\n [10.1015215 -3.4448335]\n [ 8.169829   2.9767137]]", "nav_goal": "(-236.29583740234375, -185.41859436035156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.0384979 -7.305374 ], 7.378818988800049 meters away.)"}
{"file_name": "images/scenario_571_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -1.1) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 98 is 3.1 meters away at (-1.7, -2.6). A vehicle with ID 95 is 5.7 meters away at (-5.7, 0.6). A vehicle with ID 94 is 5.9 meters away at (4.7, 3.6). A unknown object with ID 96 is 6.6 meters away at (1.1, 6.5). A vehicle with ID 103 is 9.3 meters away at (3.2, 8.7). A pedestrian with ID 99 is 9.7 meters away at (-0.4, 9.6). A pedestrian with ID 101 is 10.1 meters away at (0.0, 10.1). A vehicle with ID 107 is 13.0 meters away at (0.3, -13.0). A unknown object with ID 102 is 13.2 meters away at (-3.0, 12.9). A vehicle with ID 100 is 13.3 meters away at (-11.9, 6.1).", "velocity_description": "The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.01452126 -0.01394945] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.03785067 -0.03231675] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-51.433448791503906, 112.780517578125)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-1.7061961 -2.5878363], 3.099677562713623 meters away.)"}
{"file_name": "images/scenario_571_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.3) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 98 is 3.2 meters away at (-2.7, -1.7). A vehicle with ID 94 is 5.7 meters away at (3.7, 4.4). A vehicle with ID 95 is 6.9 meters away at (-6.7, 1.4). A unknown object with ID 96 is 7.4 meters away at (0.0, 7.4). A vehicle with ID 103 is 9.9 meters away at (2.2, 9.6). A unknown object with ID 85 is 10.5 meters away at (5.4, 9.0). A pedestrian with ID 99 is 10.5 meters away at (-1.4, 10.4). A pedestrian with ID 101 is 10.9 meters away at (-1.0, 10.9). A vehicle with ID 107 is 12.2 meters away at (-0.8, -12.2). A unknown object with ID 102 is 14.3 meters away at (-4.0, 13.7).", "velocity_description": "The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.05909583  0.02658346] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.03113008  0.00293682] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-51.433448791503906, 112.780517578125)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.7377758 -1.7258263], 3.2363393306732178 meters away.)"}
{"file_name": "images/scenario_571_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -1.0) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 98 is 6.1 meters away at (-6.1, 0.1). A vehicle with ID 94 is 6.2 meters away at (0.3, 6.2). A unknown object with ID 96 is 9.9 meters away at (-3.3, 9.3). A vehicle with ID 95 is 10.7 meters away at (-10.2, 3.4). A vehicle with ID 107 is 11.1 meters away at (-4.3, -10.3). A vehicle with ID 103 is 11.5 meters away at (-1.2, 11.4). A pedestrian with ID 99 is 13.3 meters away at (-4.8, 12.4). A pedestrian with ID 101 is 13.6 meters away at (-4.4, 12.9). A vehicle with ID 76 is 16.3 meters away at (-7.8, -14.3). A vehicle with ID 109 is 16.3 meters away at (12.4, 10.6).", "velocity_description": "The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.00515002 -0.03251549] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [ 0.00849512 -0.00967009] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-51.433448791503906, 112.780517578125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.1040335  0.109797 ], 6.105020523071289 meters away.)"}
{"file_name": "images/scenario_571_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 1.8) m/s. Its current heading (yaw) is 0.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 94 is 9.0 meters away at (-7.0, 5.7). A unknown object with ID 73 is 10.4 meters away at (-3.5, 9.7). A vehicle with ID 108 is 11.2 meters away at (8.8, -7.0). A vehicle with ID 109 is 11.3 meters away at (5.1, 10.0). A unknown object with ID 64 is 11.6 meters away at (-5.3, 10.3). A vehicle with ID 98 is 13.4 meters away at (-13.4, -0.5). A unknown object with ID 96 is 13.8 meters away at (-10.7, 8.8). A vehicle with ID 103 is 14.0 meters away at (-8.6, 11.0). A vehicle with ID 107 is 15.8 meters away at (-11.4, -10.9). A vehicle with ID 93 is 16.2 meters away at (8.4, 13.9).", "velocity_description": "The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-51.433448791503906, 112.780517578125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.964903   5.7071204], 9.004504203796387 meters away.)"}
{"file_name": "images/scenario_572_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.9) m/s. Its current heading (yaw) is -1.38 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 6.0 meters away at (5.9, -1.2). A pedestrian with ID 8 is 23.0 meters away at (22.8, -2.8). A pedestrian with ID 7 is 36.9 meters away at (25.6, 26.5). A pedestrian with ID 12 is 39.4 meters away at (22.4, 32.4). A pedestrian with ID 14 is 53.6 meters away at (12.0, 52.2). A unknown object with ID 15 is 54.8 meters away at (3.2, 54.7). A vehicle with ID 11 is 61.3 meters away at (-61.2, 1.3).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.97246486  0.35510266] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00939107 -0.03353919] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.0430208  -0.10647538] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.1515089  0.23857675] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.03132897  0.02879439] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-14.349692    5.7136917] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 5.876424  -1.2270808], 6.003172874450684 meters away.)"}
{"file_name": "images/scenario_572_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 4.1 meters away at (4.1, -0.4). A pedestrian with ID 1 is 10.0 meters away at (9.3, -3.8). A pedestrian with ID 7 is 35.0 meters away at (23.2, 26.2). A pedestrian with ID 12 is 41.5 meters away at (24.5, 33.6). A unknown object with ID 15 is 55.6 meters away at (2.9, 55.5). A vehicle with ID 16 is 59.1 meters away at (41.4, -42.2). A vehicle with ID 3 is 65.7 meters away at (-63.4, 17.2).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.64172316  0.10745003] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.1498713  0.6450945] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.158769   -0.44326478] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.90022534 0.6675423 ] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-11.456466   4.79782 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [13.027937  -5.3767457] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 4.0766044 -0.3602128], 4.092487812042236 meters away.)"}
{"file_name": "images/scenario_572_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 3.9 meters away at (3.9, -0.2). A pedestrian with ID 1 is 8.2 meters away at (7.7, -2.7). A pedestrian with ID 7 is 32.7 meters away at (21.0, 25.0). A vehicle with ID 16 is 37.9 meters away at (18.9, -32.8). A vehicle with ID 3 is 38.5 meters away at (-37.9, 6.8). A pedestrian with ID 12 is 43.3 meters away at (26.6, 34.2). A vehicle with ID 2 is 50.8 meters away at (36.1, -35.7).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00414842 -0.00030204] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.677305   0.5289225] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.1841596 -0.757009 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-10.862382   4.585152] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [12.823285  -5.3517447] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.1351144  0.22040974] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-16.470137   6.973223] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.8583255  -0.22815609], 3.865065574645996 meters away.)"}
{"file_name": "images/scenario_572_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 3.8 meters away at (3.8, -0.3). A pedestrian with ID 1 is 6.7 meters away at (6.4, -1.9). A vehicle with ID 3 is 12.3 meters away at (-11.5, -4.2). A vehicle with ID 2 is 22.2 meters away at (3.2, -21.9). A vehicle with ID 16 is 23.9 meters away at (-2.5, -23.8). A pedestrian with ID 7 is 30.4 meters away at (18.6, 24.1). A pedestrian with ID 12 is 44.8 meters away at (28.7, 34.4).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.01110831 0.00250253] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.6068131   0.40934947] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [13.472304 -5.615899] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-16.232038    6.8819933] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-10.388404    4.4428725] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2027142  -0.28522107] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1675258  -0.01091674] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.8321238  -0.28105354], 3.842416286468506 meters away.)"}
{"file_name": "images/scenario_573_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.79 ", "actor_description": " The most relevant actors are: A cyclist with ID 49 is 5.1 meters away at (-2.1, 4.7). A pedestrian with ID 26 is 11.3 meters away at (-10.2, -5.0). A pedestrian with ID 50 is 13.7 meters away at (-13.0, -4.2). A vehicle with ID 62 is 16.1 meters away at (16.1, -0.2). A pedestrian with ID 60 is 24.0 meters away at (-3.0, 23.8). A vehicle with ID 51 is 24.1 meters away at (-23.8, -3.6). A pedestrian with ID 63 is 31.0 meters away at (-29.5, 9.5). A cyclist with ID 66 is 31.1 meters away at (-29.6, 9.5). A cyclist with ID 29 is 33.2 meters away at (-26.4, 20.1). A unknown object with ID 67 is 36.6 meters away at (-35.1, -10.3).", "velocity_description": "The cyclist with ID 49 is traveling at a (x, y) velocity of [-2.1708333  1.016281 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.37894973 -0.57185405] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.8104643  0.7335372] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-2.4021087  1.0695068] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.7752547   0.09138488] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.0322753  0.04135307] m/s.The cyclist with ID 66 is traveling at a (x, y) velocity of [0.00805608 0.01843224] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.5439556 -0.5190766] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.57597     8.355795 ]\n [-22.23794     9.723167 ]\n [-18.360203    8.217128 ]\n [-18.921665    8.535895 ]\n [ -6.0914507   2.6074884]\n [ -6.7027693   1.1095177]]", "nav_goal": "(-274.3536376953125, 116.47956848144531)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-2.1031528  4.687358 ], 5.1375651359558105 meters away.)"}
{"file_name": "images/scenario_573_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 0.3) m/s. Its current heading (yaw) is 3.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 10.6 meters away at (-8.0, -7.0). A pedestrian with ID 50 is 13.6 meters away at (-13.2, -3.0). A cyclist with ID 49 is 14.0 meters away at (-10.6, 9.1). A vehicle with ID 62 is 14.1 meters away at (14.0, 1.1). A vehicle with ID 51 is 21.8 meters away at (-21.5, -4.1). A pedestrian with ID 60 is 24.3 meters away at (-3.5, 24.1). A cyclist with ID 29 is 27.8 meters away at (-21.0, 18.2). A pedestrian with ID 63 is 28.5 meters away at (-27.1, 9.1). A vehicle with ID 69 is 34.3 meters away at (-21.7, 26.6). A unknown object with ID 67 is 34.5 meters away at (-32.8, -10.8).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.22227341 -0.8193466 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.284714   0.8154552] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-6.727644  3.127726] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.9404812  0.870009 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.5635028   0.52819365] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.216219  -0.6677625] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.00399357  0.01099771] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 3.0482254 -1.3659117] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.777051  11.145204]\n [-18.57597    8.355795]\n [-22.23794    9.723167]\n [-18.360203   8.217128]\n [ -8.824706  11.045102]\n [-18.921665   8.535895]]", "nav_goal": "(-274.3536376953125, 116.47956848144531)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-8.013937  -6.9916725], 10.635161399841309 meters away.)"}
{"file_name": "images/scenario_573_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -0.1) m/s. Its current heading (yaw) is -3.10 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 9.6 meters away at (-4.4, -8.6). A pedestrian with ID 50 is 11.7 meters away at (-11.6, -1.6). A vehicle with ID 62 is 14.8 meters away at (14.6, 2.4). A vehicle with ID 51 is 17.9 meters away at (-17.3, -4.5). A cyclist with ID 29 is 21.5 meters away at (-14.4, 16.0). A vehicle with ID 69 is 24.5 meters away at (-9.5, 22.6). A pedestrian with ID 63 is 24.6 meters away at (-22.9, 8.8). A pedestrian with ID 60 is 24.9 meters away at (-2.5, 24.8). A cyclist with ID 49 is 28.6 meters away at (-23.5, 16.4). A vehicle with ID 48 is 29.4 meters away at (-26.6, -12.5).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.1743003 -0.5868144] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.2653123  0.8389511] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.4739118   0.65237266] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.1088481 -0.9188836] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 4.935495  -2.1588438] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.0189132  -0.00114143] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.5197022  0.540387 ] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-9.477176  4.057085] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [1.3309517 5.539256 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.777051  11.145204]\n [-18.57597    8.355795]\n [-22.23794    9.723167]\n [-18.360203   8.217128]\n [ -8.824706  11.045102]\n [-18.921665   8.535895]]", "nav_goal": "(-274.3536376953125, 116.47956848144531)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-4.3822646 -8.573753 ], 9.6287841796875 meters away.)"}
{"file_name": "images/scenario_573_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -0.8) m/s. Its current heading (yaw) is -2.84 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 9.1 meters away at (-0.6, -9.1). A pedestrian with ID 50 is 9.8 meters away at (-9.8, 0.8). A vehicle with ID 51 is 13.7 meters away at (-13.1, -3.8). A vehicle with ID 62 is 16.2 meters away at (15.6, 4.5). A cyclist with ID 29 is 17.6 meters away at (-8.8, 15.2). A vehicle with ID 69 is 19.3 meters away at (5.9, 18.3). A pedestrian with ID 63 is 21.0 meters away at (-18.8, 9.5). A vehicle with ID 48 is 21.2 meters away at (-20.8, -3.7). A vehicle with ID 61 is 24.5 meters away at (-14.5, 19.7). A pedestrian with ID 60 is 26.5 meters away at (-1.2, 26.5).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00383023 -0.5291355 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.1068544   0.84642714] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.356932    0.61113656] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 0.668365  -0.6288518] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 6.3743496 -2.8445876] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.02754668 0.00387456] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.20595154 2.5518196 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 1.4412454  -0.77079654] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.2127944  0.5186942] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.777051  11.145204]\n [-18.57597    8.355795]\n [-22.23794    9.723167]\n [-18.360203   8.217128]\n [ -8.824706  11.045102]\n [-18.921665   8.535895]]", "nav_goal": "(-274.3536376953125, 116.47956848144531)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-0.5683985 -9.10825  ], 9.125967979431152 meters away.)"}
{"file_name": "images/scenario_574_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 3.9) m/s. Its current heading (yaw) is 1.01 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 3.8 meters away at (-0.7, 3.8). A unknown object with ID 34 is 38.2 meters away at (-24.4, -29.4). A vehicle with ID 35 is 59.6 meters away at (-21.1, 55.8). A unknown object with ID 36 is 61.2 meters away at (12.8, 59.8).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-0.73297644  3.7659454 ], 3.8366129398345947 meters away.)"}
{"file_name": "images/scenario_574_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 5.0) m/s. Its current heading (yaw) is 1.02 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 8.4 meters away at (-6.5, -5.3). A unknown object with ID 2 is 17.8 meters away at (-14.3, 10.7). A unknown object with ID 15 is 29.0 meters away at (-24.6, 15.4). A vehicle with ID 30 is 37.0 meters away at (-29.3, 22.5). A unknown object with ID 25 is 40.5 meters away at (4.1, 40.3). A unknown object with ID 36 is 51.2 meters away at (7.2, 50.7). A vehicle with ID 35 is 53.7 meters away at (-26.7, 46.6).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-6.5161076 -5.258234 ], 8.373092651367188 meters away.)"}
{"file_name": "images/scenario_574_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 5.1) m/s. Its current heading (yaw) is 0.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 20.3 meters away at (-13.0, -15.5). A unknown object with ID 14 is 20.3 meters away at (18.7, 7.8). A unknown object with ID 7 is 20.7 meters away at (-20.7, 0.5). A unknown object with ID 2 is 21.0 meters away at (-21.0, 0.1). A unknown object with ID 25 is 30.1 meters away at (-2.6, 30.0). A vehicle with ID 30 is 38.0 meters away at (-35.9, 12.2). A unknown object with ID 36 is 40.3 meters away at (0.7, 40.3). A vehicle with ID 35 is 49.2 meters away at (-33.3, 36.1). A unknown object with ID 20 is 51.3 meters away at (-45.4, 23.8). A unknown object with ID 16 is 52.0 meters away at (-45.8, 24.8).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-13.037973 -15.545347], 20.28907585144043 meters away.)"}
{"file_name": "images/scenario_574_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 3.6) m/s. Its current heading (yaw) is 0.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 11.7 meters away at (10.4, -5.2). A unknown object with ID 25 is 22.8 meters away at (-8.6, 21.1). A unknown object with ID 21 is 23.7 meters away at (-10.7, 21.2). A unknown object with ID 7 is 28.0 meters away at (-26.7, -8.4). A unknown object with ID 2 is 28.3 meters away at (-26.9, -8.7). A unknown object with ID 33 is 31.0 meters away at (-19.0, -24.5). A unknown object with ID 36 is 32.0 meters away at (-5.5, 31.5). A vehicle with ID 23 is 41.2 meters away at (-40.6, 7.0). A vehicle with ID 35 is 47.7 meters away at (-39.3, 27.1). A unknown object with ID 26 is 52.5 meters away at (-50.8, 13.2).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01835823  0.04279166] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [10.415627  -5.2193565], 11.650191307067871 meters away.)"}
{"file_name": "images/scenario_575_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -0.5) m/s. Its current heading (yaw) is -2.76 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_575_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.8) m/s. Its current heading (yaw) is 2.72 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_575_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 2.0) m/s. Its current heading (yaw) is 1.94 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_575_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 3.0) m/s. Its current heading (yaw) is 1.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 14.2 meters away at (10.7, -9.3).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [10.671185 -9.330715], 14.17520523071289 meters away.)"}
{"file_name": "images/scenario_576_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -2.1) m/s. Its current heading (yaw) is -1.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 9.7 meters away at (-2.3, 9.4). A cyclist with ID 70 is 13.6 meters away at (-4.5, -12.8). A vehicle with ID 71 is 13.9 meters away at (-11.0, 8.5). A vehicle with ID 69 is 14.6 meters away at (-6.6, 13.1). A vehicle with ID 73 is 17.3 meters away at (-12.8, 11.7). A vehicle with ID 74 is 19.4 meters away at (-19.4, 0.8). A vehicle with ID 72 is 20.4 meters away at (-3.8, 20.0). A vehicle with ID 76 is 26.5 meters away at (-26.1, 4.9). A vehicle with ID 77 is 29.9 meters away at (-26.8, -13.4). A vehicle with ID 78 is 30.9 meters away at (-30.8, 2.1).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [-0.0380402   0.06689404] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-1.9369395 -6.0766115] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.5887505 -4.7240496] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ -3.2482364 -11.8803625] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [2.5819643 8.48718  ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0.45460436 1.5434632 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [2.3404064 8.263764 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.044     11.157873]\n [-13.069673 -12.281993]\n [-34.955986   8.391334]\n [-25.673485 -13.601059]\n [-29.418556 -12.717334]\n [-12.334245  -9.151367]\n [-29.46486  -12.963009]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.2905464  9.447735 ], 9.721435546875 meters away.)"}
{"file_name": "images/scenario_576_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -3.7) m/s. Its current heading (yaw) is -0.80 ", "actor_description": " The most relevant actors are: A cyclist with ID 70 is 10.9 meters away at (-8.9, -6.3). A vehicle with ID 4 is 15.3 meters away at (-6.5, 13.9). A vehicle with ID 71 is 19.5 meters away at (-19.5, 0.2). A vehicle with ID 73 is 21.8 meters away at (-21.0, 5.9). A vehicle with ID 69 is 22.1 meters away at (-11.1, 19.0). A vehicle with ID 72 is 27.7 meters away at (-8.1, 26.4). A vehicle with ID 37 is 29.5 meters away at (-0.2, -29.5). A vehicle with ID 77 is 31.1 meters away at (-30.6, -5.6). A vehicle with ID 82 is 34.0 meters away at (-33.6, -4.6). A vehicle with ID 74 is 34.7 meters away at (-29.4, -18.5).", "velocity_description": "The cyclist with ID 70 is traveling at a (x, y) velocity of [0.0199363 0.0258878] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 0.34655136 -2.2552314 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-2.1338482 -8.549836 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.9922202 -7.4909086] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.4715022 -1.2718812] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-6.5649028e+00 -2.1261242e-03] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [1.6758558 3.5015817] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ -2.4077559 -13.61843  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.044     11.157873]\n [-13.069673 -12.281993]\n [-34.955986   8.391334]\n [-25.673485 -13.601059]\n [-12.334245  -9.151367]\n [-29.46486  -12.963009]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-8.895208 -6.313166], 10.907832145690918 meters away.)"}
{"file_name": "images/scenario_576_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -3.5) m/s. Its current heading (yaw) is -0.59 ", "actor_description": " The most relevant actors are: A cyclist with ID 70 is 17.9 meters away at (-17.9, 0.6). A vehicle with ID 4 is 19.4 meters away at (-13.4, 14.0). A vehicle with ID 69 is 29.9 meters away at (-22.5, 19.8). A vehicle with ID 37 is 32.1 meters away at (-20.2, -24.9). A vehicle with ID 73 is 34.6 meters away at (-34.3, -4.4). A vehicle with ID 71 is 34.8 meters away at (-32.8, -11.7). A vehicle with ID 18 is 35.4 meters away at (-23.3, 26.6). A vehicle with ID 72 is 36.1 meters away at (-17.9, 31.3). A vehicle with ID 77 is 39.7 meters away at (-39.7, 1.4). A vehicle with ID 82 is 40.8 meters away at (-40.1, 7.2).", "velocity_description": "The cyclist with ID 70 is traveling at a (x, y) velocity of [-0.00147094 -0.01780919] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 2.2468474 -4.140263 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.5544093 -4.832432 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.4451785 -1.8489146] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.0794463 -9.570453 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [ -2.1138694 -10.696342 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -4.1067004 -12.163845 ] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.8818278 -2.8680549] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0.3139308  0.47941467] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.044     11.157873]\n [-13.069673 -12.281993]\n [-34.955986   8.391334]\n [-25.673485 -13.601059]\n [-12.334245  -9.151367]\n [-29.46486  -12.963009]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-17.912514    0.6243725], 17.923391342163086 meters away.)"}
{"file_name": "images/scenario_576_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.1) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 21.2 meters away at (-17.7, 11.6). A pedestrian with ID 56 is 29.1 meters away at (-28.3, 6.6). A pedestrian with ID 44 is 29.9 meters away at (-29.0, 7.0). A cyclist with ID 70 is 29.9 meters away at (-29.1, 7.0). A unknown object with ID 68 is 36.8 meters away at (-22.7, -29.0). A vehicle with ID 69 is 40.0 meters away at (-37.2, 14.8). A vehicle with ID 18 is 42.6 meters away at (-42.2, 5.8). A vehicle with ID 72 is 43.1 meters away at (-32.3, 28.6). A vehicle with ID 37 is 44.2 meters away at (-38.0, -22.4). A pedestrian with ID 1 is 47.2 meters away at (45.9, -10.9).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [ 4.671668  -4.3473983] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.01971466 -0.00563801] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.01699342 0.00479513] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [0.02880727 0.03443343] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.6435062 -5.8901815] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -3.625295 -15.568364] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-2.13845   -6.0165668] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.9246229 -2.0943258] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.64789    -0.65912694] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.221312    -4.2565517 ]\n [-13.0363245   -0.84942895]\n [-21.465385     9.6945505 ]\n [-34.044       11.157873  ]\n [-17.884642     6.0993724 ]\n [-15.385334     2.9251182 ]\n [-13.069673   -12.281993  ]\n [-34.955986     8.391334  ]\n [-25.673485   -13.601059  ]\n [-12.334245    -9.151367  ]\n [-29.46486    -12.963009  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-17.735367  11.558274], 21.16924476623535 meters away.)"}
{"file_name": "images/scenario_577_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -3.2) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 17.9 meters away at (12.0, 13.3). A pedestrian with ID 1 is 25.3 meters away at (-8.3, -23.9). A unknown object with ID 5 is 29.9 meters away at (22.6, 19.6). A vehicle with ID 21 is 43.9 meters away at (-30.2, -32.0). A unknown object with ID 24 is 54.6 meters away at (3.3, 54.4). A unknown object with ID 26 is 57.9 meters away at (-42.8, 39.1). A pedestrian with ID 18 is 61.6 meters away at (31.5, 52.9). A vehicle with ID 11 is 74.5 meters away at (-9.5, 73.9).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.5176453 -0.9434878] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.0323442  -0.00677982] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 5.7247214 -7.201676 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-74.33214569091797, 110.0151138305664)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [12.016743 13.262856], 17.897079467773438 meters away.)"}
{"file_name": "images/scenario_577_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.3) m/s. Its current heading (yaw) is -2.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 1.7 meters away at (-1.5, 0.8). A unknown object with ID 9 is 7.9 meters away at (-6.8, 4.0). A pedestrian with ID 1 is 21.1 meters away at (-5.9, -20.2). A vehicle with ID 20 is 24.5 meters away at (15.5, 18.9). A vehicle with ID 21 is 37.4 meters away at (-26.5, -26.4). A unknown object with ID 24 is 60.4 meters away at (6.7, 60.1). A vehicle with ID 11 is 66.2 meters away at (5.9, 66.0). A pedestrian with ID 18 is 68.3 meters away at (35.1, 58.5).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.47940895 -0.8727737 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.0371556 -7.1436353] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.0048107  0.00734309] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-74.33214569091797, 110.0151138305664)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-1.5161114   0.81819534], 1.722799301147461 meters away.)"}
{"file_name": "images/scenario_577_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.6) m/s. Its current heading (yaw) is -2.18 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 18.7 meters away at (-4.2, -18.3). A vehicle with ID 20 is 29.3 meters away at (18.2, 22.9). A vehicle with ID 21 is 32.7 meters away at (-23.8, -22.4). A vehicle with ID 11 is 61.2 meters away at (22.8, 56.8). A vehicle with ID 17 is 63.5 meters away at (18.7, 60.7). A unknown object with ID 24 is 64.7 meters away at (9.4, 64.0).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.60172915 -0.92434675] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.9001155 -6.3577914] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [10.568637 -9.270886] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-74.33214569091797, 110.0151138305664)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -4.1636553 -18.253912 ], 18.722747802734375 meters away.)"}
{"file_name": "images/scenario_577_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.5) m/s. Its current heading (yaw) is -2.18 ", "actor_description": " The most relevant actors are: A pedestrian with ID 1 is 18.4 meters away at (-4.0, -18.0). A vehicle with ID 21 is 30.2 meters away at (-22.4, -20.3). A vehicle with ID 20 is 31.7 meters away at (19.7, 24.9). A vehicle with ID 11 is 61.8 meters away at (39.9, 47.2). A vehicle with ID 17 is 62.0 meters away at (35.1, 51.1). A unknown object with ID 24 is 67.1 meters away at (10.9, 66.2).", "velocity_description": "The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.57493615 -1.012909  ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 8.471527  -5.8393216] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.8837132 -5.5267406] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-74.33214569091797, 110.0151138305664)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -4.009016 -17.980377], 18.421894073486328 meters away.)"}
{"file_name": "images/scenario_578_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 2.3) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 53 is 14.9 meters away at (-13.4, -6.6). A vehicle with ID 57 is 21.4 meters away at (-12.2, 17.6). A unknown object with ID 54 is 22.9 meters away at (1.2, -22.8). A vehicle with ID 49 is 24.0 meters away at (-15.7, 18.1). A vehicle with ID 26 is 27.7 meters away at (-19.5, 19.7). A vehicle with ID 60 is 32.3 meters away at (-10.7, 30.5). A vehicle with ID 13 is 33.1 meters away at (13.7, 30.1). A vehicle with ID 28 is 33.4 meters away at (31.4, 11.3). A vehicle with ID 38 is 39.2 meters away at (38.2, 8.8). A pedestrian with ID 59 is 39.9 meters away at (-22.0, -33.3).", "velocity_description": "The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.79481506 -0.5300874 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.42416146 1.2656195 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.301159 -65.45775 ]\n [-26.498148 -65.41622 ]]", "nav_goal": "(179.27810668945312, 84.59874725341797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-13.407534   -6.5656576], 14.928825378417969 meters away.)"}
{"file_name": "images/scenario_578_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 0.9) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 53 is 17.3 meters away at (-13.5, -10.8). A vehicle with ID 57 is 20.1 meters away at (-13.0, 15.3). A vehicle with ID 49 is 22.8 meters away at (-16.5, 15.8). A vehicle with ID 26 is 26.7 meters away at (-20.3, 17.4). A vehicle with ID 47 is 30.0 meters away at (-23.7, 18.5). A vehicle with ID 60 is 30.5 meters away at (-11.5, 28.3). A vehicle with ID 13 is 30.7 meters away at (12.9, 27.9). A vehicle with ID 28 is 31.9 meters away at (30.6, 9.0). A vehicle with ID 12 is 37.0 meters away at (36.9, 2.7). A vehicle with ID 38 is 37.9 meters away at (37.4, 6.4).", "velocity_description": "The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.47583166 -1.443509  ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-6.528483  2.370213] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.301159 -65.45775 ]\n [-26.498148 -65.41622 ]]", "nav_goal": "(179.27810668945312, 84.59874725341797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-13.475036 -10.801074], 17.269620895385742 meters away.)"}
{"file_name": "images/scenario_578_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 3.5) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 18.2 meters away at (-14.6, 10.9). A vehicle with ID 49 is 21.5 meters away at (-18.1, 11.5). A vehicle with ID 12 is 23.4 meters away at (23.3, 2.8). A pedestrian with ID 53 is 24.0 meters away at (-16.3, -17.6). A vehicle with ID 26 is 25.4 meters away at (-21.9, 12.9). A vehicle with ID 13 is 26.0 meters away at (11.3, 23.4). A vehicle with ID 60 is 27.2 meters away at (-13.1, 23.8). A vehicle with ID 47 is 28.9 meters away at (-25.3, 14.0). A vehicle with ID 28 is 29.2 meters away at (28.9, 4.6). A vehicle with ID 38 is 35.7 meters away at (35.7, 1.9).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-5.0816774  1.8671194] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.5122505 -1.0304734] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.301159 -65.45775 ]\n [-26.498148 -65.41622 ]]", "nav_goal": "(179.27810668945312, 84.59874725341797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-14.634867  10.862709], 18.225744247436523 meters away.)"}
{"file_name": "images/scenario_578_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.8) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 12.7 meters away at (12.1, -3.7). A vehicle with ID 13 is 16.2 meters away at (8.1, 14.1). A vehicle with ID 57 is 17.8 meters away at (-17.8, 1.5). A vehicle with ID 49 is 21.4 meters away at (-21.3, 2.1). A vehicle with ID 60 is 21.7 meters away at (-16.2, 14.5). A vehicle with ID 11 is 24.6 meters away at (-23.1, 8.5). A vehicle with ID 26 is 25.3 meters away at (-25.1, 3.6). A vehicle with ID 10 is 26.1 meters away at (24.9, -7.8). A vehicle with ID 28 is 26.2 meters away at (25.8, -4.8). A vehicle with ID 47 is 28.9 meters away at (-28.5, 4.5).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [-2.8593538   0.92325616] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 5.9806356 -2.1805162] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.5998807  1.8200814] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(179.27810668945312, 84.59874725341797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.145161  -3.7158012], 12.700870513916016 meters away.)"}
{"file_name": "images/scenario_579_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 9.9) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A cyclist with ID 44 is 12.7 meters away at (-8.0, -9.9). A cyclist with ID 45 is 16.5 meters away at (-7.5, -14.7). A unknown object with ID 31 is 17.1 meters away at (1.9, 17.0). A vehicle with ID 53 is 20.6 meters away at (20.4, -2.6). A vehicle with ID 47 is 21.8 meters away at (9.7, -19.5). A vehicle with ID 25 is 27.5 meters away at (12.0, 24.8). A vehicle with ID 46 is 31.9 meters away at (7.9, -30.9). A vehicle with ID 24 is 38.4 meters away at (-19.3, -33.2). A vehicle with ID 30 is 49.4 meters away at (34.1, 35.7). A vehicle with ID 52 is 53.9 meters away at (-19.4, -50.2).", "velocity_description": "The cyclist with ID 44 is traveling at a (x, y) velocity of [ 7.2122455 15.299043 ] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [ 6.203383 13.801329] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ -5.336792 -13.05656 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ -7.3126636 -14.730047 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 3.6482604 12.998567 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ -5.377221 -10.320104] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 8.031735 14.541015] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -2.970284 -10.437214] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [6.3272777 9.038523 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(122.42898559570312, 264.4031677246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-7.9784617 -9.94001  ], 12.745965957641602 meters away.)"}
{"file_name": "images/scenario_579_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 10.5) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A cyclist with ID 44 is 3.3 meters away at (-3.0, 1.3). A cyclist with ID 45 is 5.6 meters away at (-3.6, -4.3). A unknown object with ID 31 is 6.6 meters away at (-5.8, -3.0). A vehicle with ID 30 is 20.6 meters away at (19.8, -5.8). A vehicle with ID 24 is 27.2 meters away at (-12.5, -24.2). A vehicle with ID 25 is 32.5 meters away at (10.4, 30.8). A vehicle with ID 53 is 47.8 meters away at (1.6, -47.8). A vehicle with ID 52 is 55.9 meters away at (-16.2, -53.5). A vehicle with ID 1 is 56.9 meters away at (-22.9, -52.0). A vehicle with ID 19 is 68.2 meters away at (38.9, 56.0).", "velocity_description": "The cyclist with ID 44 is traveling at a (x, y) velocity of [ 5.601831 15.745761] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [ 4.825988 14.278094] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -3.8682938 -10.357364 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.3113055 14.863686 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 2.7183623 13.224481 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ -6.1518116 -12.299378 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [4.375261  7.7843685] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.080263 15.036038] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(122.42898559570312, 264.4031677246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-2.965951   1.3356781], 3.2528297901153564 meters away.)"}
{"file_name": "images/scenario_579_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 11.1) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A cyclist with ID 45 is 6.3 meters away at (-0.2, 6.3). A cyclist with ID 44 is 13.3 meters away at (0.0, 13.3). A vehicle with ID 24 is 17.3 meters away at (-7.8, -15.5). A vehicle with ID 37 is 24.8 meters away at (20.8, 13.5). A vehicle with ID 25 is 37.2 meters away at (9.5, 36.0). A vehicle with ID 1 is 44.4 meters away at (-14.7, -41.9). A vehicle with ID 19 is 48.0 meters away at (32.5, 35.3). A vehicle with ID 30 is 48.5 meters away at (4.6, -48.3). A vehicle with ID 17 is 52.7 meters away at (34.3, 40.0). A unknown object with ID 40 is 53.9 meters away at (33.7, 42.1).", "velocity_description": "The cyclist with ID 45 is traveling at a (x, y) velocity of [ 3.959716 13.935285] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [ 4.0999923 16.462528 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 4.7344737 15.009466 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -5.0294733 -19.633533 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 2.8701756 13.202939 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.5174675 15.769328 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -4.919349 -10.948434] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.656172 38.699303]\n [18.937086 35.719105]\n [15.488179 36.46645 ]]", "nav_goal": "(122.42898559570312, 264.4031677246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-0.2036438  6.3174744], 6.320755481719971 meters away.)"}
{"file_name": "images/scenario_579_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 10.7) m/s. Its current heading (yaw) is 1.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 8.3 meters away at (-4.7, -6.8). A cyclist with ID 18 is 18.6 meters away at (3.6, 18.3). A vehicle with ID 33 is 22.1 meters away at (21.7, 4.2). A cyclist with ID 44 is 26.9 meters away at (3.1, 26.8). A vehicle with ID 19 is 30.9 meters away at (27.6, 14.0). A vehicle with ID 1 is 32.8 meters away at (-8.2, -31.7). A vehicle with ID 17 is 34.8 meters away at (29.4, 18.6). A unknown object with ID 40 is 35.6 meters away at (28.8, 20.9). A unknown object with ID 42 is 37.0 meters away at (29.7, 22.1). A unknown object with ID 12 is 41.9 meters away at (33.2, 25.5).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [ 3.5495174 15.150102 ] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [ 3.7620084 15.128272 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ -4.0346704 -16.580893 ] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [ 3.7771268 17.032013 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.7762814 15.644241 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[28.90532  14.693126]\n [27.211588 18.84314 ]\n [25.566452 24.514858]]", "nav_goal": "(122.42898559570312, 264.4031677246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.6687107 -6.8181763], 8.263436317443848 meters away.)"}
{"file_name": "images/scenario_580_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 2.2) m/s. Its current heading (yaw) is 2.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 11.2 meters away at (3.2, -10.7). A unknown object with ID 14 is 18.5 meters away at (-17.3, 6.6). A vehicle with ID 2 is 55.7 meters away at (38.3, 40.4).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [4.316437 9.225092] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ -6.0905733 -11.690307 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  3.1989346 -10.746227 ], 11.212251663208008 meters away.)"}
{"file_name": "images/scenario_580_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 0.9) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 17.3 meters away at (16.6, 4.8). A vehicle with ID 2 is 34.8 meters away at (31.4, 14.9). A pedestrian with ID 9 is 35.4 meters away at (-34.9, -5.8).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [4.4888444 9.490813 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ -5.4243126 -11.058106 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.0299249  -0.00825972] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.588287   4.7723227], 17.26112174987793 meters away.)"}
{"file_name": "images/scenario_580_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -0.9) m/s. Its current heading (yaw) is -2.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 27.9 meters away at (27.0, -7.0). A pedestrian with ID 9 is 29.4 meters away at (-28.8, -5.7). A vehicle with ID 20 is 38.5 meters away at (31.2, 22.6). A vehicle with ID 19 is 64.0 meters away at (-9.4, -63.3).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [ -4.948612 -10.655174] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.03721093 0.02273519] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [3.997717 8.34879 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.717337 11.385378] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [26.95372  -7.029604], 27.85531234741211 meters away.)"}
{"file_name": "images/scenario_580_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.1) m/s. Its current heading (yaw) is -2.35 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 2.1 meters away at (0.9, -1.9). A unknown object with ID 18 is 2.2 meters away at (0.3, -2.2). A pedestrian with ID 4 is 16.8 meters away at (2.5, 16.7). A unknown object with ID 8 is 26.0 meters away at (-25.1, -7.0). A unknown object with ID 12 is 31.8 meters away at (-26.1, -18.1). A vehicle with ID 2 is 33.9 meters away at (22.4, -25.4). A vehicle with ID 19 is 37.9 meters away at (5.1, -37.6). A vehicle with ID 20 is 59.7 meters away at (43.7, 40.6).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.01165079  0.00034168] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ -4.596089  -10.8004675] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.436191 10.654369] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [3.575885  6.7529826] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.9162483 -1.9017491], 2.110962152481079 meters away.)"}
{"file_name": "images/scenario_581_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 2.4) m/s. Its current heading (yaw) is 1.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 24 is 11.6 meters away at (-10.3, -5.3). A pedestrian with ID 25 is 15.9 meters away at (-9.3, -12.8). A pedestrian with ID 26 is 16.1 meters away at (-9.0, -13.3). A unknown object with ID 31 is 16.2 meters away at (15.4, 5.1). A unknown object with ID 30 is 19.2 meters away at (13.3, -13.8). A unknown object with ID 14 is 19.7 meters away at (11.5, -16.0). A pedestrian with ID 29 is 20.3 meters away at (7.1, -19.0). A vehicle with ID 22 is 25.5 meters away at (-8.0, 24.2). A vehicle with ID 10 is 31.1 meters away at (-19.8, 24.0). A vehicle with ID 21 is 31.4 meters away at (-13.3, 28.5).", "velocity_description": "The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.01685805 0.02015379] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.01880012 0.01217232] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.00727782 0.00884551] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.08180446 -0.11659914] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.762672424316406, 183.82315063476562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-10.277958   -5.3182716], 11.572400093078613 meters away.)"}
{"file_name": "images/scenario_581_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 3.1) m/s. Its current heading (yaw) is 1.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 5.9 meters away at (-5.0, 3.1). A unknown object with ID 31 is 14.6 meters away at (14.6, -0.0). A pedestrian with ID 24 is 15.1 meters away at (-11.1, -10.3). A pedestrian with ID 25 is 20.5 meters away at (-10.2, -17.8). A pedestrian with ID 26 is 20.9 meters away at (-9.9, -18.3). A vehicle with ID 22 is 21.0 meters away at (-8.8, 19.1). A unknown object with ID 30 is 22.7 meters away at (12.4, -19.0). A pedestrian with ID 29 is 24.8 meters away at (5.8, -24.1). A vehicle with ID 21 is 27.3 meters away at (-14.0, 23.5). A vehicle with ID 10 is 28.3 meters away at (-20.8, 19.2).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00237773  0.01092166] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.01131875  0.03276359] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00505863 -0.00675399] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.13712268 -0.20740876] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.762672424316406, 183.82315063476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.98295    3.0856638], 5.860982418060303 meters away.)"}
{"file_name": "images/scenario_581_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 2.3) m/s. Its current heading (yaw) is 2.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 3.5 meters away at (-2.8, -2.2). A vehicle with ID 22 is 15.3 meters away at (-6.5, 13.8). A pedestrian with ID 18 is 17.1 meters away at (1.0, -17.1). A unknown object with ID 31 is 17.7 meters away at (16.9, -5.2). A vehicle with ID 21 is 21.6 meters away at (-11.7, 18.2). A vehicle with ID 10 is 23.1 meters away at (-18.4, 14.0). A pedestrian with ID 25 is 24.4 meters away at (-7.9, -23.1). A pedestrian with ID 26 is 24.7 meters away at (-7.6, -23.5). A unknown object with ID 30 is 28.4 meters away at (14.8, -24.2). A unknown object with ID 16 is 29.4 meters away at (12.9, -26.4).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00070717 -0.01227848] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00266136 -0.00659044] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.762672424316406, 183.82315063476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.7593064 -2.1707249], 3.510814666748047 meters away.)"}
{"file_name": "images/scenario_581_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 2.3) m/s. Its current heading (yaw) is 2.33 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 6.8 meters away at (1.4, -6.7). A vehicle with ID 22 is 9.6 meters away at (-2.5, 9.3). A vehicle with ID 21 is 15.7 meters away at (-7.7, 13.6). A vehicle with ID 10 is 17.2 meters away at (-14.4, 9.4). A unknown object with ID 31 is 23.1 meters away at (20.9, -9.7). A pedestrian with ID 25 is 27.9 meters away at (-3.8, -27.6). A vehicle with ID 1 is 28.1 meters away at (-22.9, 16.3). A pedestrian with ID 26 is 28.3 meters away at (-3.5, -28.1). A vehicle with ID 23 is 30.4 meters away at (-19.3, 23.5). A unknown object with ID 30 is 34.4 meters away at (18.9, -28.7).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.02553564 -0.00034594] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00342919 -0.0069906 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.762672424316406, 183.82315063476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 1.3582695 -6.684746 ], 6.821342945098877 meters away.)"}
{"file_name": "images/scenario_582_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.1) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 77 is 5.2 meters away at (3.4, 3.9). A vehicle with ID 81 is 7.0 meters away at (-5.5, -4.4). A unknown object with ID 87 is 12.8 meters away at (-6.9, -10.7). A unknown object with ID 94 is 13.5 meters away at (-11.5, -7.0). A unknown object with ID 73 is 14.5 meters away at (-13.7, -4.9). A unknown object with ID 84 is 18.6 meters away at (17.5, 6.1). A vehicle with ID 29 is 18.8 meters away at (8.9, -16.5). A unknown object with ID 98 is 22.3 meters away at (-1.7, -22.3). A unknown object with ID 99 is 22.9 meters away at (-1.7, -22.8). A unknown object with ID 101 is 23.2 meters away at (-1.4, -23.1).", "velocity_description": "The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.54580337  4.2191057 ] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.163365  -10.34685  ]\n [ 10.052358    1.1138948]\n [ -5.116717   -8.697483 ]\n [ 10.233596    1.2983918]\n [ 10.113074    1.0793549]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [3.3653107 3.9348948], 5.177712917327881 meters away.)"}
{"file_name": "images/scenario_582_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.9) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 12.0 meters away at (3.3, -11.6). A unknown object with ID 78 is 12.3 meters away at (-9.2, -8.1). A unknown object with ID 39 is 12.3 meters away at (-7.0, -10.1). A unknown object with ID 45 is 12.9 meters away at (-11.4, -6.1). A unknown object with ID 73 is 13.1 meters away at (-4.7, -12.2). A unknown object with ID 58 is 14.1 meters away at (-13.5, -4.0). A unknown object with ID 94 is 14.5 meters away at (-2.6, -14.3). A unknown object with ID 59 is 14.6 meters away at (-1.8, -14.5). A unknown object with ID 44 is 16.0 meters away at (-15.9, -1.9). A unknown object with ID 42 is 16.3 meters away at (-0.3, -16.3).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.163365 -10.34685 ]\n [ -5.116717  -8.697483]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  3.2836857 -11.583938 ], 12.04035758972168 meters away.)"}
{"file_name": "images/scenario_582_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 3.4) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 82 is 13.7 meters away at (-12.1, -6.5). A unknown object with ID 45 is 14.0 meters away at (-3.1, -13.7). A unknown object with ID 78 is 15.8 meters away at (-0.9, -15.8). A unknown object with ID 39 is 17.9 meters away at (1.3, -17.8). A unknown object with ID 73 is 20.2 meters away at (3.5, -19.9). A vehicle with ID 29 is 21.5 meters away at (15.5, -14.8). A vehicle with ID 81 is 22.4 meters away at (11.6, -19.2). A unknown object with ID 94 is 22.6 meters away at (5.7, -21.9). A vehicle with ID 18 is 23.0 meters away at (-22.1, -6.2). A unknown object with ID 59 is 23.1 meters away at (6.4, -22.2).", "velocity_description": "The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.8660371  3.7831159] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.77922  -12.469897]\n [ -6.163365 -10.34685 ]\n [ -5.116717  -8.697483]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.063072   -6.5091276], 13.707168579101562 meters away.)"}
{"file_name": "images/scenario_582_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 3.0) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 82 is 14.1 meters away at (-4.8, -13.2). A vehicle with ID 18 is 19.7 meters away at (-14.8, -13.1). A pedestrian with ID 1 is 20.3 meters away at (-5.3, 19.6). A vehicle with ID 29 is 21.0 meters away at (15.3, -14.4). A vehicle with ID 38 is 24.2 meters away at (-17.2, 17.1). A vehicle with ID 69 is 26.8 meters away at (-18.6, -19.3). A vehicle with ID 83 is 29.4 meters away at (-28.2, 8.2). A vehicle with ID 50 is 32.0 meters away at (-21.4, -23.8). A unknown object with ID 59 is 32.1 meters away at (13.8, -29.0). A vehicle with ID 81 is 32.3 meters away at (19.0, -26.1).", "velocity_description": "The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.91241246 -1.2148329 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.6493063  3.3908355] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-85.19537   70.87078 ]\n [-10.77922  -12.469897]\n [-81.65846   65.536804]\n [ -6.163365 -10.34685 ]\n [-83.9413    67.75169 ]\n [-81.85802   65.60627 ]\n [ -5.116717  -8.697483]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -4.7806053 -13.21735  ], 14.055337905883789 meters away.)"}
{"file_name": "images/scenario_583_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 1.8) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A pedestrian with ID 17 is 18.5 meters away at (-16.8, -7.8). A pedestrian with ID 11 is 19.4 meters away at (-17.5, -8.3). A pedestrian with ID 7 is 19.5 meters away at (-18.0, -7.5). A vehicle with ID 47 is 20.1 meters away at (18.9, 6.9). A vehicle with ID 58 is 20.6 meters away at (-7.8, 19.1). A vehicle with ID 74 is 24.9 meters away at (-22.6, 10.6). A vehicle with ID 44 is 28.1 meters away at (26.9, 8.0). A pedestrian with ID 53 is 29.3 meters away at (7.8, 28.2). A vehicle with ID 50 is 32.8 meters away at (-32.6, -3.1). A vehicle with ID 56 is 33.3 meters away at (-31.6, -10.4).", "velocity_description": "The pedestrian with ID 17 is traveling at a (x, y) velocity of [1.0784479  0.35149008] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0180233 0.3133615] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.0268912 0.3844515] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 8.232595  -3.7219234] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 7.0488834 -3.0599132] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-0.9636255 -5.564337 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [2.3773682 1.4677287] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.33044738 -0.54318243] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-3.9041138 -8.985763 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.94053   17.088026]\n [-36.27856   15.720654]\n [-23.79404    9.972346]\n [-36.624252  15.900754]\n [-36.062794  15.581986]\n [-27.497774  15.317904]\n [-24.006474  10.112769]\n [-24.40536    8.474376]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-16.827496   -7.7714243], 18.535362243652344 meters away.)"}
{"file_name": "images/scenario_583_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 1.1) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 17 is 12.4 meters away at (-7.3, -10.1). A pedestrian with ID 7 is 13.1 meters away at (-8.6, -9.8). A pedestrian with ID 11 is 13.4 meters away at (-8.3, -10.5). A vehicle with ID 58 is 16.7 meters away at (13.2, 10.2). A vehicle with ID 73 is 20.1 meters away at (-19.2, 5.7). A vehicle with ID 74 is 20.1 meters away at (-19.6, -4.6). A vehicle with ID 50 is 25.9 meters away at (-25.3, -5.9). A pedestrian with ID 49 is 26.4 meters away at (-26.0, 4.3). A vehicle with ID 29 is 27.5 meters away at (-15.4, 22.9). A pedestrian with ID 53 is 28.9 meters away at (16.3, 23.9).", "velocity_description": "The pedestrian with ID 17 is traveling at a (x, y) velocity of [1.0848364  0.35762987] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.0081019  0.44933745] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0197291  0.47274294] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 6.2784815 -2.741415 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.11967685 -5.038568  ] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-2.9912128 -6.719303 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0088807 -0.2739378] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 9.846846 -4.172948] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.54421705 -0.7481977 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.94053   17.088026]\n [-36.27856   15.720654]\n [-23.79404    9.972346]\n [-36.624252  15.900754]\n [-36.062794  15.581986]\n [-27.497774  15.317904]\n [-24.006474  10.112769]\n [-24.40536    8.474376]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -7.312294 -10.071087], 12.445738792419434 meters away.)"}
{"file_name": "images/scenario_583_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 0.0) m/s. Its current heading (yaw) is 3.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 10.1 meters away at (0.0, -10.1). A pedestrian with ID 17 is 10.5 meters away at (1.5, -10.4). A pedestrian with ID 11 is 10.7 meters away at (0.3, -10.7). A vehicle with ID 73 is 16.2 meters away at (-14.8, -6.7). A pedestrian with ID 49 is 16.8 meters away at (-16.7, 1.7). A vehicle with ID 29 is 16.8 meters away at (10.8, 12.8). A vehicle with ID 50 is 19.9 meters away at (-18.7, -7.1). A vehicle with ID 74 is 28.4 meters away at (-19.7, -20.4). A vehicle with ID 58 is 31.0 meters away at (30.7, 4.3). A pedestrian with ID 63 is 31.9 meters away at (-15.2, 28.1).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.9146087  0.48149425] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.8901921  0.43555662] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.9003121 0.529381 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.2452385 -6.4163036] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.3232459  -0.90551805] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 9.440441  -4.8507905] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-3.615862 -7.65572 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.607713  -1.9687479] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.0284942   0.00499596] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.94053   17.088026]\n [-36.27856   15.720654]\n [-36.624252  15.900754]\n [-36.062794  15.581986]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 7.1334839e-03 -1.0082838e+01], 10.082840919494629 meters away.)"}
{"file_name": "images/scenario_583_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.0) m/s. Its current heading (yaw) is -3.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 10.3 meters away at (4.8, -9.2). A pedestrian with ID 49 is 10.5 meters away at (-10.4, -0.9). A pedestrian with ID 11 is 11.0 meters away at (5.0, -9.8). A pedestrian with ID 17 is 11.3 meters away at (6.3, -9.4). A vehicle with ID 50 is 17.3 meters away at (-15.8, -6.9). A vehicle with ID 73 is 25.9 meters away at (-17.0, -19.5). A pedestrian with ID 63 is 30.9 meters away at (-12.4, 28.3). A unknown object with ID 2 is 31.9 meters away at (-27.6, -16.0). A vehicle with ID 8 is 33.3 meters away at (33.2, 2.5). A vehicle with ID 29 is 33.4 meters away at (33.3, 2.5).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.9488582 0.3548172] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.9972839 -1.7956806] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0337425 0.355847 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [1.0639337  0.29654062] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.76917   -6.5936804] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-2.8498128e-02 -7.6142489e-05] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [10.636467  -5.1794333] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [10.4979725 -5.1944466] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.94053   17.088026]\n [-36.27856   15.720654]\n [-36.624252  15.900754]\n [-36.062794  15.581986]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 4.8166275 -9.150075 ], 10.340394973754883 meters away.)"}
{"file_name": "images/scenario_584_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -2.1) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 5.1 meters away at (1.8, -4.7). A unknown object with ID 7 is 5.4 meters away at (-0.2, 5.4). A unknown object with ID 37 is 6.7 meters away at (-2.2, 6.3). A unknown object with ID 38 is 8.4 meters away at (-4.2, 7.3). A pedestrian with ID 39 is 10.6 meters away at (-1.4, 10.5). A unknown object with ID 19 is 11.7 meters away at (7.0, -9.3). A unknown object with ID 42 is 12.4 meters away at (1.7, 12.3). A unknown object with ID 41 is 12.8 meters away at (0.4, 12.8). A pedestrian with ID 46 is 15.9 meters away at (5.0, -15.1). A pedestrian with ID 18 is 28.7 meters away at (-21.2, 19.4).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.7285633 -2.0886364] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.97124577  0.6829139 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.23800008 -1.1346478 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.608999   -0.66963637] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.7717009 -4.7350097], 5.055614948272705 meters away.)"}
{"file_name": "images/scenario_584_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -1.6) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 3.8 meters away at (-1.5, -3.5). A unknown object with ID 7 is 12.9 meters away at (-9.1, 9.1). A pedestrian with ID 46 is 13.8 meters away at (-4.0, -13.2). A unknown object with ID 37 is 15.0 meters away at (-11.2, 10.0). A unknown object with ID 34 is 16.5 meters away at (-5.9, 15.4). A unknown object with ID 38 is 17.1 meters away at (-13.1, 11.0). A unknown object with ID 42 is 17.5 meters away at (-7.2, 15.9). A unknown object with ID 41 is 18.5 meters away at (-8.4, 16.5). A unknown object with ID 31 is 19.6 meters away at (-9.7, 17.0). A pedestrian with ID 39 is 19.9 meters away at (-12.3, 15.6).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.3213875 -0.5719131] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.22370785 -1.2280898 ] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.9106192  0.6744925] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.541439  -3.4796762], 3.8058087825775146 meters away.)"}
{"file_name": "images/scenario_584_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.1) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 7.0 meters away at (-6.9, -1.2). A unknown object with ID 21 is 11.3 meters away at (-9.6, -5.8). A cyclist with ID 50 is 13.6 meters away at (6.0, 12.2). A pedestrian with ID 46 is 16.7 meters away at (-11.2, -12.4). A unknown object with ID 7 is 19.6 meters away at (-15.7, 11.8). A unknown object with ID 33 is 20.8 meters away at (-11.1, 17.5). A unknown object with ID 37 is 21.9 meters away at (-17.8, 12.7). A unknown object with ID 34 is 22.0 meters away at (-12.5, 18.1). A unknown object with ID 42 is 23.1 meters away at (-13.7, 18.6). A unknown object with ID 38 is 24.0 meters away at (-19.8, 13.6).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.76160735 -0.15481964] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [-3.7206113 -0.9082325] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.17306623 -1.1172571 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.8556232 -1.2391281], 6.966707229614258 meters away.)"}
{"file_name": "images/scenario_584_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 0.6) m/s. Its current heading (yaw) is 0.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 9.8 meters away at (-9.8, -0.8). A unknown object with ID 7 is 24.5 meters away at (-21.0, 12.7). A unknown object with ID 34 is 25.8 meters away at (-17.7, 18.8). A unknown object with ID 37 is 26.8 meters away at (-23.0, 13.6). A unknown object with ID 42 is 27.1 meters away at (-18.9, 19.5). A unknown object with ID 41 is 28.4 meters away at (-20.1, 20.1). A pedestrian with ID 35 is 28.7 meters away at (10.3, -26.8). A unknown object with ID 38 is 28.9 meters away at (-25.0, 14.6). A unknown object with ID 31 is 29.7 meters away at (-21.4, 20.6). A vehicle with ID 53 is 43.8 meters away at (38.9, -20.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.5271078  -0.07066199] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 4.6911545 -2.4424064] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-9.786108   -0.81085587], 9.8196439743042 meters away.)"}
{"file_name": "images/scenario_585_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 1.9) m/s. Its current heading (yaw) is 0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 10.4 meters away at (-8.4, -6.1).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [1.6923045 1.2151097] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-155.02928161621094, 237.11447143554688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.400332  -6.0657783], 10.361431121826172 meters away.)"}
{"file_name": "images/scenario_585_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 4.2) m/s. Its current heading (yaw) is 0.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 12.4 meters away at (-9.6, -7.9).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [3.6860409 2.6884809] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-155.02928161621094, 237.11447143554688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.560325 -7.904264], 12.404725074768066 meters away.)"}
{"file_name": "images/scenario_585_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 6.3) m/s. Its current heading (yaw) is 1.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 13.1 meters away at (-5.3, -12.0). A unknown object with ID 6 is 14.9 meters away at (-14.0, 4.9).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [3.3838043 4.3735366] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-155.02928161621094, 237.11447143554688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -5.3051343 -12.019411 ], 13.138138771057129 meters away.)"}
{"file_name": "images/scenario_585_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 6.2) m/s. Its current heading (yaw) is 2.11 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 12.0 meters away at (-9.3, -7.6). A vehicle with ID 2 is 14.0 meters away at (3.3, -13.6).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0.03473261 6.1956654 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-155.02928161621094, 237.11447143554688)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-9.28502  -7.552017], 11.96848201751709 meters away.)"}
{"file_name": "images/scenario_586_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -4.6) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 2.9 meters away at (-2.9, 0.2). A vehicle with ID 33 is 6.6 meters away at (6.5, 1.0). A vehicle with ID 36 is 7.0 meters away at (-0.5, 7.0). A vehicle with ID 39 is 13.3 meters away at (1.7, 13.2). A vehicle with ID 69 is 17.2 meters away at (-2.0, -17.0). A vehicle with ID 4 is 20.0 meters away at (-18.3, -8.1). A vehicle with ID 49 is 24.9 meters away at (5.9, 24.2). A unknown object with ID 14 is 25.4 meters away at (-2.2, 25.4). A vehicle with ID 45 is 28.8 meters away at (9.4, -27.2). A vehicle with ID 68 is 32.5 meters away at (-7.5, -31.6).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [1.5677565 4.4527383] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0.72253793 1.959689  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[23.431004 64.15725 ]\n [24.815525 63.913036]\n [27.774565 61.75858 ]]", "nav_goal": "(217.0066680908203, -102.26346588134766)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.912057   0.1744566], 2.9172780513763428 meters away.)"}
{"file_name": "images/scenario_586_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.3) m/s. Its current heading (yaw) is -1.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 69 is 3.5 meters away at (2.9, -2.0). A vehicle with ID 38 is 4.9 meters away at (-1.2, 4.7). A vehicle with ID 33 is 10.0 meters away at (8.3, 5.6). A vehicle with ID 36 is 11.7 meters away at (1.2, 11.6). A vehicle with ID 4 is 16.9 meters away at (-16.5, -3.5). A vehicle with ID 39 is 18.3 meters away at (3.4, 17.9). A vehicle with ID 35 is 18.5 meters away at (10.2, -15.5). A vehicle with ID 68 is 21.8 meters away at (-3.8, -21.4). A vehicle with ID 34 is 24.9 meters away at (-24.9, -0.5). A vehicle with ID 45 is 25.2 meters away at (11.1, -22.6).", "velocity_description": "The vehicle with ID 69 is traveling at a (x, y) velocity of [1.8608407 6.0395546] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.1023471   0.75849366] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [1.3216381 3.7683344] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[23.431004 64.15725 ]\n [24.815525 63.913036]\n [27.774565 61.75858 ]]", "nav_goal": "(217.0066680908203, -102.26346588134766)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.9368982 -1.9510994], 3.5259268283843994 meters away.)"}
{"file_name": "images/scenario_586_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 5.2 meters away at (-1.1, 5.1). A vehicle with ID 33 is 10.3 meters away at (8.4, 5.9). A vehicle with ID 68 is 11.7 meters away at (-0.4, -11.7). A vehicle with ID 36 is 12.0 meters away at (1.3, 11.9). A vehicle with ID 69 is 13.7 meters away at (7.3, 11.6). A vehicle with ID 4 is 16.7 meters away at (-16.4, -3.1). A vehicle with ID 35 is 17.2 meters away at (9.0, -14.6). A vehicle with ID 39 is 18.4 meters away at (3.5, 18.1). A vehicle with ID 34 is 24.8 meters away at (-24.8, -0.1). A vehicle with ID 45 is 24.9 meters away at (11.2, -22.2).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [1.9087892 5.4123287] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [2.5446208 6.988775 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(217.0066680908203, -102.26346588134766)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.107769   5.0625324], 5.182314872741699 meters away.)"}
{"file_name": "images/scenario_586_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 3.8 meters away at (3.8, 0.6). A vehicle with ID 38 is 5.2 meters away at (-1.1, 5.1). A vehicle with ID 33 is 10.3 meters away at (8.4, 6.0). A vehicle with ID 36 is 12.1 meters away at (1.4, 12.0). A vehicle with ID 4 is 16.7 meters away at (-16.4, -3.1). A vehicle with ID 35 is 17.1 meters away at (9.0, -14.6). A vehicle with ID 39 is 18.4 meters away at (3.5, 18.1). A vehicle with ID 34 is 24.8 meters away at (-24.8, -0.1). A vehicle with ID 45 is 24.9 meters away at (11.2, -22.2). A vehicle with ID 69 is 28.6 meters away at (12.8, 25.6).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [2.2001038 6.63074  ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [2.735511  6.8137465] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(217.0066680908203, -102.26346588134766)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.8037868 0.5900345], 3.8492772579193115 meters away.)"}
{"file_name": "images/scenario_587_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.2) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 26.7 meters away at (25.2, 8.8). A vehicle with ID 21 is 27.2 meters away at (-9.3, 25.5). A vehicle with ID 6 is 29.7 meters away at (19.8, 22.1). A pedestrian with ID 38 is 34.8 meters away at (27.5, 21.3). A vehicle with ID 10 is 48.0 meters away at (31.2, 36.5). A vehicle with ID 11 is 48.5 meters away at (-30.9, -37.4). A vehicle with ID 14 is 68.7 meters away at (44.2, 52.6). A pedestrian with ID 1 is 73.8 meters away at (40.0, 62.1).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [5.8604054 6.686778 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.89191014 -0.7781087 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [6.1480074 7.129751 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.425172 7.68188 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [6.4743757 7.5364203] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.97381365 1.0056981 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.503864 30.355331]\n [12.767656 27.377014]\n [26.203678 26.749584]\n [25.987562 26.267818]\n [26.0731   26.533497]\n [16.433075 30.257748]\n [15.117025 28.624142]\n [16.255812 29.732046]]", "nav_goal": "(-50.91434860229492, 159.6933135986328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [25.158909  8.812338], 26.65760612487793 meters away.)"}
{"file_name": "images/scenario_587_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 5.9) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 15.2 meters away at (14.9, -3.2). A pedestrian with ID 38 is 17.6 meters away at (15.6, 8.1). A vehicle with ID 21 is 23.7 meters away at (-19.5, 13.4). A vehicle with ID 6 is 32.1 meters away at (21.8, 23.5). A vehicle with ID 11 is 44.9 meters away at (-28.7, -34.6). A unknown object with ID 19 is 49.1 meters away at (46.5, -15.8). A vehicle with ID 10 is 51.3 meters away at (33.4, 39.0). A vehicle with ID 25 is 58.6 meters away at (-46.5, 35.6). A pedestrian with ID 22 is 59.0 meters away at (-48.8, 33.2). A pedestrian with ID 32 is 59.5 meters away at (-48.5, 34.6).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.5812228  -0.38190117] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [6.7015634 6.9822574] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.169285  7.2038894] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [5.967853 7.368845] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.01952811 0.01416295] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.14526857 -0.08800609] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.503864 30.355331]\n [12.767656 27.377014]\n [26.203678 26.749584]\n [25.987562 26.267818]\n [26.0731   26.533497]\n [16.433075 30.257748]\n [15.117025 28.624142]\n [16.255812 29.732046]]", "nav_goal": "(-50.91434860229492, 159.6933135986328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [14.870575 -3.240553], 15.219566345214844 meters away.)"}
{"file_name": "images/scenario_587_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.8) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 6.2 meters away at (5.1, -3.5). A vehicle with ID 37 is 15.6 meters away at (5.2, -14.8). A vehicle with ID 21 is 29.5 meters away at (-29.4, 2.0). A vehicle with ID 6 is 36.7 meters away at (25.7, 26.2). A vehicle with ID 11 is 41.9 meters away at (-26.7, -32.3). A unknown object with ID 19 is 45.8 meters away at (36.8, -27.3). A pedestrian with ID 1 is 47.9 meters away at (23.1, 42.0). A vehicle with ID 10 is 53.3 meters away at (34.7, 40.5). A vehicle with ID 25 is 61.2 meters away at (-56.3, 24.1). A unknown object with ID 23 is 61.6 meters away at (56.8, -23.7).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.03680933  0.05785789] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [6.489453 7.082404] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [5.71847   6.8037367] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.688477  0.9185248] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [4.619719 5.605516] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.503864 30.355331]\n [12.767656 27.377014]\n [26.203678 26.749584]\n [25.987562 26.267818]\n [26.0731   26.533497]\n [16.433075 30.257748]\n [15.117025 28.624142]\n [16.255812 29.732046]]", "nav_goal": "(-50.91434860229492, 159.6933135986328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 5.0688744 -3.5264015], 6.174868106842041 meters away.)"}
{"file_name": "images/scenario_587_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 6.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 16.2 meters away at (-5.0, -15.4). A vehicle with ID 37 is 27.0 meters away at (-4.8, -26.6). A pedestrian with ID 1 is 35.3 meters away at (14.5, 32.1). A vehicle with ID 11 is 39.4 meters away at (-25.1, -30.3). A vehicle with ID 6 is 39.4 meters away at (27.8, 27.9). A vehicle with ID 21 is 40.5 meters away at (-39.2, -9.9). A pedestrian with ID 33 is 42.2 meters away at (-41.4, -8.3). A unknown object with ID 19 is 47.4 meters away at (26.8, -39.1). A vehicle with ID 10 is 48.7 meters away at (31.7, 37.0). A vehicle with ID 14 is 58.8 meters away at (37.9, 44.9).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.0161577  -0.01265133] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.799296  1.0012395] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.0535784 7.091116 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [5.5598364 6.170216 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.02601019 0.00282758] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.4593449 2.9599574] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [1.221319 1.449944] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.503864 30.355331]\n [19.900316 26.524529]\n [12.767656 27.377014]\n [26.203678 26.749584]\n [25.987562 26.267818]\n [26.0731   26.533497]\n [16.433075 30.257748]\n [15.117025 28.624142]\n [16.255812 29.732046]]", "nav_goal": "(-50.91434860229492, 159.6933135986328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -5.01231  -15.358351], 16.155563354492188 meters away.)"}
{"file_name": "images/scenario_588_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -7.5) m/s. Its current heading (yaw) is -1.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 20.6 meters away at (-11.6, 17.1). A vehicle with ID 35 is 36.6 meters away at (35.8, 7.6). A unknown object with ID 18 is 41.5 meters away at (-6.5, -41.0). A unknown object with ID 38 is 54.6 meters away at (54.5, 2.4). A vehicle with ID 40 is 58.6 meters away at (58.5, 3.7). A pedestrian with ID 41 is 59.0 meters away at (59.0, -1.0). A unknown object with ID 33 is 65.2 meters away at (-24.4, -60.5). A vehicle with ID 36 is 67.3 meters away at (-2.7, 67.2). A pedestrian with ID 37 is 68.1 meters away at (0.4, 68.1). A unknown object with ID 6 is 68.8 meters away at (-25.0, -64.1).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-5.2043653 -0.0881009] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.06577512 -0.01702128] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.41870445 -0.41324806] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-11.605814  17.07882 ], 20.64899444580078 meters away.)"}
{"file_name": "images/scenario_588_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -7.5) m/s. Its current heading (yaw) is -1.66 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 33.8 meters away at (-10.6, 32.1). A vehicle with ID 35 is 35.8 meters away at (27.7, 22.7). A unknown object with ID 33 is 51.0 meters away at (-23.4, -45.3). A unknown object with ID 29 is 54.7 meters away at (-23.9, -49.2). A unknown object with ID 6 is 54.7 meters away at (-23.7, -49.3). A vehicle with ID 8 is 56.2 meters away at (-26.4, -49.7). A unknown object with ID 3 is 58.5 meters away at (-25.3, -52.8). A unknown object with ID 2 is 61.4 meters away at (-26.3, -55.5). A vehicle with ID 25 is 64.0 meters away at (-28.7, -57.2). A cyclist with ID 1 is 65.8 meters away at (-19.3, -62.9).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-4.1259007   0.05502805] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [-0.01017132  0.03016928] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -24.924139  -101.20956  ]\n [   4.9071565   -4.9909053]\n [   4.8477793   -5.198862 ]\n [ -24.70999   -101.036606 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-10.555132  32.133705], 33.82285690307617 meters away.)"}
{"file_name": "images/scenario_588_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -7.4) m/s. Its current heading (yaw) is -1.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 37.4 meters away at (-21.6, -30.5). A unknown object with ID 24 is 38.7 meters away at (-25.0, -29.5). A unknown object with ID 29 is 40.8 meters away at (-22.2, -34.2). A unknown object with ID 6 is 40.9 meters away at (-22.0, -34.4). A vehicle with ID 35 is 43.8 meters away at (22.6, 37.6). A vehicle with ID 8 is 43.9 meters away at (-25.1, -36.1). A unknown object with ID 3 is 44.6 meters away at (-23.4, -38.0). A unknown object with ID 2 is 47.5 meters away at (-24.6, -40.6). A unknown object with ID 34 is 47.8 meters away at (-9.0, 47.0). A cyclist with ID 1 is 51.3 meters away at (-17.5, -48.2).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-1.9385008   0.03444247] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.13810384 -0.36211988] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.00886758 -0.0631167 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -24.924139  -101.20956  ]\n [   4.9071565   -4.9909053]\n [   4.8477793   -5.198862 ]\n [ -24.70999   -101.036606 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-21.621794 -30.51912 ], 37.40211868286133 meters away.)"}
{"file_name": "images/scenario_588_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -6.7) m/s. Its current heading (yaw) is -1.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 25.1 meters away at (-22.6, -10.9). A unknown object with ID 33 is 25.4 meters away at (-19.2, -16.6). A unknown object with ID 24 is 27.5 meters away at (-22.6, -15.6). A unknown object with ID 29 is 28.3 meters away at (-19.7, -20.2). A unknown object with ID 6 is 28.3 meters away at (-19.6, -20.5). A unknown object with ID 20 is 28.4 meters away at (-22.7, -17.0). A unknown object with ID 3 is 31.9 meters away at (-21.0, -24.1). A vehicle with ID 8 is 32.5 meters away at (-22.9, -23.1). A unknown object with ID 2 is 34.7 meters away at (-22.1, -26.7). A cyclist with ID 1 is 37.6 meters away at (-15.1, -34.4).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [0.04135723 0.01586723] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -24.924139  -101.20956  ]\n [   4.9071565   -4.9909053]\n [   4.8477793   -5.198862 ]\n [ -24.70999   -101.036606 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-22.571363 -10.868298], 25.051673889160156 meters away.)"}
{"file_name": "images/scenario_589_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.7) m/s. Its current heading (yaw) is -0.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 18.7 meters away at (-18.2, 4.3). A pedestrian with ID 26 is 30.2 meters away at (30.0, 3.0). A cyclist with ID 38 is 32.2 meters away at (30.0, -11.9). A vehicle with ID 39 is 35.2 meters away at (35.2, 1.5). A vehicle with ID 36 is 35.3 meters away at (-0.3, -35.3). A pedestrian with ID 34 is 39.1 meters away at (-37.0, -12.6). A vehicle with ID 19 is 42.5 meters away at (41.8, 7.7). A vehicle with ID 24 is 48.1 meters away at (46.7, 11.5). A pedestrian with ID 29 is 55.1 meters away at (-21.6, -50.7). A vehicle with ID 37 is 55.3 meters away at (-17.4, -52.5).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2096378  0.5805858] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.16999406 -1.7648727 ] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-3.3830385  3.9983246] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-7.3888326 -8.976248 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.362312   -0.22471146] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.97572505 1.162501  ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-8.123215 -9.720264] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 24.715763 -17.382195]\n [ 26.28022  -15.654787]\n [ 42.888195 -15.985277]\n [ 26.356897 -15.725996]\n [ 40.969402 -14.601047]\n [ 26.095379 -15.669573]]", "nav_goal": "(-148.36480712890625, -197.18194580078125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-18.201895   4.318035], 18.707067489624023 meters away.)"}
{"file_name": "images/scenario_589_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -3.8) m/s. Its current heading (yaw) is -0.96 ", "actor_description": " The most relevant actors are: A cyclist with ID 38 is 17.3 meters away at (16.9, 4.0). A pedestrian with ID 26 is 23.7 meters away at (22.9, 6.1). A vehicle with ID 39 is 28.0 meters away at (26.7, 8.6). A pedestrian with ID 28 is 31.8 meters away at (-29.3, 12.5). A vehicle with ID 19 is 36.5 meters away at (33.3, 14.9). A unknown object with ID 14 is 40.4 meters away at (33.9, 22.0). A vehicle with ID 18 is 42.4 meters away at (42.4, 1.4). A vehicle with ID 24 is 42.5 meters away at (38.2, 18.7). A pedestrian with ID 34 is 48.7 meters away at (-48.3, -6.2). A pedestrian with ID 29 is 49.9 meters away at (-27.6, -41.6).", "velocity_description": "The cyclist with ID 38 is traveling at a (x, y) velocity of [-2.0327172  4.6327224] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.618452  -1.4574186] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.448009    0.50622004] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.5723244  -0.59002984] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.0611062 1.0824412] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 42.888195 -15.985277]\n [ 40.969402 -14.601047]]", "nav_goal": "(-148.36480712890625, -197.18194580078125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [16.856178   3.9805727], 17.319807052612305 meters away.)"}
{"file_name": "images/scenario_589_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -5.0) m/s. Its current heading (yaw) is -1.74 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 25.6 meters away at (22.5, 12.2). A cyclist with ID 38 is 26.6 meters away at (14.8, 22.1). A unknown object with ID 17 is 29.4 meters away at (26.9, -12.0). A vehicle with ID 39 is 29.8 meters away at (24.1, 17.4). A cyclist with ID 25 is 32.5 meters away at (32.2, 4.4). A vehicle with ID 19 is 38.9 meters away at (30.8, 23.8). A pedestrian with ID 28 is 41.3 meters away at (-34.7, 22.4). A pedestrian with ID 29 is 41.7 meters away at (-28.0, -30.9). A unknown object with ID 14 is 44.0 meters away at (31.3, 30.9). A vehicle with ID 24 is 45.2 meters away at (35.8, 27.6).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.270944  -1.0842953] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [2.565051  3.5969033] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-5.015367   1.7035983] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.47221    0.5123056] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.85350806 1.0587059 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 42.888195 -15.985277]\n [ 40.969402 -14.601047]]", "nav_goal": "(-148.36480712890625, -197.18194580078125)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [22.468683 12.224185], 25.578750610351562 meters away.)"}
{"file_name": "images/scenario_589_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -4.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A pedestrian with ID 29 is 28.7 meters away at (-21.6, -19.0). A cyclist with ID 25 is 33.7 meters away at (29.0, 17.1). A pedestrian with ID 26 is 35.7 meters away at (30.5, 18.5). A vehicle with ID 39 is 39.5 meters away at (29.6, 26.2). A cyclist with ID 38 is 45.3 meters away at (29.2, 34.6). A pedestrian with ID 28 is 45.8 meters away at (-31.8, 32.9). A unknown object with ID 13 is 50.1 meters away at (31.0, 39.4). A cyclist with ID 4 is 50.8 meters away at (32.5, 39.0). A pedestrian with ID 34 is 53.1 meters away at (-51.7, 11.9). A unknown object with ID 14 is 54.2 meters away at (36.9, 39.6).", "velocity_description": "The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.7777339 1.457247 ] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-4.026437  2.409858] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0860339 -1.1513836] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [5.047151 2.62014 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2067839  0.6880948] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 4 is traveling at a (x, y) velocity of [-4.357321 -3.510678] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.4259269   0.20344555] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 42.888195 -15.985277]\n [ 40.969402 -14.601047]]", "nav_goal": "(-148.36480712890625, -197.18194580078125)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-21.552246 -18.979382], 28.717872619628906 meters away.)"}
{"file_name": "images/scenario_590_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 1.5) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 12.5 meters away at (-9.3, 8.3). A vehicle with ID 56 is 22.0 meters away at (-16.8, 14.2). A vehicle with ID 62 is 22.9 meters away at (19.8, -11.5). A vehicle with ID 54 is 23.1 meters away at (-14.4, 18.0). A unknown object with ID 61 is 23.3 meters away at (-23.2, -1.0). A pedestrian with ID 63 is 26.3 meters away at (-16.6, 20.5). A vehicle with ID 59 is 33.5 meters away at (-32.5, -8.1). A vehicle with ID 65 is 35.4 meters away at (-26.9, 23.0). A vehicle with ID 60 is 37.5 meters away at (-35.8, -11.2). A vehicle with ID 55 is 39.2 meters away at (-27.0, 28.5).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.26594773 -1.5619202 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-1.2623793  1.0493698] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 44.535423 -41.188328]\n [ 44.15845  -41.749565]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.324226  8.280237], 12.470105171203613 meters away.)"}
{"file_name": "images/scenario_590_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.7) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 9.9 meters away at (-7.4, 6.6). A vehicle with ID 54 is 20.3 meters away at (-12.3, 16.2). A vehicle with ID 56 is 21.2 meters away at (-16.3, 13.7). A pedestrian with ID 63 is 21.4 meters away at (-14.1, 16.1). A vehicle with ID 62 is 25.6 meters away at (21.9, -13.3). A vehicle with ID 59 is 31.9 meters away at (-30.3, -9.9). A vehicle with ID 60 is 36.1 meters away at (-33.7, -13.0). A vehicle with ID 55 is 36.6 meters away at (-24.9, 26.8). A vehicle with ID 58 is 38.1 meters away at (-37.8, 5.2). A vehicle with ID 64 is 38.6 meters away at (-35.5, -15.0).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.32982233  0.28140053] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-1.6864378  1.3628068] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.8673196 -0.9354051] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 44.535423 -41.188328]\n [ 44.15845  -41.749565]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.3802433  6.622333 ], 9.915809631347656 meters away.)"}
{"file_name": "images/scenario_590_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.7) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 11.5 meters away at (-8.6, 7.6). A pedestrian with ID 63 is 18.0 meters away at (-11.4, 13.9). A vehicle with ID 54 is 18.3 meters away at (-10.7, 14.9). A vehicle with ID 56 is 26.9 meters away at (-20.6, 17.3). A vehicle with ID 62 is 27.7 meters away at (23.5, -14.6). A vehicle with ID 59 is 30.9 meters away at (-28.7, -11.2). A vehicle with ID 55 is 34.4 meters away at (-23.4, 25.3). A vehicle with ID 60 is 35.2 meters away at (-32.1, -14.4). A vehicle with ID 58 is 36.4 meters away at (-36.2, 3.8). A vehicle with ID 64 is 37.7 meters away at (-33.9, -16.5).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.4604397  2.0695128] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01341943 -0.08850352] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-3.7114615  3.1077282] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 44.535423 -41.188328]\n [ 44.15845  -41.749565]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.552832   7.6409216], 11.468853950500488 meters away.)"}
{"file_name": "images/scenario_590_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 2.1) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 63 is 13.7 meters away at (-7.8, 11.2). A vehicle with ID 54 is 14.0 meters away at (-7.2, 12.0). A vehicle with ID 11 is 16.1 meters away at (-12.1, 10.7). A vehicle with ID 46 is 24.6 meters away at (-21.7, 11.7). A unknown object with ID 37 is 28.9 meters away at (12.0, -26.3). A vehicle with ID 59 is 29.0 meters away at (-25.3, -14.1). A vehicle with ID 55 is 30.1 meters away at (-19.9, 22.5). A vehicle with ID 62 is 32.1 meters away at (27.0, -17.5). A vehicle with ID 58 is 32.7 meters away at (-32.7, 0.9). A vehicle with ID 56 is 33.0 meters away at (-25.2, 21.4).", "velocity_description": "The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.18978234  0.30837518] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-4.244579   3.6223223] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 8.255141  -6.3418646] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-4.33794    3.6981351] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 44.535423 -41.188328]\n [ 44.15845  -41.749565]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.818056  11.2466545], 13.697052001953125 meters away.)"}
{"file_name": "images/scenario_591_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -3.8) m/s. Its current heading (yaw) is -0.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 27.0 meters away at (-27.0, -1.6). A vehicle with ID 57 is 30.6 meters away at (-30.3, 3.7). A vehicle with ID 58 is 36.7 meters away at (-32.4, -17.2). A pedestrian with ID 63 is 44.0 meters away at (43.6, -5.9). A cyclist with ID 21 is 52.4 meters away at (47.9, -21.2). A vehicle with ID 59 is 54.8 meters away at (-46.4, 29.2). A vehicle with ID 60 is 57.6 meters away at (-40.0, 41.5). A vehicle with ID 62 is 63.7 meters away at (-40.4, 49.2). A vehicle with ID 30 is 66.7 meters away at (60.4, -28.2).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-4.5340447 -1.8016374] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01604771 -0.00392282] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [10.91301  -4.587443] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.7795833 -4.770916 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [11.28597  -5.209826] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.365997   25.19416  ]\n [-31.785254   21.598982 ]\n [-27.827843    0.7206079]\n [-26.970285    3.2176166]\n [-29.19381    -2.1908052]\n [-26.234858    6.348243 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-27.000324   -1.6308908], 27.04953384399414 meters away.)"}
{"file_name": "images/scenario_591_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -3.8) m/s. Its current heading (yaw) is -0.43 ", "actor_description": " The most relevant actors are: A pedestrian with ID 63 is 28.0 meters away at (27.9, 1.7). A unknown object with ID 40 is 33.6 meters away at (33.5, 1.9). A vehicle with ID 56 is 42.3 meters away at (-42.0, 5.4). A vehicle with ID 57 is 47.1 meters away at (-45.8, 11.2). A vehicle with ID 29 is 50.4 meters away at (17.4, -47.3). A pedestrian with ID 45 is 54.2 meters away at (-39.6, 37.0). A vehicle with ID 58 is 57.2 meters away at (-55.5, -14.1). A cyclist with ID 21 is 58.8 meters away at (54.2, -22.8). A vehicle with ID 59 is 72.4 meters away at (-63.2, 35.4). A vehicle with ID 30 is 73.9 meters away at (67.3, -30.7).", "velocity_description": "The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.02559746 -0.00394048] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-2.8572454 -2.581559 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [11.004363 -4.781959] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-0.7934548 -1.0913005] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [11.56903  -5.219036] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.365997   25.19416  ]\n [-31.785254   21.598982 ]\n [-27.827843    0.7206079]\n [-26.970285    3.2176166]\n [-29.19381    -2.1908052]\n [-26.234858    6.348243 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [27.905993   1.7486448], 27.960725784301758 meters away.)"}
{"file_name": "images/scenario_591_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -3.7) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 63 is 14.5 meters away at (11.3, 9.2). A unknown object with ID 32 is 25.8 meters away at (19.6, -16.7). A vehicle with ID 29 is 39.8 meters away at (0.6, -39.8). A vehicle with ID 47 is 55.0 meters away at (-6.7, -54.5). A vehicle with ID 36 is 55.1 meters away at (-3.9, -55.0). A vehicle with ID 56 is 59.9 meters away at (-58.5, 13.0). A cyclist with ID 21 is 61.3 meters away at (56.5, -23.8). A vehicle with ID 52 is 78.6 meters away at (-72.6, 30.3).", "velocity_description": "The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01322101 -0.01676784] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 8.640242  -3.7772188] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.8287063  -0.94600433] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.827843    0.7206079]\n [-29.19381    -2.1908052]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [11.270069  9.159554], 14.522805213928223 meters away.)"}
{"file_name": "images/scenario_591_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -3.7) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 63 is 17.4 meters away at (-5.7, 16.4). A vehicle with ID 48 is 17.5 meters away at (-14.5, -9.7). A vehicle with ID 29 is 36.4 meters away at (-16.3, -32.5). A pedestrian with ID 51 is 41.1 meters away at (18.5, -36.7). A vehicle with ID 36 is 52.1 meters away at (-21.0, -47.7). A cyclist with ID 21 is 57.5 meters away at (53.4, -21.3). A pedestrian with ID 5 is 58.3 meters away at (56.2, -15.6). A unknown object with ID 2 is 64.5 meters away at (61.3, -20.1). A unknown object with ID 3 is 66.6 meters away at (63.2, -20.9). A pedestrian with ID 4 is 69.3 meters away at (65.5, -22.8).", "velocity_description": "The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.02709821 -0.04412749] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-10.982406   4.432151] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.6412807  0.5620797] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 6.0297103 -1.5478607] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.01725873 0.02610162] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.19610721  1.1135904 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-5.741398 16.420002], 17.39483070373535 meters away.)"}
{"file_name": "images/scenario_592_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -0.0) m/s. Its current heading (yaw) is -3.11 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 13.5 meters away at (-2.1, 13.3). A vehicle with ID 22 is 22.0 meters away at (-13.2, 17.7). A unknown object with ID 21 is 37.5 meters away at (-24.4, 28.4). A pedestrian with ID 27 is 38.4 meters away at (-38.1, 4.5). A unknown object with ID 4 is 47.3 meters away at (-20.3, 42.7). A unknown object with ID 15 is 58.6 meters away at (58.0, 8.1). A cyclist with ID 25 is 68.2 meters away at (67.3, 11.2). A unknown object with ID 3 is 78.3 meters away at (-78.1, 5.2).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1951594  -0.66490006] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [5.1924443 3.717156 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.03898     10.769664  ]\n [-14.22989     -0.91434896]\n [-14.23969     -0.6298657 ]\n [-14.20955     -0.19527225]\n [-14.228595    -0.94307584]\n [-20.824831    10.942614  ]\n [-14.228595    -0.94307506]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.1256337 13.335985 ], 13.504325866699219 meters away.)"}
{"file_name": "images/scenario_592_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 21.6 meters away at (-12.4, 17.7). A unknown object with ID 21 is 37.0 meters away at (-23.7, 28.4). A pedestrian with ID 27 is 40.1 meters away at (-39.9, 3.6).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1667084  -0.21555172] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.03898     10.769664  ]\n [-14.22989     -0.91434896]\n [-14.23969     -0.6298657 ]\n [-14.20955     -0.19527225]\n [-14.228595    -0.94307584]\n [-20.824831    10.942614  ]\n [-14.228595    -0.94307506]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.446838  17.696238], 21.63517189025879 meters away.)"}
{"file_name": "images/scenario_592_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 13.4 meters away at (-1.4, 13.4). A vehicle with ID 22 is 21.6 meters away at (-12.4, 17.7). A unknown object with ID 20 is 35.9 meters away at (-34.0, 11.7). A unknown object with ID 21 is 37.0 meters away at (-23.7, 28.4). A pedestrian with ID 27 is 42.5 meters away at (-42.3, 3.5).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1848893  -0.13345532] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.03898     10.769664  ]\n [-14.22989     -0.91434896]\n [-14.23969     -0.6298657 ]\n [-14.20955     -0.19527225]\n [-14.228595    -0.94307584]\n [-20.824831    10.942614  ]\n [-14.228595    -0.94307506]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.4125977 13.355762 ], 13.430256843566895 meters away.)"}
{"file_name": "images/scenario_592_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 13.4 meters away at (-1.4, 13.3). A vehicle with ID 22 is 21.6 meters away at (-12.4, 17.7). A unknown object with ID 20 is 35.9 meters away at (-34.0, 11.7). A unknown object with ID 21 is 37.0 meters away at (-23.7, 28.4). A pedestrian with ID 27 is 44.8 meters away at (-44.7, 3.2). A vehicle with ID 17 is 75.6 meters away at (75.5, 4.3).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1631289  -0.12536094] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-8.552015   -0.58238286] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.03898     10.769664  ]\n [-14.22989     -0.91434896]\n [-14.23969     -0.6298657 ]\n [-14.20955     -0.19527225]\n [-14.228595    -0.94307584]\n [-20.824831    10.942614  ]\n [-14.228595    -0.94307506]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.4028115 13.344711 ], 13.418241500854492 meters away.)"}
{"file_name": "images/scenario_593_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.5) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 21.8 meters away at (-15.4, 15.5). A cyclist with ID 9 is 29.8 meters away at (-23.2, 18.7). A vehicle with ID 10 is 34.6 meters away at (9.8, -33.2). A vehicle with ID 15 is 34.9 meters away at (-5.7, -34.4). A cyclist with ID 12 is 47.9 meters away at (-44.3, 18.3). A cyclist with ID 13 is 48.3 meters away at (-43.1, 21.8).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 9 is traveling at a (x, y) velocity of [ 3.9407458 -3.9027243] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.6080694 -2.7799268] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [3.234488  4.2594175] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [0.10522334 0.331153  ] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [ 0.01961166 -0.066762  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 13.616747 -10.407102]\n [ 13.676929 -10.33545 ]\n [ 13.622101 -10.401303]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-15.393726  15.49319 ], 21.84046173095703 meters away.)"}
{"file_name": "images/scenario_593_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 20.1 meters away at (-16.0, 12.1). A vehicle with ID 8 is 22.0 meters away at (-15.5, 15.6). A vehicle with ID 15 is 27.6 meters away at (-0.9, -27.6). A vehicle with ID 10 is 40.2 meters away at (3.1, -40.0). A unknown object with ID 3 is 40.3 meters away at (36.9, -16.3). A cyclist with ID 12 is 47.6 meters away at (-43.3, 19.8). A pedestrian with ID 4 is 49.7 meters away at (-46.4, 17.7).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [ 3.4106104 -2.615806 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.1517732 2.8804457] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.9526577 -3.9631214] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [0.76754373 0.3820275 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.4456373 -0.7987519] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 13.616747 -10.407102]\n [ 13.676929 -10.33545 ]\n [ 13.622101 -10.401303]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-16.00159   12.108446], 20.066524505615234 meters away.)"}
{"file_name": "images/scenario_593_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 13.0 meters away at (-10.2, 8.1). A vehicle with ID 8 is 22.0 meters away at (-15.5, 15.6). A vehicle with ID 15 is 22.4 meters away at (3.8, -22.1). A pedestrian with ID 2 is 45.7 meters away at (-41.4, 19.3). A vehicle with ID 10 is 48.3 meters away at (-3.0, -48.2). A pedestrian with ID 4 is 51.1 meters away at (-48.3, 16.5).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [ 2.7835186 -2.2091596] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [3.36087   2.4191258] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.80742466 -0.6724568 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.2113547 -4.4733443] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.0444001 -0.2612487] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 13.616747 -10.407102]\n [ 13.676929 -10.33545 ]\n [ 13.622101 -10.401303]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-10.208607   8.054258], 13.003334999084473 meters away.)"}
{"file_name": "images/scenario_593_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 7.6 meters away at (-6.2, 4.4). A vehicle with ID 8 is 22.0 meters away at (-15.6, 15.6). A vehicle with ID 15 is 24.0 meters away at (13.3, -20.0). A cyclist with ID 7 is 44.2 meters away at (-40.4, 17.9). A pedestrian with ID 4 is 52.5 meters away at (-50.0, 16.1). A vehicle with ID 10 is 58.6 meters away at (-9.9, -57.8).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [ 1.6227212 -1.4699163] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.232715  -0.7123739] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ 0.82332045 -0.9206267 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.63862497 -0.23857296] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.4297066 -4.6634517] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 13.616747 -10.407102]\n [ 13.676929 -10.33545 ]\n [ 13.622101 -10.401303]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-6.1637683  4.4225817], 7.586255073547363 meters away.)"}
{"file_name": "images/scenario_594_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -4.1) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 7.4 meters away at (1.7, -7.2). A vehicle with ID 32 is 15.2 meters away at (14.6, -4.5). A unknown object with ID 29 is 18.9 meters away at (1.6, 18.8). A unknown object with ID 16 is 22.2 meters away at (-0.2, 22.2). A vehicle with ID 33 is 22.4 meters away at (20.5, -8.9). A pedestrian with ID 35 is 25.6 meters away at (22.1, -13.0). A pedestrian with ID 36 is 28.3 meters away at (25.3, -12.6). A vehicle with ID 28 is 31.8 meters away at (27.6, -15.7). A vehicle with ID 34 is 32.1 meters away at (-18.1, -26.5). A cyclist with ID 31 is 34.5 meters away at (-33.8, -7.0).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.94473314  0.814123  ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.24431872 -0.48907527] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 5.226551 -4.438476] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-2.5552983 -1.8283464] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 1.7019806 -7.243371 ], 7.440642356872559 meters away.)"}
{"file_name": "images/scenario_594_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -5.0) m/s. Its current heading (yaw) is -0.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 6.6 meters away at (4.7, 4.7). A unknown object with ID 30 is 8.4 meters away at (-8.2, 1.9). A vehicle with ID 33 is 10.5 meters away at (10.5, 0.3). A pedestrian with ID 35 is 10.8 meters away at (10.6, -2.1). A pedestrian with ID 36 is 15.7 meters away at (15.5, -2.6). A vehicle with ID 28 is 18.8 meters away at (17.7, -6.5). A unknown object with ID 26 is 22.5 meters away at (-7.4, 21.2). A unknown object with ID 9 is 27.0 meters away at (23.9, -12.5). A unknown object with ID 8 is 28.7 meters away at (25.3, -13.7). A pedestrian with ID 19 is 29.3 meters away at (-4.3, 29.0).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.81125927  0.62468165] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.01360567 -0.00889979] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.02390441 -0.01560974] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.660536 4.658478], 6.589538097381592 meters away.)"}
{"file_name": "images/scenario_594_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.8) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 6.8 meters away at (5.3, 4.2). A pedestrian with ID 36 is 8.7 meters away at (3.1, 8.1). A pedestrian with ID 35 is 10.6 meters away at (-3.4, 10.0). A vehicle with ID 33 is 11.2 meters away at (-1.9, 11.0). A unknown object with ID 9 is 11.6 meters away at (11.5, -1.7). A unknown object with ID 8 is 13.2 meters away at (12.8, -2.9). A vehicle with ID 32 is 17.1 meters away at (-7.7, 15.3). A unknown object with ID 30 is 24.3 meters away at (-20.7, 12.6). A vehicle with ID 34 is 31.1 meters away at (-19.9, -23.9). A pedestrian with ID 41 is 49.7 meters away at (-49.4, -5.3).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.00266176 -0.01191956] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.53122467  0.67341363] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 3.4279478 -3.0900524] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.0598918  -0.66863626] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.2978    4.2189198], 6.772441864013672 meters away.)"}
{"file_name": "images/scenario_594_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -6.3) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 9.3 meters away at (-1.3, 9.2). A unknown object with ID 9 is 10.7 meters away at (-2.7, 10.4). A vehicle with ID 28 is 18.5 meters away at (-8.9, 16.3). A pedestrian with ID 36 is 23.1 meters away at (-11.2, 20.2). A vehicle with ID 33 is 28.2 meters away at (-16.1, 23.1). A pedestrian with ID 35 is 30.4 meters away at (-18.9, 23.8). A vehicle with ID 34 is 34.7 meters away at (-30.2, -17.2). A vehicle with ID 32 is 35.2 meters away at (-22.1, 27.4). A vehicle with ID 7 is 36.7 meters away at (-2.9, -36.6). A vehicle with ID 2 is 43.4 meters away at (37.0, -22.7).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.04429032 -0.01427967] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.5994289  0.6933525] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.81567824 -2.8949096 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-1.3367233  9.203569 ], 9.300135612487793 meters away.)"}
{"file_name": "images/scenario_595_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 7.4) m/s. Its current heading (yaw) is 1.28 ", "actor_description": " The most relevant actors are: A unknown object with ID 27 is 14.3 meters away at (-7.9, -11.9). A vehicle with ID 28 is 20.0 meters away at (9.9, 17.4). A vehicle with ID 9 is 29.5 meters away at (22.8, -18.8). A unknown object with ID 22 is 73.5 meters away at (27.3, 68.3).", "velocity_description": "The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.140345   -0.60948956] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ -7.9145617 -11.881283 ], 14.27603530883789 meters away.)"}
{"file_name": "images/scenario_595_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 8.1) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 5.6 meters away at (5.2, 2.1). A unknown object with ID 27 is 30.0 meters away at (-12.6, -27.3). A vehicle with ID 9 is 34.9 meters away at (4.1, -34.7).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.5106444   0.64235705] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [5.2164717 2.064268 ], 5.610060691833496 meters away.)"}
{"file_name": "images/scenario_595_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.7) m/s. Its current heading (yaw) is 1.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 13.6 meters away at (0.3, -13.6). A vehicle with ID 9 is 45.5 meters away at (-8.9, -44.6). A unknown object with ID 27 is 46.3 meters away at (-17.4, -42.9). A unknown object with ID 26 is 53.5 meters away at (-25.5, -47.1). A unknown object with ID 15 is 62.1 meters away at (32.8, 52.7).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.4006264  5.232909 ] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [  0.31292152 -13.635902  ], 13.63949203491211 meters away.)"}
{"file_name": "images/scenario_595_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.9) m/s. Its current heading (yaw) is 1.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 28.3 meters away at (-4.2, -27.9). A pedestrian with ID 1 is 32.3 meters away at (20.0, 25.4). A vehicle with ID 9 is 47.9 meters away at (-13.5, -46.0). A unknown object with ID 27 is 61.3 meters away at (-21.9, -57.2). A pedestrian with ID 16 is 66.0 meters away at (-45.7, 47.7). A unknown object with ID 24 is 67.7 meters away at (-29.0, -61.1). A unknown object with ID 26 is 68.3 meters away at (-29.9, -61.4).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00721378  0.01181489] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [1.893257 8.380301] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.69126713  0.16961077] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ -4.161892 -27.949358], 28.257530212402344 meters away.)"}
{"file_name": "images/scenario_596_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.6) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 18.0 meters away at (-13.0, -12.4). A vehicle with ID 21 is 26.5 meters away at (-10.4, 24.4). A vehicle with ID 24 is 49.0 meters away at (32.5, -36.7). A pedestrian with ID 26 is 51.7 meters away at (31.8, -40.7). A pedestrian with ID 14 is 51.8 meters away at (32.6, -40.3). A vehicle with ID 23 is 53.0 meters away at (52.4, -7.8). A vehicle with ID 27 is 56.9 meters away at (39.9, -40.6). A vehicle with ID 25 is 59.3 meters away at (59.2, -3.7).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [ 3.883657  -1.3330694] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.7953512   0.41170517] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.82277846  0.38341135] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-8.925099   4.9053574] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-47.60004425048828, -40.72274398803711)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-12.9669075 -12.428942 ], 17.961605072021484 meters away.)"}
{"file_name": "images/scenario_596_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.2) m/s. Its current heading (yaw) is -2.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 12.5 meters away at (0.0, -12.5). A vehicle with ID 23 is 38.5 meters away at (38.1, 5.8). A vehicle with ID 24 is 47.4 meters away at (34.8, -32.2). A pedestrian with ID 14 is 48.5 meters away at (33.4, -35.1). A vehicle with ID 27 is 55.6 meters away at (42.2, -36.1). A vehicle with ID 25 is 61.6 meters away at (61.5, 0.9).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.6532226 -2.795406 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-7.489102  4.32719 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.782792   0.5848729] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-47.60004425048828, -40.72274398803711)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  0.01514673 -12.517597  ], 12.517606735229492 meters away.)"}
{"file_name": "images/scenario_596_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -2.2) m/s. Its current heading (yaw) is -2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 22.9 meters away at (17.6, -14.6). A unknown object with ID 18 is 29.2 meters away at (-2.2, 29.1). A vehicle with ID 23 is 32.5 meters away at (27.4, 17.4). A vehicle with ID 24 is 46.9 meters away at (38.0, -27.6). A vehicle with ID 27 is 55.3 meters away at (45.4, -31.5). A vehicle with ID 25 is 64.5 meters away at (64.3, 5.0).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [ 7.6370187 -3.4305112] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-6.04998    2.6168728] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-47.60004425048828, -40.72274398803711)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 17.603436 -14.620783], 22.88336181640625 meters away.)"}
{"file_name": "images/scenario_596_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 0.9) m/s. Its current heading (yaw) is 2.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 30.2 meters away at (23.1, 19.6). A vehicle with ID 22 is 44.0 meters away at (38.9, -20.6). A pedestrian with ID 16 is 48.2 meters away at (39.0, -28.3). A vehicle with ID 24 is 51.9 meters away at (44.5, -26.9). A vehicle with ID 27 is 60.3 meters away at (52.0, -30.6). A vehicle with ID 25 is 71.6 meters away at (71.3, 6.2).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.9670506 -1.7619555] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.9943004 -3.5946608] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.9264848   0.35894805] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.16359806 -0.27530107] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.15840244 -0.40147024] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-47.60004425048828, -40.72274398803711)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [23.078419 19.552252], 30.247379302978516 meters away.)"}
{"file_name": "images/scenario_597_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -7.0) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 92 is 3.6 meters away at (-1.8, 3.1). A vehicle with ID 94 is 4.7 meters away at (-4.4, -1.7). A vehicle with ID 87 is 9.6 meters away at (2.0, 9.4). A vehicle with ID 97 is 9.8 meters away at (-7.3, -6.5). A unknown object with ID 59 is 14.0 meters away at (-1.8, -13.9). A vehicle with ID 49 is 15.1 meters away at (-10.3, -11.0). A vehicle with ID 85 is 15.4 meters away at (5.6, 14.4). A unknown object with ID 75 is 17.9 meters away at (-3.9, -17.4). A vehicle with ID 86 is 20.7 meters away at (8.0, 19.1). A vehicle with ID 103 is 21.0 meters away at (-13.5, -16.1).", "velocity_description": "The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.887444 -90.92605 ]\n [-53.94816  -90.89151 ]\n [-53.766922 -90.707016]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.8461409  3.104621 ], 3.6120502948760986 meters away.)"}
{"file_name": "images/scenario_597_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -7.0) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 3.6 meters away at (-1.6, 3.3). A vehicle with ID 103 is 5.2 meters away at (-4.8, -1.8). A unknown object with ID 75 is 5.9 meters away at (4.9, -3.3). A unknown object with ID 59 is 6.9 meters away at (6.9, 0.2). A vehicle with ID 97 is 7.8 meters away at (1.3, 7.6). A vehicle with ID 105 is 9.9 meters away at (-7.5, -6.6). A pedestrian with ID 45 is 12.5 meters away at (-11.0, -6.0). A vehicle with ID 94 is 13.1 meters away at (4.3, 12.4). A vehicle with ID 48 is 17.2 meters away at (-11.5, -12.7). A vehicle with ID 92 is 18.8 meters away at (7.0, 17.5).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.5780601 -1.0966705] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.887444 -90.92605 ]\n [-53.94816  -90.89151 ]\n [-53.766922 -90.707016]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.5675831  3.2730331], 3.6290581226348877 meters away.)"}
{"file_name": "images/scenario_597_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -6.2) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 3.3 meters away at (-3.3, 0.6). A pedestrian with ID 45 is 6.6 meters away at (-3.9, 5.3). A vehicle with ID 105 is 6.7 meters away at (0.7, 6.6). A vehicle with ID 47 is 8.0 meters away at (-6.5, -4.6). A vehicle with ID 103 is 12.0 meters away at (3.4, 11.5). A unknown object with ID 66 is 13.7 meters away at (-1.1, -13.6). A unknown object with ID 82 is 17.4 meters away at (-2.9, -17.1). A vehicle with ID 49 is 17.9 meters away at (6.7, 16.6). A vehicle with ID 97 is 23.3 meters away at (9.8, 21.2). A vehicle with ID 46 is 27.0 meters away at (-13.5, -23.4).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.5857389 -1.1860759] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.887444 -90.92605 ]\n [-53.94816  -90.89151 ]\n [-53.766922 -90.707016]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.2812157  0.6491928], 3.344820976257324 meters away.)"}
{"file_name": "images/scenario_597_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -4.9) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 6.7 meters away at (1.6, 6.5). A unknown object with ID 66 is 7.5 meters away at (7.1, -2.4). A unknown object with ID 82 is 7.9 meters away at (5.3, -5.8). A vehicle with ID 48 is 12.8 meters away at (4.9, 11.8). A vehicle with ID 46 is 13.3 meters away at (-5.4, -12.2). A pedestrian with ID 45 is 14.7 meters away at (3.1, 14.4). A vehicle with ID 105 is 19.9 meters away at (8.9, 17.8). A vehicle with ID 3 is 20.6 meters away at (-10.0, -18.0). A unknown object with ID 78 is 30.1 meters away at (21.2, 21.4). A vehicle with ID 1 is 30.3 meters away at (-14.2, -26.7).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.6262379 -1.0234898] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.887444 -90.92605 ]\n [-53.94816  -90.89151 ]\n [-53.766922 -90.707016]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.6054497 6.501911 ], 6.697187423706055 meters away.)"}
{"file_name": "images/scenario_598_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 2.2) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 6.9 meters away at (-4.8, 5.0). A pedestrian with ID 22 is 8.7 meters away at (-2.6, 8.3). A pedestrian with ID 23 is 9.2 meters away at (-2.2, 8.9). A pedestrian with ID 50 is 10.6 meters away at (-8.7, -6.0). A pedestrian with ID 51 is 12.0 meters away at (-9.9, -6.7). A pedestrian with ID 54 is 12.5 meters away at (-10.6, -6.6). A vehicle with ID 59 is 16.0 meters away at (-14.0, 7.7). A vehicle with ID 64 is 20.2 meters away at (-20.2, -0.3). A vehicle with ID 56 is 20.9 meters away at (-7.7, -19.5). A vehicle with ID 65 is 22.6 meters away at (-20.2, 10.0).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1291627   0.46877733] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.1277539   0.46634802] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.00117787  0.00679424] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00470198  0.01666097] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00085654 0.00733364] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-148.10972595214844, -61.559593200683594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.7632265  4.9614606], 6.8778204917907715 meters away.)"}
{"file_name": "images/scenario_598_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 2.4) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 3.2 meters away at (-0.6, 3.2). A vehicle with ID 64 is 8.5 meters away at (-6.9, -4.9). A vehicle with ID 49 is 8.5 meters away at (8.5, 0.4). A vehicle with ID 65 is 8.7 meters away at (-6.8, 5.5). A pedestrian with ID 22 is 9.6 meters away at (8.5, 4.5). A pedestrian with ID 23 is 10.2 meters away at (8.8, 5.2). A pedestrian with ID 54 is 11.5 meters away at (2.8, -11.2). A pedestrian with ID 50 is 11.5 meters away at (4.7, -10.5). A pedestrian with ID 51 is 11.7 meters away at (3.5, -11.2). A vehicle with ID 39 is 12.3 meters away at (-11.9, -3.1).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1850399   0.43883207] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2068095   0.43836185] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01607177 -0.00057327] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.02327274  0.00191747] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.01077195 -0.00832858] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-148.10972595214844, -61.559593200683594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.6430359  3.1601896], 3.2249486446380615 meters away.)"}
{"file_name": "images/scenario_598_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 2.4) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 3.1 meters away at (1.1, 2.9). A vehicle with ID 78 is 4.0 meters away at (1.2, -3.9). A vehicle with ID 65 is 7.3 meters away at (7.2, 0.8). A vehicle with ID 40 is 7.4 meters away at (-4.9, -5.5). A vehicle with ID 15 is 7.4 meters away at (-5.2, 5.3). A vehicle with ID 39 is 8.1 meters away at (2.1, -7.8). A pedestrian with ID 21 is 10.1 meters away at (-4.2, 9.1). A pedestrian with ID 13 is 10.3 meters away at (-5.0, 9.0). A vehicle with ID 41 is 11.4 meters away at (-10.9, -3.5). A vehicle with ID 64 is 12.3 meters away at (7.5, -9.7).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 1.7874361  -0.61986953] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.3766041   0.43879417] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.3858104   0.48681825] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-148.10972595214844, -61.559593200683594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.1461792 2.8677044], 3.0882768630981445 meters away.)"}
{"file_name": "images/scenario_598_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 2.6) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 4.6 meters away at (4.1, 2.1). A pedestrian with ID 20 is 7.6 meters away at (4.2, 6.3). A pedestrian with ID 13 is 8.4 meters away at (6.7, 5.1). A pedestrian with ID 21 is 9.2 meters away at (7.6, 5.1). A vehicle with ID 41 is 9.2 meters away at (3.7, -8.4). A vehicle with ID 15 is 9.2 meters away at (9.2, 0.4). A vehicle with ID 40 is 14.2 meters away at (9.6, -10.4). A vehicle with ID 25 is 15.8 meters away at (15.7, -2.1). A vehicle with ID 24 is 17.2 meters away at (-17.2, -0.7). A vehicle with ID 39 is 21.0 meters away at (16.7, -12.7).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.5158826   0.43871713] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.4891361   0.45825946] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.4600471  0.4727228] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-148.10972595214844, -61.559593200683594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.0647545 2.135992 ], 4.591806888580322 meters away.)"}
{"file_name": "images/scenario_599_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.6) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 5.5 meters away at (2.2, -5.0). A vehicle with ID 34 is 9.4 meters away at (5.8, -7.3). A unknown object with ID 32 is 10.8 meters away at (-2.5, -10.5). A unknown object with ID 31 is 13.5 meters away at (-9.0, -10.0). A unknown object with ID 29 is 14.7 meters away at (-11.5, -9.2). A unknown object with ID 28 is 17.1 meters away at (-15.3, -7.8). A unknown object with ID 25 is 17.9 meters away at (-17.5, -4.0). A vehicle with ID 35 is 18.0 meters away at (14.8, -10.3). A pedestrian with ID 33 is 18.2 meters away at (-17.3, -5.5). A vehicle with ID 38 is 26.1 meters away at (22.6, -13.1).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.78404355 -1.2238486 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.02049688 -0.00401448] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-61.510452   9.424312]\n [-63.714363  10.29273 ]]", "nav_goal": "(-183.59625244140625, -49.296546936035156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 2.2177486 -4.987544 ], 5.458388328552246 meters away.)"}
{"file_name": "images/scenario_599_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -0.5) m/s. Its current heading (yaw) is -2.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 6.4 meters away at (3.5, -5.3). A unknown object with ID 21 is 7.9 meters away at (-0.3, -7.9). A unknown object with ID 32 is 8.0 meters away at (0.0, -8.0). A vehicle with ID 34 is 9.6 meters away at (8.3, -4.9). A unknown object with ID 31 is 9.9 meters away at (-6.6, -7.5). A unknown object with ID 29 is 11.2 meters away at (-9.1, -6.6). A unknown object with ID 28 is 13.8 meters away at (-12.8, -5.2). A unknown object with ID 25 is 15.1 meters away at (-15.0, -1.4). A pedestrian with ID 33 is 15.1 meters away at (-14.8, -2.9). A vehicle with ID 35 is 18.9 meters away at (17.2, -7.8).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.5473328 -1.4536115] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.0219705  -0.01316616] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.248024  20.634712]\n [-56.346004  21.540747]]", "nav_goal": "(-183.59625244140625, -49.296546936035156)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 3.4724822 -5.3165855], 6.35013484954834 meters away.)"}
{"file_name": "images/scenario_599_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 0.7) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A unknown object with ID 31 is 8.5 meters away at (-3.0, -7.9). A unknown object with ID 29 is 8.9 meters away at (-5.5, -7.0). A unknown object with ID 21 is 9.0 meters away at (3.4, -8.4). A unknown object with ID 32 is 9.2 meters away at (3.6, -8.5). A pedestrian with ID 26 is 10.5 meters away at (6.8, -8.0). A unknown object with ID 28 is 10.8 meters away at (-9.2, -5.6). A unknown object with ID 25 is 11.5 meters away at (-11.4, -1.8). A pedestrian with ID 33 is 11.7 meters away at (-11.2, -3.3). A vehicle with ID 34 is 13.1 meters away at (11.9, -5.3). A unknown object with ID 16 is 14.5 meters away at (-13.8, -4.5).", "velocity_description": "The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.5146082 -1.1679115] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.03248006 0.03450224] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-61.510452   9.424312]\n [-50.006565  18.78724 ]\n [-63.714363  10.29273 ]\n [-53.248024  20.634712]\n [-56.346004  21.540747]\n [-48.037533  19.040022]]", "nav_goal": "(-183.59625244140625, -49.296546936035156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.0203981 -7.916538 ], 8.473155975341797 meters away.)"}
{"file_name": "images/scenario_599_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 1.3) m/s. Its current heading (yaw) is 2.78 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 7.0 meters away at (-5.9, -3.8). A unknown object with ID 28 is 8.5 meters away at (-3.7, -7.7). A unknown object with ID 29 is 9.1 meters away at (0.0, -9.1). A unknown object with ID 31 is 10.3 meters away at (2.5, -10.0). A unknown object with ID 21 is 13.7 meters away at (8.9, -10.5). A unknown object with ID 32 is 14.0 meters away at (9.2, -10.6). A pedestrian with ID 26 is 18.5 meters away at (14.5, -11.6). A vehicle with ID 34 is 18.9 meters away at (17.4, -7.4). A vehicle with ID 15 is 22.0 meters away at (22.0, 0.9). A vehicle with ID 35 is 28.5 meters away at (26.4, -10.5).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.2273132  -0.38406602] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-61.510452    9.424312 ]\n [-68.481094    9.5793085]\n [-50.006565   18.78724  ]\n [-63.714363   10.29273  ]\n [-67.41184     9.531317 ]\n [-53.248024   20.634712 ]\n [-56.346004   21.540747 ]\n [-48.037533   19.040022 ]]", "nav_goal": "(-183.59625244140625, -49.296546936035156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-5.8666706 -3.8008249], 6.990285873413086 meters away.)"}
{"file_name": "images/scenario_600_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 4.7) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 46 is 4.7 meters away at (-4.4, -1.7). A unknown object with ID 47 is 6.2 meters away at (-5.3, -3.1). A unknown object with ID 48 is 6.2 meters away at (-6.1, -0.7). A unknown object with ID 49 is 7.3 meters away at (-6.9, -2.3). A vehicle with ID 50 is 12.8 meters away at (-4.0, 12.1). A pedestrian with ID 51 is 16.8 meters away at (-4.8, 16.1). A pedestrian with ID 52 is 17.2 meters away at (-5.6, 16.3). A pedestrian with ID 53 is 24.5 meters away at (-13.7, 20.3). A pedestrian with ID 21 is 34.3 meters away at (-16.9, 29.9). A pedestrian with ID 34 is 36.9 meters away at (-20.2, 30.9).", "velocity_description": "The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.01854591  0.01218096] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00517309  0.00599616] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.06419028  0.06158848] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.46048653  1.24196   ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.01194923 -0.01230617] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-4.388773  -1.7339201], 4.718877792358398 meters away.)"}
{"file_name": "images/scenario_600_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.9) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 10.4 meters away at (10.1, 2.7). A pedestrian with ID 52 is 10.6 meters away at (8.3, 6.5). A pedestrian with ID 53 is 10.8 meters away at (0.5, 10.8). A pedestrian with ID 51 is 11.4 meters away at (9.4, 6.5). A unknown object with ID 48 is 13.0 meters away at (8.0, -10.2). A unknown object with ID 27 is 13.8 meters away at (7.8, -11.3). A unknown object with ID 49 is 13.9 meters away at (7.2, -11.9). A unknown object with ID 46 is 14.9 meters away at (9.8, -11.2). A vehicle with ID 54 is 15.3 meters away at (-7.2, 13.6). A unknown object with ID 47 is 15.5 meters away at (9.0, -12.6).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.2859511  -0.22355717] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.02191312 -0.00280324] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.06715142 -0.01643334] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 3.1223834 -2.1557777] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.080881   2.7073784], 10.438105583190918 meters away.)"}
{"file_name": "images/scenario_600_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 4.8) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 13.7 meters away at (13.7, -0.1). A pedestrian with ID 34 is 14.5 meters away at (8.9, 11.5). A pedestrian with ID 53 is 15.5 meters away at (15.5, 1.0). A pedestrian with ID 21 is 19.5 meters away at (11.8, 15.5). A pedestrian with ID 52 is 23.4 meters away at (23.1, -3.4). A pedestrian with ID 51 is 24.5 meters away at (24.3, -3.3). A vehicle with ID 50 is 26.0 meters away at (25.0, -7.2). A vehicle with ID 23 is 29.9 meters away at (14.8, 26.0). A unknown object with ID 48 is 30.6 meters away at (23.0, -20.1). A unknown object with ID 27 is 31.0 meters away at (22.6, -21.2).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [ 2.4501734 -1.4969248] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.00788178 0.00419482] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.03184958  0.23123798] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.11813072  1.2457695 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00515265  0.0030092 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.0003514   0.02092535] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-3.0660934 -3.8102381] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [13.669479   -0.07800674], 13.66970157623291 meters away.)"}
{"file_name": "images/scenario_600_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 5.4) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 23.1 meters away at (22.4, 5.8). A pedestrian with ID 34 is 24.9 meters away at (24.8, 0.7). A pedestrian with ID 25 is 31.5 meters away at (-29.3, 11.5). A pedestrian with ID 53 is 33.0 meters away at (31.6, -9.4). A vehicle with ID 54 is 35.6 meters away at (33.2, -12.8). A pedestrian with ID 52 is 41.9 meters away at (39.6, -13.8). A pedestrian with ID 51 is 42.7 meters away at (40.4, -13.8). A vehicle with ID 50 is 44.9 meters away at (41.2, -17.9). A unknown object with ID 6 is 46.8 meters away at (-42.5, 19.6). A unknown object with ID 48 is 49.7 meters away at (39.2, -30.6).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.19341806 -0.14113016] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.1988581  0.5838611] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.00094374 0.04725926] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 0.8003212 -0.5567588] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.02765546 0.0246048 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.0192123   0.00561804] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [22.401657  5.780964], 23.13555145263672 meters away.)"}
{"file_name": "images/scenario_601_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, -3.6) m/s. Its current heading (yaw) is -2.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 13.0 meters away at (-5.3, -11.8). A vehicle with ID 1 is 13.7 meters away at (13.7, -0.5). A unknown object with ID 16 is 15.0 meters away at (3.4, -14.6). A vehicle with ID 14 is 18.5 meters away at (13.7, 12.4). A vehicle with ID 22 is 20.7 meters away at (-12.0, -16.9). A vehicle with ID 15 is 25.4 meters away at (3.8, 25.1). A cyclist with ID 20 is 26.8 meters away at (-9.3, 25.1). A vehicle with ID 19 is 29.1 meters away at (28.7, -4.8). A vehicle with ID 23 is 29.8 meters away at (-8.0, 28.7). A vehicle with ID 32 is 30.4 meters away at (-17.5, -24.9).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-7.5570097  1.9145459] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.6974034  6.9783497] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0.57887363 0.55762494] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.730191   5.6426797] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [-0.04379959  0.01085467] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.332278   6.5413055] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [8.57841   6.4822907] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.739723  -6.86101 ]\n [-18.896341  16.454279]\n [ -9.977619  -6.350188]\n [-17.633156  17.33078 ]\n [-15.164918  19.280766]]", "nav_goal": "(-237.99606323242188, -174.11660766601562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -5.3417397 -11.804459 ], 12.956829071044922 meters away.)"}
{"file_name": "images/scenario_601_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -6.3) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 4.4 meters away at (0.4, 4.4). A vehicle with ID 22 is 7.1 meters away at (4.3, -5.7). A vehicle with ID 17 is 10.3 meters away at (10.2, -1.1). A vehicle with ID 32 is 12.6 meters away at (12.1, -3.7). A vehicle with ID 1 is 15.2 meters away at (12.5, 8.6). A unknown object with ID 16 is 19.5 meters away at (19.1, -3.7). A cyclist with ID 20 is 36.5 meters away at (5.9, 36.0). A vehicle with ID 19 is 38.7 meters away at (33.3, 19.7). A vehicle with ID 14 is 40.0 meters away at (14.7, 37.2). A vehicle with ID 24 is 40.2 meters away at (39.5, 7.3).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [5.0008082 3.6876779] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.470826  -3.8923097] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [-0.04177762  0.06194244] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.591808  6.786736] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-7.452594  7.33433 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.0381403  7.4236894] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.739723   -6.86101  ]\n [-18.896341   16.454279 ]\n [ -9.977619   -6.350188 ]\n [  8.511764   -4.5034094]\n [-17.633156   17.33078  ]\n [-15.164918   19.280766 ]]", "nav_goal": "(-237.99606323242188, -174.11660766601562)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [0.3693161 4.4190784], 4.434484004974365 meters away.)"}
{"file_name": "images/scenario_601_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, -7.0) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 16.9 meters away at (13.2, 10.5). A vehicle with ID 22 is 22.7 meters away at (21.3, 7.8). A vehicle with ID 17 is 30.0 meters away at (27.3, 12.5). A unknown object with ID 16 is 37.5 meters away at (36.2, 9.8). A vehicle with ID 32 is 38.1 meters away at (35.5, 13.9). A cyclist with ID 20 is 54.5 meters away at (23.3, 49.3). A vehicle with ID 24 is 56.8 meters away at (43.9, 36.1). A vehicle with ID 25 is 57.3 meters away at (19.1, 54.0). A vehicle with ID 23 is 58.4 meters away at (24.7, 52.9). A vehicle with ID 19 is 60.7 meters away at (39.7, 46.0).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.16227  -6.393144] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [1.6104301 1.0178823] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ 0.20408638 -0.28307763] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.677733  7.822743] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.1914616  6.1289096] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.739723   -6.86101  ]\n [-18.896341   16.454279 ]\n [ -9.977619   -6.350188 ]\n [  8.511764   -4.5034094]\n [-17.633156   17.33078  ]\n [-15.164918   19.280766 ]]", "nav_goal": "(-237.99606323242188, -174.11660766601562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [13.222515 10.542597], 16.910980224609375 meters away.)"}
{"file_name": "images/scenario_601_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, -8.0) m/s. Its current heading (yaw) is -2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 19.4 meters away at (15.1, 12.2). A vehicle with ID 22 is 45.7 meters away at (39.6, 22.7). A vehicle with ID 17 is 53.4 meters away at (45.8, 27.5). A unknown object with ID 16 is 60.0 meters away at (54.6, 24.8). A vehicle with ID 32 is 63.1 meters away at (55.5, 29.8).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.6558895 -6.9951134] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.739723 -6.86101 ]\n [-9.977619 -6.350188]]", "nav_goal": "(-237.99606323242188, -174.11660766601562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [15.118752 12.222267], 19.441204071044922 meters away.)"}
{"file_name": "images/scenario_602_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -7.5) m/s. Its current heading (yaw) is -2.06 ", "actor_description": " The most relevant actors are: A unknown object with ID 73 is 4.0 meters away at (-2.6, 3.1). A vehicle with ID 72 is 6.1 meters away at (6.1, -0.7). A pedestrian with ID 74 is 6.1 meters away at (-6.1, 0.8). A vehicle with ID 78 is 6.3 meters away at (3.3, -5.4). A vehicle with ID 80 is 9.9 meters away at (0.4, -9.8). A vehicle with ID 71 is 10.0 meters away at (9.0, 4.3). A cyclist with ID 41 is 11.1 meters away at (-7.7, -8.0). A vehicle with ID 86 is 14.7 meters away at (-2.3, -14.5). A vehicle with ID 67 is 15.2 meters away at (12.0, 9.2). A vehicle with ID 69 is 21.5 meters away at (15.6, 14.9).", "velocity_description": "The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.7742622 -1.4458224] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [-3.0193737 -4.6154084] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-156.74520874023438, -252.07749938964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.5831585  3.0881443], 4.026082992553711 meters away.)"}
{"file_name": "images/scenario_602_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -7.6) m/s. Its current heading (yaw) is -2.09 ", "actor_description": " The most relevant actors are: A cyclist with ID 41 is 5.3 meters away at (-5.1, -1.6). A vehicle with ID 86 is 5.9 meters away at (5.9, 0.7). A vehicle with ID 89 is 6.1 meters away at (2.1, -5.7). A vehicle with ID 80 is 10.0 meters away at (8.5, 5.3). A vehicle with ID 91 is 10.2 meters away at (-0.7, -10.2). A pedestrian with ID 74 is 13.2 meters away at (0.6, 13.2). A vehicle with ID 78 is 15.0 meters away at (11.4, 9.8). A vehicle with ID 95 is 15.0 meters away at (-3.6, -14.6). A unknown object with ID 73 is 19.1 meters away at (5.6, 18.3). A vehicle with ID 72 is 20.4 meters away at (14.3, 14.6).", "velocity_description": "The cyclist with ID 41 is traveling at a (x, y) velocity of [-2.7089527 -4.4820642] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.9467857 -1.4341611] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-156.74520874023438, -252.07749938964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-5.110667  -1.5555687], 5.342163562774658 meters away.)"}
{"file_name": "images/scenario_602_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -7.6) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A cyclist with ID 41 is 5.4 meters away at (-0.8, 5.3). A vehicle with ID 95 is 5.6 meters away at (5.6, 0.5). A vehicle with ID 91 is 9.6 meters away at (8.4, 4.7). A vehicle with ID 89 is 14.5 meters away at (11.2, 9.3). A vehicle with ID 46 is 15.6 meters away at (-15.4, -2.5). A vehicle with ID 52 is 16.9 meters away at (3.8, -16.5). A vehicle with ID 56 is 17.5 meters away at (-16.9, -4.8). A vehicle with ID 86 is 21.7 meters away at (15.0, 15.7). A vehicle with ID 42 is 21.8 meters away at (-19.8, -9.1). A vehicle with ID 31 is 22.7 meters away at (11.6, 19.5).", "velocity_description": "The cyclist with ID 41 is traveling at a (x, y) velocity of [-2.212951 -4.169708] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-4.9181743 -8.604588 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-156.74520874023438, -252.07749938964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-0.81030655  5.3132477 ], 5.374680995941162 meters away.)"}
{"file_name": "images/scenario_602_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -7.7) m/s. Its current heading (yaw) is -2.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 11.4 meters away at (-9.6, 6.1). A vehicle with ID 56 is 12.3 meters away at (-6.6, 10.4). A cyclist with ID 41 is 13.5 meters away at (4.9, 12.6). A vehicle with ID 46 is 13.7 meters away at (-5.1, 12.7). A vehicle with ID 52 is 14.0 meters away at (13.9, -1.4). A pedestrian with ID 43 is 17.5 meters away at (-13.3, -11.4). A vehicle with ID 33 is 21.1 meters away at (-6.2, -20.1). A vehicle with ID 31 is 21.5 meters away at (12.0, 17.8). A vehicle with ID 95 is 22.3 meters away at (15.9, 15.6). A vehicle with ID 91 is 27.4 meters away at (18.7, 20.0).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [-2.4501534 -3.9717057] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.7414553 -1.2959334] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-5.0083013 -8.5130625] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-156.74520874023438, -252.07749938964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.582153   6.1246223], 11.372276306152344 meters away.)"}
{"file_name": "images/scenario_603_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 11.5 meters away at (6.4, -9.6). A vehicle with ID 68 is 15.5 meters away at (11.7, -10.1). A vehicle with ID 71 is 17.4 meters away at (14.5, -9.7). A vehicle with ID 59 is 19.6 meters away at (-18.0, 7.8). A vehicle with ID 74 is 19.9 meters away at (17.4, -9.7). A vehicle with ID 67 is 21.4 meters away at (0.9, -21.4). A vehicle with ID 69 is 22.0 meters away at (3.6, -21.7). A vehicle with ID 66 is 22.3 meters away at (-1.7, -22.2). A vehicle with ID 72 is 23.0 meters away at (6.3, -22.1). A pedestrian with ID 60 is 23.2 meters away at (-17.8, 14.9).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-2.6941047  2.3093028] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.16899593 1.5012931 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.209381103515625, -14.615212440490723)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 6.3563128 -9.561769 ], 11.481730461120605 meters away.)"}
{"file_name": "images/scenario_603_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, 0.1) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 9.8 meters away at (-0.9, -9.8). A vehicle with ID 74 is 9.9 meters away at (1.9, -9.7). A vehicle with ID 68 is 10.8 meters away at (-3.7, -10.2). A vehicle with ID 80 is 12.2 meters away at (7.4, -9.8). A vehicle with ID 63 is 13.2 meters away at (-9.1, -9.6). A vehicle with ID 82 is 20.6 meters away at (12.0, -16.7). A vehicle with ID 77 is 22.3 meters away at (-0.9, -22.3). A vehicle with ID 75 is 22.8 meters away at (-3.9, -22.4). A vehicle with ID 81 is 22.8 meters away at (1.7, -22.7). A vehicle with ID 73 is 23.3 meters away at (-6.5, -22.4).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-1.9270339 -0.946231 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.209381103515625, -14.615212440490723)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.94914055 -9.778978  ], 9.824932098388672 meters away.)"}
{"file_name": "images/scenario_603_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, 0.0) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 61 is 11.6 meters away at (9.9, -6.0). A vehicle with ID 80 is 13.4 meters away at (-9.1, -9.9). A vehicle with ID 74 is 17.6 meters away at (-14.6, -9.8). A vehicle with ID 82 is 19.3 meters away at (-8.2, -17.4). A vehicle with ID 71 is 20.1 meters away at (-17.5, -9.9). A vehicle with ID 68 is 22.7 meters away at (-20.2, -10.3). A vehicle with ID 81 is 27.2 meters away at (-14.7, -22.8). A vehicle with ID 63 is 27.4 meters away at (-25.6, -9.7). A vehicle with ID 77 is 28.4 meters away at (-17.4, -22.4). A vehicle with ID 75 is 30.4 meters away at (-20.5, -22.5).", "velocity_description": "The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.2215548  -0.00745537] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-2.1716967   0.04051127] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.209381103515625, -14.615212440490723)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 9.87759   -5.9965725], 11.555330276489258 meters away.)"}
{"file_name": "images/scenario_603_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 61 is 11.7 meters away at (-9.9, -6.1). A vehicle with ID 27 is 18.8 meters away at (15.7, -10.4). A vehicle with ID 26 is 21.1 meters away at (18.5, -10.2). A vehicle with ID 23 is 23.6 meters away at (21.4, -10.1). A vehicle with ID 80 is 28.0 meters away at (-26.2, -9.8). A vehicle with ID 17 is 28.6 meters away at (26.6, -10.5). A vehicle with ID 74 is 33.2 meters away at (-31.8, -9.7). A pedestrian with ID 46 is 35.4 meters away at (19.6, -29.4). A vehicle with ID 71 is 36.0 meters away at (-34.7, -9.7). A vehicle with ID 82 is 36.1 meters away at (-31.8, -17.1).", "velocity_description": "The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.3432764  -0.03602231] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.01450311 0.00846661] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-4.083362    0.37228864] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.209381103515625, -14.615212440490723)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-9.94191  -6.098856], 11.6635160446167 meters away.)"}
{"file_name": "images/scenario_604_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, -8.6) m/s. Its current heading (yaw) is -2.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 8.6 meters away at (-3.1, 8.0). A vehicle with ID 52 is 11.5 meters away at (-11.5, 0.2). A vehicle with ID 51 is 14.8 meters away at (-12.0, 8.6). A vehicle with ID 38 is 16.6 meters away at (-15.0, 7.2). A vehicle with ID 53 is 17.0 meters away at (-16.3, 4.6). A unknown object with ID 40 is 17.7 meters away at (-17.0, -4.9). A vehicle with ID 55 is 22.1 meters away at (-19.1, -11.1). A vehicle with ID 46 is 24.0 meters away at (2.1, 23.9). A cyclist with ID 45 is 26.1 meters away at (11.2, 23.6). A vehicle with ID 39 is 29.6 meters away at (6.4, 28.9).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [2.1088362 1.8645773] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.1457958  8.04489  ], 8.63807201385498 meters away.)"}
{"file_name": "images/scenario_604_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, -8.8) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 6.9 meters away at (-3.5, 5.9). A vehicle with ID 26 is 14.0 meters away at (-13.5, -4.0). A vehicle with ID 52 is 17.7 meters away at (4.1, 17.2). A vehicle with ID 53 is 21.7 meters away at (-0.7, 21.7). A vehicle with ID 38 is 24.5 meters away at (0.5, 24.5). A vehicle with ID 51 is 26.2 meters away at (3.4, 25.9). A vehicle with ID 50 is 28.1 meters away at (12.5, 25.2). A vehicle with ID 46 is 44.8 meters away at (17.6, 41.2). A vehicle with ID 39 is 51.0 meters away at (22.1, 46.0). A pedestrian with ID 42 is 54.0 meters away at (30.4, 44.6).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [1.57637   1.9572154] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.4861107  5.9433327], 6.890295505523682 meters away.)"}
{"file_name": "images/scenario_604_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, -8.6) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 8.8 meters away at (-5.9, 6.6). A vehicle with ID 26 is 13.1 meters away at (1.9, 13.0). A vehicle with ID 55 is 25.8 meters away at (11.9, 22.9). A unknown object with ID 41 is 32.4 meters away at (-24.9, -20.7). A vehicle with ID 27 is 38.1 meters away at (-22.4, -30.8). A vehicle with ID 31 is 38.6 meters away at (-28.0, -26.6). A vehicle with ID 52 is 39.6 meters away at (19.6, 34.4). A vehicle with ID 53 is 41.6 meters away at (14.7, 38.9). A vehicle with ID 20 is 44.0 meters away at (-31.6, -30.7). A vehicle with ID 51 is 47.2 meters away at (19.0, 43.2).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [7.399036  7.9046507] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-5.8811836  6.6017036], 8.841425895690918 meters away.)"}
{"file_name": "images/scenario_604_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, -8.4) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 9.1 meters away at (8.4, 3.6). A vehicle with ID 31 is 16.3 meters away at (-13.2, -9.6). A vehicle with ID 20 is 21.7 meters away at (-16.8, -13.8). A unknown object with ID 30 is 25.1 meters away at (8.8, 23.5). A vehicle with ID 26 is 34.2 meters away at (16.7, 29.8). A vehicle with ID 14 is 43.2 meters away at (-31.5, -29.6). A unknown object with ID 36 is 47.5 meters away at (-36.8, 30.1). A vehicle with ID 55 is 48.0 meters away at (26.6, 39.9). A vehicle with ID 12 is 48.5 meters away at (-35.0, -33.6). A vehicle with ID 34 is 48.6 meters away at (-42.5, -23.5).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [8.549289 9.291052] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [8.402592  3.5997925], 9.141227722167969 meters away.)"}
{"file_name": "images/scenario_605_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 2.9) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 5.1 meters away at (1.8, -4.8). A vehicle with ID 48 is 7.6 meters away at (6.5, 3.9). A unknown object with ID 50 is 12.9 meters away at (-9.2, -9.0). A unknown object with ID 51 is 13.1 meters away at (-9.9, -8.5). A unknown object with ID 52 is 13.7 meters away at (-9.8, -9.5). A unknown object with ID 42 is 13.8 meters away at (6.9, -11.9). A pedestrian with ID 54 is 14.2 meters away at (-8.1, 11.6). A pedestrian with ID 56 is 14.9 meters away at (-8.5, 12.3). A pedestrian with ID 55 is 15.9 meters away at (-0.2, 15.9). A vehicle with ID 53 is 16.1 meters away at (-3.3, -15.8).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [2.042951  4.5300674] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [2.5026314 3.7752402] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.1294287 0.8383044] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [1.1487787  0.84588516] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.5265176 1.5216705] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [1.2768251 2.9184217] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.105044  23.168137 ]\n [ 7.8986564 26.133682 ]\n [18.31652   12.887705 ]\n [21.807821   7.6825686]\n [ 8.0133    26.365194 ]\n [22.020254   7.542146 ]\n [21.408936   6.0441756]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.7930337 -4.8103933], 5.133697986602783 meters away.)"}
{"file_name": "images/scenario_605_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 4.5) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 5.2 meters away at (4.7, -2.3). A pedestrian with ID 54 is 10.7 meters away at (-8.9, 5.8). A pedestrian with ID 56 is 11.3 meters away at (-9.2, 6.5). A pedestrian with ID 55 is 11.5 meters away at (-2.0, 11.4). A vehicle with ID 48 is 11.6 meters away at (11.1, 3.2). A vehicle with ID 53 is 15.9 meters away at (-3.0, -15.6). A vehicle with ID 57 is 19.9 meters away at (-19.8, -2.5). A unknown object with ID 50 is 20.5 meters away at (-12.3, -16.3). A unknown object with ID 51 is 20.5 meters away at (-13.0, -15.9). A unknown object with ID 58 is 20.8 meters away at (-20.0, 5.5).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [4.0358257 4.473046 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.2337612 0.6660167] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [1.2276692 0.6715798] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.66396564 1.393249  ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [5.0107327 2.4559796] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [2.0537767 4.5818543] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.105044  23.168137 ]\n [ 7.8986564 26.133682 ]\n [18.31652   12.887705 ]\n [21.807821   7.6825686]\n [ 8.0133    26.365194 ]\n [22.020254   7.542146 ]\n [21.408936   6.0441756]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.693378  -2.2951746], 5.224521160125732 meters away.)"}
{"file_name": "images/scenario_605_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 5.4) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 55 is 6.1 meters away at (-4.5, 4.1). A pedestrian with ID 54 is 10.8 meters away at (-10.4, -2.6). A pedestrian with ID 56 is 11.0 meters away at (-10.8, -2.2). A vehicle with ID 49 is 12.1 meters away at (10.3, -6.3). A vehicle with ID 61 is 14.6 meters away at (-11.1, 9.5). A vehicle with ID 53 is 15.8 meters away at (-2.3, -15.7). A vehicle with ID 1 is 18.9 meters away at (-7.9, 17.2). A vehicle with ID 48 is 19.3 meters away at (18.8, -4.4). A vehicle with ID 40 is 20.0 meters away at (-13.9, 14.3). A unknown object with ID 58 is 24.4 meters away at (-23.9, -4.6).", "velocity_description": "The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.71703297 1.4982297 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.0846452 0.8214977] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [1.1004039  0.84459066] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [5.9032836 1.9386191] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [2.827827 5.129951] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.8541183  -0.22873873] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 6.256584   -0.19342916] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 1.4260231  -0.53607494] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.105044  23.168137 ]\n [ 7.8986564 26.133682 ]\n [18.31652   12.887705 ]\n [21.807821   7.6825686]\n [ 8.0133    26.365194 ]\n [22.020254   7.542146 ]\n [21.408936   6.0441756]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.5154514  4.107996 ], 6.104500770568848 meters away.)"}
{"file_name": "images/scenario_605_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 6.0) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 8.4 meters away at (-5.3, 6.6). A pedestrian with ID 55 is 9.0 meters away at (-7.8, -4.5). A vehicle with ID 6 is 13.3 meters away at (10.7, 8.0). A vehicle with ID 61 is 15.8 meters away at (-15.7, -2.1). A vehicle with ID 40 is 16.4 meters away at (-16.3, 1.9). A pedestrian with ID 56 is 17.5 meters away at (-13.2, -11.5). A pedestrian with ID 54 is 17.6 meters away at (-12.8, -12.1). A vehicle with ID 53 is 18.5 meters away at (1.5, -18.4). A vehicle with ID 11 is 21.4 meters away at (20.6, -5.6). A vehicle with ID 49 is 25.9 meters away at (19.4, -17.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [2.2009857  0.60328686] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.46645758 1.480608  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.8504138 -4.096233 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 0.6019657  -0.23356876] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.9054519 1.1720842] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.88198733 1.16758   ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [5.5426326 3.2604787] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.9051913 -3.79772  ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 7.16654   -1.6241952] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.105044  23.168137 ]\n [ 7.8986564 26.133682 ]\n [16.661556  25.994192 ]\n [ 8.937177  29.61969  ]\n [16.778643  26.215078 ]\n [18.31652   12.887705 ]\n [21.807821   7.6825686]\n [ 8.0133    26.365194 ]\n [22.020254   7.542146 ]\n [16.881708  25.88306  ]\n [21.408936   6.0441756]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.2742624  6.560253 ], 8.417527198791504 meters away.)"}
{"file_name": "images/scenario_606_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.2) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A cyclist with ID 17 is 36.0 meters away at (-35.9, 2.0). A unknown object with ID 27 is 38.7 meters away at (-37.6, -9.3). A unknown object with ID 13 is 39.9 meters away at (-38.5, -10.3). A unknown object with ID 28 is 40.5 meters away at (-39.0, -10.8). A vehicle with ID 26 is 43.0 meters away at (-29.8, 31.0). A vehicle with ID 29 is 49.0 meters away at (49.0, 0.6). A vehicle with ID 25 is 50.4 meters away at (-35.7, 35.5). A vehicle with ID 30 is 52.1 meters away at (-40.6, -32.6). A cyclist with ID 32 is 57.5 meters away at (44.7, -36.1). A unknown object with ID 16 is 80.7 meters away at (29.7, -75.0).", "velocity_description": "The cyclist with ID 17 is traveling at a (x, y) velocity of [ 0.0811646  -0.01706611] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-3.7461672  2.6634858] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-35.94556     1.9849927], 36.000328063964844 meters away.)"}
{"file_name": "images/scenario_606_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 1.5) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A cyclist with ID 17 is 34.2 meters away at (-34.2, 0.5). A unknown object with ID 27 is 37.4 meters away at (-35.9, -10.7). A unknown object with ID 13 is 38.6 meters away at (-36.7, -11.9). A unknown object with ID 28 is 39.3 meters away at (-37.3, -12.4). A vehicle with ID 26 is 40.7 meters away at (-28.0, 29.5). A unknown object with ID 20 is 41.5 meters away at (-39.0, -13.9). A vehicle with ID 25 is 48.1 meters away at (-34.0, 34.0). A cyclist with ID 32 is 50.1 meters away at (39.1, -31.4). A vehicle with ID 29 is 50.8 meters away at (50.8, -1.0). A vehicle with ID 30 is 51.6 meters away at (-38.7, -34.1).", "velocity_description": "The cyclist with ID 17 is traveling at a (x, y) velocity of [ 0.06940676 -0.02701695] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-3.6201     3.0991228] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-34.234562    0.5174558], 34.23847198486328 meters away.)"}
{"file_name": "images/scenario_606_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 3.3) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A cyclist with ID 17 is 28.7 meters away at (-28.3, -4.4). A vehicle with ID 26 is 33.0 meters away at (-22.2, 24.5). A unknown object with ID 13 is 35.1 meters away at (-30.8, -16.9). A unknown object with ID 20 is 38.1 meters away at (-33.1, -18.9). A unknown object with ID 14 is 40.5 meters away at (-33.8, -22.2). A vehicle with ID 25 is 40.5 meters away at (-28.2, 29.1). A cyclist with ID 32 is 48.4 meters away at (37.7, -30.3). A vehicle with ID 30 is 50.6 meters away at (-32.7, -38.7). A vehicle with ID 29 is 57.1 meters away at (56.8, -5.8).", "velocity_description": "The cyclist with ID 17 is traveling at a (x, y) velocity of [0.02212143 0.01065104] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-3.496852  2.937695] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-28.325888  -4.420265], 28.668704986572266 meters away.)"}
{"file_name": "images/scenario_606_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 5.0) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 20.5 meters away at (-12.5, 16.3). A vehicle with ID 25 is 28.0 meters away at (-18.5, 21.0). A cyclist with ID 32 is 52.3 meters away at (40.6, -32.9). A vehicle with ID 30 is 52.3 meters away at (-23.1, -46.9). A vehicle with ID 22 is 53.5 meters away at (-33.0, 42.0). A unknown object with ID 24 is 67.5 meters away at (-64.9, 18.4). A vehicle with ID 29 is 67.8 meters away at (66.3, -14.2).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-3.3573012  2.7469833] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.4671    16.283005], 20.50767707824707 meters away.)"}
{"file_name": "images/scenario_607_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -0.8) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 8.1 meters away at (-3.5, 7.3). A vehicle with ID 20 is 8.5 meters away at (-8.2, 2.5). A pedestrian with ID 69 is 8.9 meters away at (1.9, 8.7). A vehicle with ID 71 is 14.2 meters away at (-1.3, -14.1). A vehicle with ID 72 is 16.6 meters away at (-16.4, 2.2). A vehicle with ID 75 is 19.7 meters away at (-18.7, 6.1). A vehicle with ID 47 is 21.1 meters away at (17.2, 12.3). A vehicle with ID 77 is 21.2 meters away at (3.3, -20.9). A vehicle with ID 78 is 21.3 meters away at (15.1, 15.1). A vehicle with ID 74 is 22.3 meters away at (-18.7, 12.1).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.0642768  -0.38266915] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-1.3421291  0.399288 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 1.1459984 -0.3852775] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-1.8443033 -3.7663598] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(245.8950653076172, -68.81968688964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.5383556  7.270213 ], 8.085539817810059 meters away.)"}
{"file_name": "images/scenario_607_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -1.6) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 11.6 meters away at (-11.0, 3.7). A vehicle with ID 47 is 12.7 meters away at (7.9, 9.9). A pedestrian with ID 69 is 13.7 meters away at (-6.8, 11.9). A vehicle with ID 67 is 14.0 meters away at (-10.1, 9.6). A vehicle with ID 71 is 14.1 meters away at (-7.8, -11.8). A pedestrian with ID 27 is 15.2 meters away at (4.5, 14.5). A pedestrian with ID 26 is 16.8 meters away at (16.8, 0.3). A vehicle with ID 77 is 18.9 meters away at (-3.3, -18.6). A vehicle with ID 78 is 19.5 meters away at (8.6, 17.5). A vehicle with ID 72 is 23.5 meters away at (-23.0, 4.6).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [ 2.2703605 -0.8256665] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-1.1527311 -1.8396113] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-1.0539738   0.24839377] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.3899199 -1.5523034] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.6504679 1.3785883] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(245.8950653076172, -68.81968688964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.980599    3.6708736], 11.577947616577148 meters away.)"}
{"file_name": "images/scenario_607_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -1.9) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 10.4 meters away at (8.3, 6.2). A vehicle with ID 47 is 11.3 meters away at (-5.9, 9.6). A vehicle with ID 61 is 13.5 meters away at (11.6, -6.9). A pedestrian with ID 27 is 16.4 meters away at (-6.2, 15.2). A vehicle with ID 20 is 17.7 meters away at (-16.8, 5.6). A vehicle with ID 64 is 19.1 meters away at (17.1, -8.7). A vehicle with ID 71 is 19.8 meters away at (-17.9, -8.4). A unknown object with ID 86 is 19.8 meters away at (19.7, 1.6). A vehicle with ID 77 is 20.3 meters away at (-13.3, -15.3). A vehicle with ID 78 is 20.8 meters away at (-1.4, 20.7).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [1.2151623 0.6246907] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-2.9281666 -1.5607568] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.25643697 -1.4564625 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.8718818 -0.7049561] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(245.8950653076172, -68.81968688964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [8.320896 6.170788], 10.35934066772461 meters away.)"}
{"file_name": "images/scenario_607_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -2.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 3.1 meters away at (0.3, -3.1). A vehicle with ID 64 is 7.4 meters away at (5.5, -4.8). A vehicle with ID 24 is 8.9 meters away at (8.9, 0.3). A unknown object with ID 86 is 9.9 meters away at (8.3, 5.4). A pedestrian with ID 26 is 10.3 meters away at (-0.5, 10.3). A vehicle with ID 65 is 10.5 meters away at (10.1, 2.9). A vehicle with ID 53 is 12.0 meters away at (-5.7, -10.6). A vehicle with ID 63 is 12.6 meters away at (10.8, -6.5). A unknown object with ID 31 is 15.3 meters away at (10.4, -11.2). A vehicle with ID 66 is 16.6 meters away at (16.5, 1.0).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.8013253  1.5692246] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.2851336  -0.39389884] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(245.8950653076172, -68.81968688964844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.28841782 -3.0537825 ], 3.0673723220825195 meters away.)"}
{"file_name": "images/scenario_608_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 13.1 meters away at (9.9, -8.5). A pedestrian with ID 45 is 35.1 meters away at (-29.3, -19.3). A pedestrian with ID 46 is 35.5 meters away at (-29.2, -20.2). A unknown object with ID 25 is 37.4 meters away at (-17.7, -32.9). A pedestrian with ID 23 is 38.1 meters away at (-29.7, -23.8). A unknown object with ID 50 is 39.1 meters away at (-38.3, -7.7). A vehicle with ID 49 is 39.2 meters away at (-32.6, -21.7). A unknown object with ID 51 is 40.6 meters away at (-39.5, -9.4). A pedestrian with ID 47 is 41.2 meters away at (26.6, -31.4). A pedestrian with ID 48 is 41.3 meters away at (25.9, -32.1).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-3.6976335  3.2304115] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.7509891   0.29325843] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.7487696   0.28885537] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.05584376 -0.07355791] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.63874763  0.68566006] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.58942217  0.7373633 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.916905 -8.521662], 13.075310707092285 meters away.)"}
{"file_name": "images/scenario_608_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 4.0) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 13.2 meters away at (10.0, -8.6). A pedestrian with ID 45 is 34.1 meters away at (-24.3, -23.9). A unknown object with ID 50 is 34.3 meters away at (-31.4, -13.8). A pedestrian with ID 46 is 34.8 meters away at (-24.3, -25.0). A unknown object with ID 51 is 36.0 meters away at (-32.5, -15.4). A pedestrian with ID 53 is 36.9 meters away at (-23.9, 28.1). A pedestrian with ID 23 is 37.5 meters away at (-22.8, -29.8). A vehicle with ID 43 is 37.7 meters away at (-25.5, 27.7). A vehicle with ID 49 is 37.9 meters away at (-26.0, -27.6). A unknown object with ID 25 is 40.4 meters away at (-10.8, -38.9).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.8367689  2.458184 ] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.0059022   0.70112526] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.0023104   0.69909203] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.00589966 -0.00392221] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.11216246 -0.09189004] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.032181 -8.628482], 13.232359886169434 meters away.)"}
{"file_name": "images/scenario_608_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.3) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 22.5 meters away at (17.0, -14.8). A vehicle with ID 43 is 23.6 meters away at (-14.8, 18.4). A unknown object with ID 50 is 30.9 meters away at (-20.5, -23.1). A unknown object with ID 51 is 33.0 meters away at (-21.8, -24.8). A pedestrian with ID 45 is 35.5 meters away at (-15.5, -31.9). A pedestrian with ID 46 is 36.5 meters away at (-15.3, -33.1). A pedestrian with ID 14 is 39.8 meters away at (-34.1, 20.5). A vehicle with ID 49 is 39.9 meters away at (-15.3, -36.9). A pedestrian with ID 15 is 40.1 meters away at (-34.8, 19.9). A vehicle with ID 34 is 51.3 meters away at (-51.2, -1.9).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.8098191  1.5350769] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.8241535   0.75563633] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.814304  0.622262] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.94423205  0.80483454] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.95167     0.79734594] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 16.988724  -14.7752075], 22.51496124267578 meters away.)"}
{"file_name": "images/scenario_608_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 6.0) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 6.8 meters away at (-1.4, 6.6). A pedestrian with ID 14 is 24.9 meters away at (-22.6, 10.5). A pedestrian with ID 15 is 25.2 meters away at (-23.2, 9.8). A vehicle with ID 9 is 32.1 meters away at (24.2, -21.1). A vehicle with ID 34 is 40.0 meters away at (-37.6, -13.8). A vehicle with ID 11 is 40.4 meters away at (-37.9, -13.9). A pedestrian with ID 45 is 42.9 meters away at (-4.0, -42.7). A pedestrian with ID 46 is 44.1 meters away at (-3.6, -44.0). A vehicle with ID 49 is 48.5 meters away at (-2.0, -48.4). A unknown object with ID 40 is 53.5 meters away at (-52.9, 8.0).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0385334  0.8984146] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.0559306   0.85232586] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-4.7035375  4.0898714] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.318646    0.17227347] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.20984    0.3240648] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.4140053  6.642309 ], 6.791147232055664 meters away.)"}
{"file_name": "images/scenario_609_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.4) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 7.2 meters away at (-5.3, 4.8). A pedestrian with ID 5 is 8.5 meters away at (2.9, 7.9). A vehicle with ID 45 is 8.5 meters away at (-8.5, -0.3). A vehicle with ID 46 is 8.9 meters away at (-4.4, 7.8). A pedestrian with ID 58 is 11.3 meters away at (-11.1, -2.2). A pedestrian with ID 60 is 11.6 meters away at (-11.2, -2.9). A vehicle with ID 51 is 13.7 meters away at (-13.7, 1.3). A vehicle with ID 10 is 16.4 meters away at (15.5, 5.3). A vehicle with ID 2 is 17.4 meters away at (5.4, -16.6). A vehicle with ID 50 is 18.9 meters away at (-18.6, 3.0).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [-6.5138273  1.7406868] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.2941664  -0.54830927] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.9198227   0.24644196] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.90980715  0.25909343] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.27130592 -0.80460614] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(109.70072937011719, 51.890289306640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.3320236  4.8075094], 7.179318904876709 meters away.)"}
{"file_name": "images/scenario_609_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A pedestrian with ID 5 is 8.7 meters away at (4.7, 7.3). A vehicle with ID 45 is 9.2 meters away at (-9.2, -0.0). A vehicle with ID 46 is 9.5 meters away at (-5.1, 8.0). A pedestrian with ID 58 is 13.8 meters away at (-13.8, -1.2). A pedestrian with ID 60 is 13.9 meters away at (-13.8, -2.0). A vehicle with ID 51 is 14.5 meters away at (-14.4, 1.5). A vehicle with ID 10 is 15.4 meters away at (14.6, 5.0). A vehicle with ID 2 is 17.0 meters away at (4.7, -16.3). A vehicle with ID 8 is 19.4 meters away at (14.2, 13.1). A vehicle with ID 50 is 19.7 meters away at (-19.4, 3.3).", "velocity_description": "The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.2607944 -0.2753542] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.0727662   0.34774223] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.0027596   0.37147465] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(109.70072937011719, 51.890289306640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [4.72422  7.324089], 8.715534210205078 meters away.)"}
{"file_name": "images/scenario_609_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 9.3 meters away at (-9.3, -0.0). A vehicle with ID 46 is 9.6 meters away at (-5.2, 8.0). A pedestrian with ID 5 is 10.3 meters away at (7.6, 7.0). A vehicle with ID 10 is 14.3 meters away at (14.0, 2.5). A vehicle with ID 51 is 14.6 meters away at (-14.5, 1.6). A pedestrian with ID 58 is 15.8 meters away at (-15.8, -0.4). A pedestrian with ID 60 is 15.9 meters away at (-15.9, -1.2). A vehicle with ID 2 is 16.9 meters away at (4.6, -16.3). A vehicle with ID 8 is 19.3 meters away at (14.1, 13.2). A vehicle with ID 50 is 19.7 meters away at (-19.5, 3.3).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.4086456 -0.2735251] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 0.01668742 -2.5024974 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.0521021   0.32869452] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.100151  0.332482] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(109.70072937011719, 51.890289306640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.2731705e+00 -6.9084167e-03], 9.273173332214355 meters away.)"}
{"file_name": "images/scenario_609_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.5) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 10.4 meters away at (-10.4, 0.3). A vehicle with ID 46 is 10.5 meters away at (-6.3, 8.4). A pedestrian with ID 5 is 11.5 meters away at (9.4, 6.7). A vehicle with ID 51 is 15.7 meters away at (-15.6, 1.9). A vehicle with ID 10 is 15.8 meters away at (15.3, -3.8). A vehicle with ID 2 is 16.3 meters away at (3.5, -15.9). A vehicle with ID 8 is 18.8 meters away at (13.1, 13.5). A pedestrian with ID 58 is 18.9 meters away at (-18.9, 0.5). A pedestrian with ID 60 is 19.1 meters away at (-19.1, -0.2). A unknown object with ID 62 is 19.8 meters away at (14.9, -13.0).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.4073617  -0.38115597] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.2666812 -4.02838  ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.1527957   0.29643217] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.1496788   0.30776948] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(109.70072937011719, 51.890289306640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.360426    0.3141744], 10.365188598632812 meters away.)"}
{"file_name": "images/scenario_610_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 3.9) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 91 is 9.8 meters away at (9.5, -2.4). A pedestrian with ID 92 is 22.4 meters away at (21.3, -6.8). A vehicle with ID 99 is 24.7 meters away at (-20.8, 13.3). A vehicle with ID 15 is 27.7 meters away at (-21.1, 18.0). A pedestrian with ID 100 is 42.3 meters away at (-30.0, 29.8). A vehicle with ID 44 is 42.7 meters away at (-29.2, 31.1). A vehicle with ID 36 is 45.0 meters away at (34.8, -28.5). A vehicle with ID 101 is 47.1 meters away at (-46.9, 5.0). A vehicle with ID 43 is 49.4 meters away at (-34.6, 35.2). A vehicle with ID 95 is 49.5 meters away at (-37.4, 32.4).", "velocity_description": "The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-1.4692833   0.61578757] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [ 7.2326455 -6.017459 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.843063  5.110149] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [ 0.4471942 -0.3218365] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.621491   1.3168842] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [-6.018789   5.1953783] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 40.839558 -34.227882]]", "nav_goal": "(-137.210205078125, 201.91172790527344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 9.548202  -2.3879695], 9.842284202575684 meters away.)"}
{"file_name": "images/scenario_610_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.5) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 99 is 7.8 meters away at (3.0, -7.2). A vehicle with ID 91 is 22.3 meters away at (19.5, -11.0). A vehicle with ID 44 is 29.6 meters away at (-19.3, 22.4). A pedestrian with ID 100 is 29.8 meters away at (-20.1, 22.0). A vehicle with ID 15 is 30.4 meters away at (-23.1, 19.8). A pedestrian with ID 92 is 31.6 meters away at (28.4, -13.8). A vehicle with ID 43 is 36.3 meters away at (-24.7, 26.6). A vehicle with ID 101 is 37.1 meters away at (-36.9, -3.6). A vehicle with ID 102 is 41.1 meters away at (-40.5, -7.1). A vehicle with ID 103 is 43.0 meters away at (-41.9, -9.6).", "velocity_description": "The vehicle with ID 99 is traveling at a (x, y) velocity of [ 6.5169463 -5.8066144] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.04922875  0.11046267] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.900216  5.047684] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-1.3742615   0.95474297] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-64.35596   59.151833]]", "nav_goal": "(-137.210205078125, 201.91172790527344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.9918022 -7.230201 ], 7.8247480392456055 meters away.)"}
{"file_name": "images/scenario_610_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 5.0) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 15.1 meters away at (-8.1, 12.7). A vehicle with ID 43 is 21.6 meters away at (-13.4, 16.9). A unknown object with ID 67 is 28.5 meters away at (11.4, -26.2). A vehicle with ID 101 is 28.9 meters away at (-25.7, -13.3). A pedestrian with ID 110 is 30.4 meters away at (-29.5, 7.3). A vehicle with ID 15 is 30.4 meters away at (-23.0, 19.9). A vehicle with ID 104 is 33.2 meters away at (-33.2, 1.2). A vehicle with ID 102 is 33.8 meters away at (-29.3, -16.8). A pedestrian with ID 42 is 35.0 meters away at (-32.9, 12.0). A vehicle with ID 105 is 35.0 meters away at (-35.0, -0.9).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.92185175 -0.93716395] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.3046274  4.5391116] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.8347156  0.5896597] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-73.84166   59.640507]\n [-76.2064    53.008465]\n [-64.35596   59.151833]]", "nav_goal": "(-137.210205078125, 201.91172790527344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.096203 12.74659 ], 15.100464820861816 meters away.)"}
{"file_name": "images/scenario_610_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.9) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 4.4 meters away at (3.4, 2.8). A vehicle with ID 43 is 7.2 meters away at (-1.8, 6.9). A pedestrian with ID 110 is 16.3 meters away at (-15.6, -4.7). A pedestrian with ID 42 is 22.9 meters away at (-22.7, 3.2). A vehicle with ID 104 is 23.2 meters away at (-21.5, -8.9). A vehicle with ID 15 is 25.6 meters away at (-19.3, 16.9). A vehicle with ID 105 is 25.8 meters away at (-23.3, -10.9). A vehicle with ID 101 is 27.3 meters away at (-14.1, -23.3). A vehicle with ID 107 is 31.0 meters away at (-26.8, -15.6). A vehicle with ID 102 is 32.1 meters away at (-17.8, -26.8).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.97472894 -0.98484147] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.757812    0.70430714] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.3006647  1.9722304] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-73.84166   59.640507]\n [-68.519325  63.10065 ]\n [-76.2064    53.008465]\n [-69.906166  64.813354]\n [-68.58796   63.464863]]", "nav_goal": "(-137.210205078125, 201.91172790527344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.371235  2.7950745], 4.379230976104736 meters away.)"}
{"file_name": "images/scenario_611_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 3.4) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A pedestrian with ID 81 is 9.4 meters away at (1.8, 9.3). A vehicle with ID 84 is 9.5 meters away at (-6.4, 7.1). A vehicle with ID 78 is 10.7 meters away at (-2.6, -10.4). A vehicle with ID 83 is 12.0 meters away at (-8.6, -8.3). A pedestrian with ID 88 is 13.6 meters away at (-6.3, 12.1). A pedestrian with ID 90 is 14.2 meters away at (-6.2, 12.8). A vehicle with ID 89 is 15.7 meters away at (-14.5, -6.2). A pedestrian with ID 76 is 17.6 meters away at (3.8, -17.2). A vehicle with ID 95 is 18.4 meters away at (-15.3, 10.2). A vehicle with ID 96 is 21.3 meters away at (-21.0, -3.9).", "velocity_description": "The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.9102677 -0.5090932] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.68892753 -0.32110658] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.7670875  -0.33644596] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [ 0.02283624 -0.0096171 ] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.3988284   4.15603   ]\n [-0.08647307  5.3201942 ]\n [ 1.0506654   4.3208685 ]\n [ 2.3789713   3.6757717 ]]", "nav_goal": "(4.22543478012085, 101.62875366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [1.7895317 9.268759 ], 9.439931869506836 meters away.)"}
{"file_name": "images/scenario_611_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.1, 3.5) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 95 is 5.1 meters away at (4.2, 3.0). A vehicle with ID 101 is 5.3 meters away at (-1.4, 5.1). A vehicle with ID 96 is 11.2 meters away at (-1.4, -11.1). A vehicle with ID 104 is 11.5 meters away at (-8.6, 7.6). A vehicle with ID 69 is 12.1 meters away at (-8.4, -8.7). A vehicle with ID 84 is 13.2 meters away at (13.2, -0.1). A vehicle with ID 89 is 14.4 meters away at (5.2, -13.4). A vehicle with ID 70 is 15.1 meters away at (-13.6, -6.7). A pedestrian with ID 88 is 15.4 meters away at (14.8, 4.2). A pedestrian with ID 90 is 15.8 meters away at (15.0, 5.1).", "velocity_description": "The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.6811316  -0.32566088] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.7525963  -0.32264206] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.3988284   4.15603   ]\n [-0.08647307  5.3201942 ]\n [ 1.0506654   4.3208685 ]\n [ 2.3789713   3.6757717 ]]", "nav_goal": "(4.22543478012085, 101.62875366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.200405  2.9679775], 5.143179416656494 meters away.)"}
{"file_name": "images/scenario_611_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.6, 3.1) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 116 is 5.3 meters away at (-1.4, 5.2). A vehicle with ID 28 is 9.4 meters away at (-6.2, 7.1). A vehicle with ID 104 is 10.6 meters away at (10.6, 1.0). A vehicle with ID 71 is 11.0 meters away at (-0.9, -11.0). A vehicle with ID 72 is 11.2 meters away at (-7.2, -8.6). A vehicle with ID 70 is 14.6 meters away at (5.9, -13.3). A vehicle with ID 73 is 15.5 meters away at (-14.3, -6.1). A vehicle with ID 101 is 18.0 meters away at (17.9, -1.5). A vehicle with ID 69 is 18.7 meters away at (10.9, -15.2). A vehicle with ID 17 is 19.0 meters away at (-15.9, 10.4).", "velocity_description": "The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.3988284e+00  4.1560302e+00]\n [-1.1974585e+02  3.5392063e+01]\n [-1.1413299e+02  4.4693481e+01]\n [-1.1432998e+02  4.4735004e+01]\n [-8.6473070e-02  5.3201942e+00]\n [-1.2092473e+02  3.3522461e+01]\n [ 1.0506654e+00  4.3208685e+00]\n [ 2.3789713e+00  3.6757717e+00]]", "nav_goal": "(4.22543478012085, 101.62875366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.422699   5.1562862], 5.348958969116211 meters away.)"}
{"file_name": "images/scenario_611_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, 3.4) m/s. Its current heading (yaw) is 2.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 4.6 meters away at (2.7, 3.7). A vehicle with ID 24 is 10.7 meters away at (-2.0, -10.5). A vehicle with ID 28 is 12.5 meters away at (12.5, 0.4). A vehicle with ID 73 is 13.4 meters away at (4.3, -12.7). A vehicle with ID 116 is 17.3 meters away at (17.3, -1.5). A vehicle with ID 72 is 19.1 meters away at (11.5, -15.3). A vehicle with ID 11 is 20.2 meters away at (-19.7, -4.2). A vehicle with ID 71 is 25.1 meters away at (17.8, -17.6). A vehicle with ID 104 is 29.9 meters away at (29.4, -5.7). A vehicle with ID 70 is 31.7 meters away at (24.6, -19.9).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-119.74585    35.392063]\n [-114.13299    44.69348 ]\n [-114.32998    44.735004]\n [-120.92473    33.52246 ]]", "nav_goal": "(4.22543478012085, 101.62875366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.663803  3.7308578], 4.584228038787842 meters away.)"}
{"file_name": "images/scenario_612_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -0.3) m/s. Its current heading (yaw) is -0.14 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 39.4 meters away at (20.7, 33.6). A pedestrian with ID 9 is 43.8 meters away at (37.8, -22.2).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.06650674 1.5352372 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.24393184 1.0449224 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-30.718517303466797, -38.707462310791016)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [20.650324 33.59625 ], 39.43531036376953 meters away.)"}
{"file_name": "images/scenario_612_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 1.3) m/s. Its current heading (yaw) is 0.31 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 36.7 meters away at (30.7, -20.0). A pedestrian with ID 7 is 39.0 meters away at (15.3, 35.9).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.20237634 1.3124108 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.984928  1.0612031] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-30.718517303466797, -38.707462310791016)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 30.694513 -20.0401  ], 36.65731430053711 meters away.)"}
{"file_name": "images/scenario_612_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 4.4) m/s. Its current heading (yaw) is 0.95 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 26.7 meters away at (-6.1, 26.0). A pedestrian with ID 9 is 33.4 meters away at (23.8, -23.4). A pedestrian with ID 7 is 33.4 meters away at (8.3, 32.4). A vehicle with ID 1 is 67.1 meters away at (54.9, -38.6).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.66457003 1.5639701 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.24185684  1.3892759 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.823657  3.153749] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-30.718517303466797, -38.707462310791016)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-6.0559616 25.991327 ], 26.68752098083496 meters away.)"}
{"file_name": "images/scenario_612_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 3.5) m/s. Its current heading (yaw) is 1.05 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 27.0 meters away at (3.0, 26.9). A pedestrian with ID 9 is 35.2 meters away at (20.1, -28.9). A vehicle with ID 1 is 58.3 meters away at (41.1, -41.4).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.11981085  1.4903429 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.60998034 1.3940202 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.955346   2.5190668] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-30.718517303466797, -38.707462310791016)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.0250263 26.860159 ], 27.02996253967285 meters away.)"}
{"file_name": "images/scenario_613_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -2.6) m/s. Its current heading (yaw) is -0.92 ", "actor_description": " The most relevant actors are: A pedestrian with ID 87 is 11.6 meters away at (-0.4, 11.5). A vehicle with ID 80 is 11.9 meters away at (-4.3, -11.1). A pedestrian with ID 88 is 12.5 meters away at (-1.4, 12.4). A vehicle with ID 77 is 17.5 meters away at (-8.1, -15.5). A vehicle with ID 89 is 19.0 meters away at (2.3, -18.8). A pedestrian with ID 91 is 20.2 meters away at (14.7, -13.8). A vehicle with ID 86 is 22.6 meters away at (-0.9, -22.5). A pedestrian with ID 93 is 24.3 meters away at (16.5, -17.9). A vehicle with ID 75 is 24.6 meters away at (-12.6, -21.0). A pedestrian with ID 96 is 25.4 meters away at (17.8, -18.1).", "velocity_description": "The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.00496183 -0.00326351] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.00758018 -0.01985752] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.02837536 0.00998371] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [ 0.32173705 -0.11192497] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [0.06197304 0.01502894] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-232.14305114746094, -25.90275764465332)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-0.40111637 11.546339  ], 11.553303718566895 meters away.)"}
{"file_name": "images/scenario_613_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -3.7) m/s. Its current heading (yaw) is -1.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 7.6 meters away at (-6.0, -4.6). A unknown object with ID 47 is 11.0 meters away at (4.7, -9.9). A vehicle with ID 89 is 12.3 meters away at (0.6, -12.3). A vehicle with ID 77 is 13.4 meters away at (-9.8, -9.1). A pedestrian with ID 91 is 14.8 meters away at (12.9, -7.3). A vehicle with ID 86 is 16.2 meters away at (-2.6, -16.0). A pedestrian with ID 87 is 18.1 meters away at (-2.2, 18.0). A pedestrian with ID 93 is 19.0 meters away at (15.1, -11.6). A pedestrian with ID 88 is 19.2 meters away at (-3.3, 18.9). A pedestrian with ID 69 is 19.4 meters away at (15.0, -12.3).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.00791807 -0.00183886] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.00514887 -0.00945249] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.01141706  0.07315358] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.01693334 -0.00141313] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.25061122  0.15601182] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-232.14305114746094, -25.90275764465332)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.983693 -4.628419], 7.564842700958252 meters away.)"}
{"file_name": "images/scenario_613_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -3.9) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 3.2 meters away at (-1.7, 2.7). A vehicle with ID 77 is 5.8 meters away at (-5.5, -1.7). A vehicle with ID 89 is 6.9 meters away at (4.8, -5.0). A vehicle with ID 86 is 8.7 meters away at (1.6, -8.6). A vehicle with ID 84 is 9.1 meters away at (-2.8, -8.7). A vehicle with ID 75 is 12.2 meters away at (-10.1, -6.9). A vehicle with ID 85 is 13.2 meters away at (-2.0, -13.0). A pedestrian with ID 94 is 14.7 meters away at (1.9, -14.6). A pedestrian with ID 91 is 17.2 meters away at (17.2, 0.1). A vehicle with ID 18 is 18.6 meters away at (-14.1, -12.1).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [3.538962  4.2217016] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [0.92526203 1.1388046 ] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.00949887 0.00429514] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-232.14305114746094, -25.90275764465332)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.7399538  2.7055445], 3.2167391777038574 meters away.)"}
{"file_name": "images/scenario_613_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -4.9) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 3.6 meters away at (-3.0, 1.9). A vehicle with ID 85 is 6.5 meters away at (5.0, -4.1). A vehicle with ID 77 is 7.3 meters away at (1.4, 7.1). A vehicle with ID 18 is 7.8 meters away at (-7.1, -3.2). A vehicle with ID 86 is 8.6 meters away at (8.6, 0.3). A vehicle with ID 83 is 9.2 meters away at (0.9, -9.2). A pedestrian with ID 94 is 11.5 meters away at (11.0, -3.3). A pedestrian with ID 100 is 12.2 meters away at (7.4, -9.7). A pedestrian with ID 90 is 12.2 meters away at (4.5, -11.3). A vehicle with ID 89 is 12.4 meters away at (11.8, 4.0).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [0.89435065 1.1167464 ] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [0.6328139  0.71384406] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.8110477 1.107674 ] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-232.14305114746094, -25.90275764465332)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.04955    1.8981953], 3.5920608043670654 meters away.)"}
{"file_name": "images/scenario_614_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -2.3) m/s. Its current heading (yaw) is -0.52 ", "actor_description": " The most relevant actors are: A cyclist with ID 48 is 33.6 meters away at (15.5, 29.8). A vehicle with ID 50 is 37.1 meters away at (23.7, -28.6). A unknown object with ID 49 is 40.9 meters away at (24.2, 33.0). A vehicle with ID 47 is 41.5 meters away at (14.3, 39.0). A vehicle with ID 46 is 49.3 meters away at (37.9, -31.4). A unknown object with ID 20 is 54.1 meters away at (-16.6, 51.5). A vehicle with ID 51 is 62.4 meters away at (-31.3, 53.9). A vehicle with ID 52 is 66.0 meters away at (-58.8, 30.0). A pedestrian with ID 53 is 71.9 meters away at (-60.2, 39.2).", "velocity_description": "The cyclist with ID 48 is traveling at a (x, y) velocity of [-7.0853276  4.097155 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-3.1478293  -0.42355907] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 4.8334527 -1.5141844] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.8492646  -0.14486769] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(61.55690383911133, -37.94765090942383)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [15.511243 29.79872 ], 33.59408187866211 meters away.)"}
{"file_name": "images/scenario_614_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.1) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 30.6 meters away at (17.6, -25.0). A unknown object with ID 19 is 37.6 meters away at (23.9, 29.0). A unknown object with ID 49 is 40.8 meters away at (18.0, 36.6). A cyclist with ID 48 is 40.9 meters away at (-4.0, 40.7). A vehicle with ID 42 is 41.1 meters away at (14.6, -38.4). A vehicle with ID 46 is 42.2 meters away at (31.8, -27.8). A vehicle with ID 47 is 43.3 meters away at (8.1, 42.5). A vehicle with ID 45 is 46.3 meters away at (14.3, -44.0). A vehicle with ID 52 is 60.4 meters away at (-53.1, 28.8). A vehicle with ID 51 is 70.0 meters away at (-43.2, 55.0).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [-6.4222627  3.550057 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.1357646 -3.08945  ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.9562654 -2.1587167] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(61.55690383911133, -37.94765090942383)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 17.556952 -25.013618], 30.56022834777832 meters away.)"}
{"file_name": "images/scenario_614_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -0.4) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 28.5 meters away at (15.6, -23.8). A vehicle with ID 42 is 39.4 meters away at (12.8, -37.3). A vehicle with ID 46 is 39.9 meters away at (29.8, -26.6). A unknown object with ID 49 is 41.0 meters away at (16.1, 37.7). A vehicle with ID 39 is 43.2 meters away at (9.4, 42.2). A vehicle with ID 47 is 44.0 meters away at (6.1, 43.6). A vehicle with ID 45 is 44.5 meters away at (12.3, -42.8). A vehicle with ID 52 is 48.3 meters away at (-42.3, 23.3). A cyclist with ID 48 is 52.1 meters away at (-18.9, 48.6). A unknown object with ID 15 is 61.4 meters away at (-24.7, 56.2).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.176564  -3.5060508] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [-6.557694   3.3631034] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(61.55690383911133, -37.94765090942383)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 15.608072 -23.833403], 28.489349365234375 meters away.)"}
{"file_name": "images/scenario_614_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -2.1) m/s. Its current heading (yaw) is -0.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 23.9 meters away at (11.1, -21.2). A vehicle with ID 46 is 34.8 meters away at (25.3, -23.9). A vehicle with ID 42 is 35.5 meters away at (8.2, -34.6). A unknown object with ID 35 is 37.2 meters away at (17.6, 32.8). A vehicle with ID 52 is 40.2 meters away at (-35.3, 19.3). A vehicle with ID 45 is 40.9 meters away at (7.8, -40.1). A unknown object with ID 49 is 42.0 meters away at (11.5, 40.4). A vehicle with ID 47 is 46.2 meters away at (1.6, 46.2). A cyclist with ID 48 is 67.6 meters away at (-35.8, 57.3). A vehicle with ID 51 is 74.2 meters away at (-55.3, 49.4).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 5.0766387 -2.7329266] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [-5.840051   3.3799126] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-0.5901117 -1.5474174] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(61.55690383911133, -37.94765090942383)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 11.109814 -21.168076], 23.906387329101562 meters away.)"}
{"file_name": "images/scenario_615_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.2) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 4.6 meters away at (4.6, 0.3). A vehicle with ID 57 is 4.7 meters away at (0.2, -4.6). A vehicle with ID 47 is 9.4 meters away at (-0.8, 9.3). A vehicle with ID 17 is 10.7 meters away at (9.2, 5.5). A vehicle with ID 54 is 11.0 meters away at (-4.2, -10.1). A vehicle with ID 60 is 12.9 meters away at (-10.8, -7.1). A unknown object with ID 62 is 14.3 meters away at (-13.2, 5.3). A vehicle with ID 46 is 14.8 meters away at (3.5, 14.4). A vehicle with ID 50 is 17.6 meters away at (-8.8, -15.3). A vehicle with ID 70 is 19.3 meters away at (14.8, 12.3).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-3.2345521 -3.5781965] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.15318  -28.317968]\n [-29.540016 -26.60526 ]\n [-28.221811 -27.953758]]", "nav_goal": "(210.00823974609375, 89.9671401977539)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.5957336 0.3209772], 4.606928825378418 meters away.)"}
{"file_name": "images/scenario_615_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 5.6) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 4.7 meters away at (4.7, 0.5). A vehicle with ID 17 is 6.3 meters away at (-0.9, -6.2). A vehicle with ID 46 is 7.0 meters away at (-6.5, 2.6). A vehicle with ID 48 is 7.6 meters away at (-2.4, 7.2). A vehicle with ID 44 is 10.2 meters away at (8.9, 5.0). A vehicle with ID 47 is 11.2 meters away at (-10.9, -2.4). A vehicle with ID 51 is 12.1 meters away at (1.5, 12.0). A vehicle with ID 63 is 12.7 meters away at (-5.5, -11.4). A vehicle with ID 45 is 17.6 meters away at (13.8, 10.9). A vehicle with ID 52 is 18.6 meters away at (6.4, 17.5).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.15318  -28.317968]\n [-29.540016 -26.60526 ]\n [-28.221811 -27.953758]]", "nav_goal": "(210.00823974609375, 89.9671401977539)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.708599   0.54385376], 4.739902973175049 meters away.)"}
{"file_name": "images/scenario_615_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 4.7) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 5.1 meters away at (5.0, 0.7). A vehicle with ID 44 is 5.1 meters away at (0.1, -5.1). A vehicle with ID 51 is 7.4 meters away at (-7.1, 1.8). A vehicle with ID 52 is 7.7 meters away at (-2.3, 7.3). A vehicle with ID 70 is 10.4 meters away at (-4.0, -9.6). A vehicle with ID 48 is 11.4 meters away at (-11.0, -2.9). A vehicle with ID 53 is 12.3 meters away at (2.0, 12.1). A vehicle with ID 46 is 17.1 meters away at (-15.3, -7.6). A vehicle with ID 17 is 19.1 meters away at (-9.7, -16.4). A vehicle with ID 71 is 23.1 meters away at (17.3, 15.3).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [3.716084   0.57694906] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.15318  -28.317968]\n [-29.540016 -26.60526 ]\n [-28.221811 -27.953758]]", "nav_goal": "(210.00823974609375, 89.9671401977539)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.047409   0.74705124], 5.102394104003906 meters away.)"}
{"file_name": "images/scenario_615_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 2.7) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 6.5 meters away at (-4.6, 4.5). A vehicle with ID 45 is 6.9 meters away at (-1.5, -6.8). A vehicle with ID 52 is 8.9 meters away at (-8.9, -0.2). A vehicle with ID 44 is 14.2 meters away at (-6.4, -12.7). A vehicle with ID 51 is 14.9 meters away at (-13.7, -5.7). A vehicle with ID 71 is 19.4 meters away at (18.4, 6.1). A vehicle with ID 70 is 20.2 meters away at (-10.6, -17.2). A vehicle with ID 48 is 20.6 meters away at (-17.6, -10.6). A vehicle with ID 9 is 22.8 meters away at (19.5, 11.8). A vehicle with ID 46 is 26.6 meters away at (-21.9, -15.2).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [ 4.443613  -2.2514482] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.6070747  2.318843 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(210.00823974609375, 89.9671401977539)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.62442    4.5244102], 6.469586372375488 meters away.)"}
{"file_name": "images/scenario_616_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 10.2) m/s. Its current heading (yaw) is 2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 10.2 meters away at (0.5, -10.2). A vehicle with ID 12 is 24.4 meters away at (10.6, -22.0). A vehicle with ID 13 is 35.3 meters away at (17.8, -30.5). A vehicle with ID 15 is 59.5 meters away at (33.8, -49.0). A vehicle with ID 16 is 67.0 meters away at (38.9, -54.6). A vehicle with ID 4 is 75.6 meters away at (-45.0, 60.8).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-91.82935333251953, 245.3450469970703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  0.4691887 -10.1897955], 10.200592041015625 meters away.)"}
{"file_name": "images/scenario_616_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, 10.2) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 8.7 meters away at (8.3, 2.3). A vehicle with ID 14 is 35.1 meters away at (17.6, -30.4). A vehicle with ID 4 is 49.1 meters away at (-27.6, 40.6). A vehicle with ID 12 is 50.6 meters away at (27.8, -42.3). A vehicle with ID 13 is 61.6 meters away at (35.0, -50.7).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-91.82935333251953, 245.3450469970703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [8.343544  2.3195534], 8.659968376159668 meters away.)"}
{"file_name": "images/scenario_616_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 10.3) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 20.7 meters away at (16.4, -12.6). A vehicle with ID 4 is 22.7 meters away at (-10.8, 20.0). A pedestrian with ID 8 is 40.8 meters away at (-18.6, 36.3). A vehicle with ID 14 is 61.6 meters away at (34.5, -51.0). A vehicle with ID 12 is 77.2 meters away at (44.7, -62.9).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.02723866 -0.00454607] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-91.82935333251953, 245.3450469970703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 16.431194  -12.5690155], 20.687297821044922 meters away.)"}
{"file_name": "images/scenario_616_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 10.4) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 4.7 meters away at (4.7, -0.8). A pedestrian with ID 8 is 15.6 meters away at (-2.8, 15.4). A unknown object with ID 5 is 22.6 meters away at (-10.0, 20.3). A vehicle with ID 1 is 65.3 meters away at (-35.3, 55.0).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.121451   0.05951442] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-91.82935333251953, 245.3450469970703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.680954  -0.7635956], 4.74282693862915 meters away.)"}
{"file_name": "images/scenario_617_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.0) m/s. Its current heading (yaw) is -3.06 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 9.0 meters away at (-5.3, -7.3). A pedestrian with ID 13 is 12.2 meters away at (2.4, 12.0). A vehicle with ID 15 is 20.8 meters away at (-8.4, 19.1). A vehicle with ID 14 is 21.0 meters away at (-8.3, 19.3). A unknown object with ID 24 is 31.2 meters away at (-25.1, 18.5). A unknown object with ID 25 is 31.8 meters away at (-24.4, 20.3). A unknown object with ID 26 is 32.2 meters away at (-26.9, 17.8). A unknown object with ID 27 is 32.6 meters away at (-23.0, 23.0). A unknown object with ID 19 is 32.6 meters away at (-27.8, 16.9). A unknown object with ID 28 is 32.7 meters away at (-24.3, 22.0).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.1233411  0.08729418] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00094919 -0.00931611] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.648999    -0.66123575]\n [ -8.94761     16.42351   ]\n [-11.095867    17.210142  ]\n [-10.658798    -0.3767525 ]\n [-42.138073     0.25222573]\n [-41.888042     0.2535638 ]\n [-41.893784     0.37271306]\n [-41.894        0.37647155]\n [-41.890293     0.30685633]\n [-10.647703    -0.68996185]\n [-10.628658     0.05784097]\n [-10.647703    -0.6899626 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.300085  -7.2864695], 9.010190963745117 meters away.)"}
{"file_name": "images/scenario_617_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.06 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 12.2 meters away at (2.6, 11.9). A vehicle with ID 15 is 20.8 meters away at (-8.2, 19.1). A vehicle with ID 14 is 20.9 meters away at (-8.2, 19.3). A unknown object with ID 24 is 31.0 meters away at (-24.9, 18.5). A unknown object with ID 25 is 31.6 meters away at (-24.2, 20.3). A unknown object with ID 26 is 32.0 meters away at (-26.7, 17.8). A unknown object with ID 17 is 32.2 meters away at (-23.3, 22.2). A unknown object with ID 27 is 32.4 meters away at (-22.8, 23.0). A unknown object with ID 19 is 32.5 meters away at (-27.7, 17.0). A unknown object with ID 28 is 32.5 meters away at (-23.9, 22.0).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00998418 -0.00199268] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.648999    -0.66123575]\n [ -8.94761     16.42351   ]\n [-11.095867    17.210142  ]\n [-10.658798    -0.3767525 ]\n [-42.138073     0.25222573]\n [-41.888042     0.2535638 ]\n [-41.893784     0.37271306]\n [-41.894        0.37647155]\n [-41.890293     0.30685633]\n [-10.647703    -0.68996185]\n [-10.628658     0.05784097]\n [-10.647703    -0.6899626 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 2.603359 11.943122], 12.223569869995117 meters away.)"}
{"file_name": "images/scenario_617_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.06 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 12.2 meters away at (2.6, 11.9). A vehicle with ID 15 is 20.8 meters away at (-8.1, 19.1). A vehicle with ID 14 is 20.9 meters away at (-8.1, 19.2). A unknown object with ID 24 is 31.0 meters away at (-25.0, 18.5). A unknown object with ID 25 is 31.6 meters away at (-24.2, 20.3). A unknown object with ID 26 is 32.0 meters away at (-26.7, 17.8). A unknown object with ID 17 is 32.2 meters away at (-23.3, 22.2). A unknown object with ID 27 is 32.4 meters away at (-22.8, 23.1). A unknown object with ID 28 is 32.4 meters away at (-23.8, 22.0). A unknown object with ID 19 is 32.5 meters away at (-27.7, 17.0).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00077673  0.00109692] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.648999    -0.66123575]\n [ -8.94761     16.42351   ]\n [-11.095867    17.210142  ]\n [-10.658798    -0.3767525 ]\n [-42.138073     0.25222573]\n [-41.888042     0.2535638 ]\n [-41.893784     0.37271306]\n [-41.894        0.37647155]\n [-41.890293     0.30685633]\n [-10.647703    -0.68996185]\n [-10.628658     0.05784097]\n [-10.647703    -0.6899626 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 2.608575 11.94103 ], 12.222636222839355 meters away.)"}
{"file_name": "images/scenario_617_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.06 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 12.2 meters away at (2.6, 11.9). A vehicle with ID 15 is 20.6 meters away at (-8.3, 18.8). A unknown object with ID 24 is 31.0 meters away at (-24.9, 18.5). A unknown object with ID 25 is 31.6 meters away at (-24.2, 20.3). A unknown object with ID 26 is 32.0 meters away at (-26.7, 17.8). A unknown object with ID 17 is 32.2 meters away at (-23.3, 22.2). A unknown object with ID 27 is 32.4 meters away at (-22.8, 23.1). A unknown object with ID 28 is 32.4 meters away at (-23.8, 22.0). A unknown object with ID 19 is 32.5 meters away at (-27.7, 17.0). A unknown object with ID 29 is 33.5 meters away at (-22.2, 25.0).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00171661 -0.00052578] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.28965706 -0.61592174] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.648999    -0.66123575]\n [ -8.94761     16.42351   ]\n [-11.095867    17.210142  ]\n [-10.658798    -0.3767525 ]\n [-42.138073     0.25222573]\n [-41.888042     0.2535638 ]\n [-41.893784     0.37271306]\n [-41.894        0.37647155]\n [-41.890293     0.30685633]\n [-10.647703    -0.68996185]\n [-10.628658     0.05784097]\n [-10.647703    -0.6899626 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 2.62039  11.949784], 12.233715057373047 meters away.)"}
{"file_name": "images/scenario_618_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -6.0) m/s. Its current heading (yaw) is -1.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 51.7 meters away at (-13.4, -49.9). A pedestrian with ID 25 is 73.4 meters away at (-7.8, 73.0). A pedestrian with ID 24 is 74.0 meters away at (-4.9, 73.9). A pedestrian with ID 27 is 76.2 meters away at (-9.1, 75.6). A pedestrian with ID 28 is 76.6 meters away at (-7.6, 76.2). A pedestrian with ID 30 is 76.7 meters away at (-8.6, 76.3). A pedestrian with ID 31 is 77.0 meters away at (-9.0, 76.5).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.1029506 10.061947 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.17539306 -0.5614349 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.9609373  0.26232493] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.02179493 -0.012276  ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.05399048 -0.00495367] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.01406845 -0.10785252] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.22507071 -0.03327311] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-37.44975280761719, -289.7275695800781)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-13.356386 -49.926144], 51.68184280395508 meters away.)"}
{"file_name": "images/scenario_618_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -5.8) m/s. Its current heading (yaw) is -1.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 19.3 meters away at (-6.4, -18.2). A unknown object with ID 8 is 56.7 meters away at (-5.8, 56.4). A unknown object with ID 9 is 68.5 meters away at (-6.0, 68.3).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [2.4451642 9.661061 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-37.44975280761719, -289.7275695800781)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -6.370881 -18.226418], 19.307781219482422 meters away.)"}
{"file_name": "images/scenario_618_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -5.7) m/s. Its current heading (yaw) is -1.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 11.7 meters away at (-0.7, 11.6). A unknown object with ID 15 is 69.0 meters away at (-12.7, 67.8). A unknown object with ID 9 is 79.6 meters away at (-4.2, 79.5).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [1.4812148 9.060275 ] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-37.44975280761719, -289.7275695800781)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.70700026 11.643497  ], 11.664941787719727 meters away.)"}
{"file_name": "images/scenario_618_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -6.0) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 41.2 meters away at (4.3, 41.0). A pedestrian with ID 7 is 70.1 meters away at (-37.6, -59.2). A unknown object with ID 15 is 80.1 meters away at (-10.0, 79.5).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0.98628926 8.897936  ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.1529566  0.6600314] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-37.44975280761719, -289.7275695800781)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.2820187 40.991436 ], 41.214481353759766 meters away.)"}
{"file_name": "images/scenario_619_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.1) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 16.7 meters away at (0.1, -16.7). A vehicle with ID 38 is 21.9 meters away at (-4.2, -21.5). A vehicle with ID 39 is 22.5 meters away at (9.7, -20.3). A vehicle with ID 2 is 26.4 meters away at (5.1, -25.9). A vehicle with ID 4 is 27.9 meters away at (-8.6, -26.6). A vehicle with ID 45 is 36.5 meters away at (-3.5, -36.3). A vehicle with ID 46 is 38.7 meters away at (30.4, -24.0). A vehicle with ID 48 is 42.7 meters away at (11.5, 41.1). A vehicle with ID 50 is 45.5 meters away at (5.2, 45.2). A pedestrian with ID 52 is 49.2 meters away at (-44.2, 21.5).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.23796183  0.20009904] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.01682046 -0.00163664] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-11.79946231842041, -35.77471160888672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  0.09265614 -16.666878  ], 16.66713523864746 meters away.)"}
{"file_name": "images/scenario_619_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -1.7) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 14.8 meters away at (-2.8, -14.6). A pedestrian with ID 3 is 15.9 meters away at (-7.8, -13.9). A pedestrian with ID 26 is 18.6 meters away at (-7.6, -16.9). A vehicle with ID 39 is 19.5 meters away at (6.7, -18.3). A vehicle with ID 38 is 20.7 meters away at (-7.2, -19.4). A vehicle with ID 2 is 24.0 meters away at (2.1, -23.9). A vehicle with ID 4 is 27.1 meters away at (-11.5, -24.5). A vehicle with ID 5 is 29.5 meters away at (-2.3, -29.4). A vehicle with ID 28 is 32.4 meters away at (-12.5, -29.9). A vehicle with ID 46 is 34.5 meters away at (27.0, -21.5).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.06391182 0.048066  ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00667189  0.00087708] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-1.1196884 -1.4994861] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-11.79946231842041, -35.77471160888672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -2.7821045 -14.563044 ], 14.826407432556152 meters away.)"}
{"file_name": "images/scenario_619_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -2.5) m/s. Its current heading (yaw) is -1.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 12.5 meters away at (-6.8, -10.6). A vehicle with ID 39 is 14.2 meters away at (2.9, -13.9). A pedestrian with ID 3 is 15.2 meters away at (-11.8, -9.6). A pedestrian with ID 26 is 17.3 meters away at (-11.5, -12.9). A vehicle with ID 38 is 19.2 meters away at (-11.2, -15.5). A vehicle with ID 2 is 19.9 meters away at (-1.9, -19.8). A vehicle with ID 4 is 25.7 meters away at (-15.5, -20.6). A vehicle with ID 5 is 26.1 meters away at (-6.2, -25.4). A vehicle with ID 46 is 28.6 meters away at (22.8, -17.3). A vehicle with ID 45 is 32.0 meters away at (-10.2, -30.3).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.01642042 -0.09918246] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.03609271 -0.01573262] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-11.79946231842041, -35.77471160888672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -6.755203 -10.557857], 12.533997535705566 meters away.)"}
{"file_name": "images/scenario_619_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -3.0) m/s. Its current heading (yaw) is -1.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 8.5 meters away at (2.6, -8.1). A vehicle with ID 8 is 8.7 meters away at (-7.2, -4.9). A pedestrian with ID 3 is 12.9 meters away at (-12.2, -4.1). A vehicle with ID 2 is 14.5 meters away at (-2.4, -14.3). A vehicle with ID 38 is 15.3 meters away at (-11.5, -10.0). A vehicle with ID 5 is 20.9 meters away at (-6.7, -19.8). A vehicle with ID 4 is 21.8 meters away at (-15.8, -15.1). A vehicle with ID 46 is 24.5 meters away at (21.9, -11.1). A vehicle with ID 45 is 26.9 meters away at (-10.7, -24.6). A vehicle with ID 6 is 31.7 meters away at (-22.1, -22.8).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.09586503  0.00118984] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-11.79946231842041, -35.77471160888672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.5828238 -8.116441 ], 8.517487525939941 meters away.)"}
{"file_name": "images/scenario_620_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.50 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 12.1 meters away at (9.5, -7.5). A vehicle with ID 55 is 22.4 meters away at (17.2, -14.3). A unknown object with ID 47 is 37.2 meters away at (-36.8, 5.7). A pedestrian with ID 36 is 37.3 meters away at (-36.9, 5.8). A vehicle with ID 54 is 39.8 meters away at (-39.5, 4.9). A vehicle with ID 59 is 48.0 meters away at (-32.5, 35.3). A unknown object with ID 60 is 49.4 meters away at (-48.4, -10.2). A vehicle with ID 56 is 53.5 meters away at (-52.2, -12.0).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.02752255 -0.06528814] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.358174    5.9530334]\n [-22.411427   26.922071 ]\n [-22.356598   26.987925 ]\n [ -8.119045    4.6400356]\n [-22.41678    26.916273 ]\n [-31.584015   17.712706 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.530164 -7.450724], 12.096996307373047 meters away.)"}
{"file_name": "images/scenario_620_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.7) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 12.8 meters away at (10.1, -7.9). A vehicle with ID 55 is 23.0 meters away at (17.7, -14.7). A pedestrian with ID 36 is 37.1 meters away at (-36.9, 4.3). A vehicle with ID 54 is 39.1 meters away at (-38.8, 4.5). A vehicle with ID 59 is 47.2 meters away at (-31.9, 34.8). A unknown object with ID 60 is 48.9 meters away at (-47.7, -10.8). A vehicle with ID 56 is 53.3 meters away at (-51.8, -12.7).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.43549716 -0.5723483 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.411427  26.922071]\n [-22.356598  26.987925]\n [-22.41678   26.916273]\n [-31.584015  17.712706]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.088048 -7.898169], 12.812094688415527 meters away.)"}
{"file_name": "images/scenario_620_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 1.6) m/s. Its current heading (yaw) is 2.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 15.7 meters away at (12.6, -9.5). A vehicle with ID 55 is 28.0 meters away at (21.8, -17.6). A vehicle with ID 54 is 34.6 meters away at (-34.6, 1.9). A vehicle with ID 59 is 41.5 meters away at (-27.0, 31.6). A vehicle with ID 56 is 50.4 meters away at (-47.9, -15.5).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [-1.7523074  1.3115937] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 0.68033135 -0.56108636] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-31.584015  17.712706]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.553828 -9.465937], 15.722676277160645 meters away.)"}
{"file_name": "images/scenario_620_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -0.1) m/s. Its current heading (yaw) is -3.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 18.2 meters away at (16.1, -8.4). A vehicle with ID 54 is 26.8 meters away at (-26.8, -0.2). A pedestrian with ID 8 is 29.0 meters away at (-28.7, -4.4). A unknown object with ID 3 is 32.4 meters away at (-21.4, -24.3). A vehicle with ID 59 is 32.8 meters away at (-17.3, 27.9). A unknown object with ID 14 is 33.2 meters away at (-32.8, -5.4). A unknown object with ID 12 is 34.6 meters away at (-33.9, -6.9). A vehicle with ID 55 is 34.9 meters away at (29.1, -19.3). A unknown object with ID 2 is 36.4 meters away at (-23.7, -27.7). A unknown object with ID 10 is 36.7 meters away at (-35.6, -9.0).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [-2.7097304  2.1022248] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.1766173  -0.71028405] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 1.3217072 -1.2058542] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-0.8281053   0.72355545] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-31.584015  17.712706]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.14306  -8.363329], 18.18086051940918 meters away.)"}
{"file_name": "images/scenario_621_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 2.6) m/s. Its current heading (yaw) is 2.34 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 20.7 meters away at (-4.0, 20.3). A unknown object with ID 7 is 21.4 meters away at (-3.8, 21.1). A unknown object with ID 8 is 21.5 meters away at (-5.1, 20.9). A unknown object with ID 9 is 22.3 meters away at (-4.8, 21.8). A vehicle with ID 10 is 22.7 meters away at (6.6, -21.8). A vehicle with ID 12 is 30.6 meters away at (6.4, 29.9). A pedestrian with ID 11 is 57.9 meters away at (-55.8, 15.4).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.0237377  8.388964 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ -0.5712436 -11.416892 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3541753  0.08768287] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-4.028566 20.254065], 20.65082359313965 meters away.)"}
{"file_name": "images/scenario_621_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 0.6) m/s. Its current heading (yaw) is 2.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 11.2 meters away at (9.1, -6.5). A vehicle with ID 12 is 12.5 meters away at (12.1, 3.3). A unknown object with ID 6 is 17.1 meters away at (1.8, 17.0). A unknown object with ID 8 is 17.7 meters away at (0.8, 17.7). A unknown object with ID 7 is 17.9 meters away at (2.1, 17.8). A unknown object with ID 9 is 18.6 meters away at (1.0, 18.5). A pedestrian with ID 11 is 48.7 meters away at (-47.3, 11.5).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.1184615 10.3102455] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [  0.4870989 -11.871106 ] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.3607951  -0.45483136] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.124087 -6.492442], 11.198248863220215 meters away.)"}
{"file_name": "images/scenario_621_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -0.6) m/s. Its current heading (yaw) is -2.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 19.4 meters away at (8.8, 17.3). A unknown object with ID 8 is 19.5 meters away at (7.8, 17.9). A unknown object with ID 7 is 20.2 meters away at (9.1, 18.1). A unknown object with ID 9 is 20.4 meters away at (8.0, 18.8). A vehicle with ID 10 is 22.3 meters away at (15.2, 16.3). A vehicle with ID 12 is 29.5 meters away at (21.9, -19.7). A pedestrian with ID 11 is 39.0 meters away at (-37.4, 10.9). A vehicle with ID 4 is 66.4 meters away at (23.2, 62.2).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 0.02804132 11.81297   ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [  2.3139307 -11.256192 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.4281538  0.01425454] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.8898242 -7.640494 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 8.841787 17.2541  ], 19.38765525817871 meters away.)"}
{"file_name": "images/scenario_621_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -0.8) m/s. Its current heading (yaw) is -2.97 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 25.3 meters away at (16.1, 19.5). A unknown object with ID 6 is 25.5 meters away at (17.2, 18.8). A unknown object with ID 9 is 26.1 meters away at (16.4, 20.3). A unknown object with ID 7 is 26.3 meters away at (17.5, 19.6). A pedestrian with ID 11 is 29.2 meters away at (-26.4, 12.5). A vehicle with ID 10 is 48.4 meters away at (24.6, 41.7). A vehicle with ID 4 is 56.2 meters away at (28.6, 48.3).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3545961  0.04194995] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 0.79416585 11.822633  ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.8776453 -7.5623326] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [16.144028 19.452023], 25.278663635253906 meters away.)"}
{"file_name": "images/scenario_622_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 2.2) m/s. Its current heading (yaw) is 1.37 ", "actor_description": " The most relevant actors are: A pedestrian with ID 79 is 5.0 meters away at (-5.0, 0.8). A pedestrian with ID 80 is 5.6 meters away at (-5.6, 0.6). A cyclist with ID 75 is 12.6 meters away at (-3.1, -12.2). A pedestrian with ID 77 is 15.4 meters away at (14.4, -5.4). A pedestrian with ID 78 is 15.7 meters away at (14.5, -6.2). A vehicle with ID 45 is 16.6 meters away at (16.2, 3.5). A unknown object with ID 61 is 47.0 meters away at (46.7, -5.3). A unknown object with ID 73 is 47.2 meters away at (47.1, -3.5). A unknown object with ID 71 is 47.8 meters away at (47.3, -6.7). A unknown object with ID 72 is 49.7 meters away at (49.1, -7.7).", "velocity_description": "The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.16265866  0.8436655 ] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.10603485  0.79819274] m/s.The cyclist with ID 75 is traveling at a (x, y) velocity of [0.11132367 0.01812558] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.00064439 0.03059122] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0.01740426 0.01899405] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 8.974689  -3.5236158] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-4.9701486  0.7612748], 5.028112888336182 meters away.)"}
{"file_name": "images/scenario_622_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 1.7) m/s. Its current heading (yaw) is 0.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 79 is 8.1 meters away at (-7.8, -2.3). A pedestrian with ID 80 is 8.7 meters away at (-8.3, -2.6). A pedestrian with ID 65 is 11.3 meters away at (9.1, 6.6). A pedestrian with ID 77 is 15.2 meters away at (11.8, -9.6). A pedestrian with ID 78 is 16.0 meters away at (11.9, -10.6). A vehicle with ID 45 is 32.3 meters away at (31.3, -8.1). A unknown object with ID 61 is 45.0 meters away at (44.1, -9.2). A unknown object with ID 73 is 45.2 meters away at (44.5, -7.8). A unknown object with ID 71 is 46.1 meters away at (44.9, -10.5). A unknown object with ID 54 is 46.9 meters away at (46.4, -6.9).", "velocity_description": "The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.13604242  0.64168817] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.12685737  0.63137066] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.30502352 0.24126425] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.00419657 0.00498361] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 0.01211492 -0.00295774] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 8.217056 -3.628457] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.7574215 -2.26049  ], 8.080061912536621 meters away.)"}
{"file_name": "images/scenario_622_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -0.3) m/s. Its current heading (yaw) is -0.09 ", "actor_description": " The most relevant actors are: A pedestrian with ID 77 is 12.8 meters away at (5.9, -11.3). A pedestrian with ID 78 is 13.8 meters away at (6.0, -12.4). A pedestrian with ID 79 is 14.5 meters away at (-14.2, -2.7). A pedestrian with ID 80 is 15.0 meters away at (-14.6, -3.4). A unknown object with ID 73 is 39.8 meters away at (38.6, -9.5). A unknown object with ID 61 is 39.9 meters away at (38.3, -11.3). A unknown object with ID 63 is 40.2 meters away at (39.3, -8.2). A unknown object with ID 71 is 40.7 meters away at (38.7, -12.5). A unknown object with ID 54 is 41.2 meters away at (40.2, -8.6). A unknown object with ID 53 is 42.8 meters away at (40.6, -13.6).", "velocity_description": "The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.01325039 0.01143082] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [9.5990868e-03 1.3901308e-06] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.4574436   0.59851277] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.42904782  0.5714173 ] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [  5.9252653 -11.303024 ], 12.761940956115723 meters away.)"}
{"file_name": "images/scenario_622_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -1.6) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A pedestrian with ID 77 is 9.3 meters away at (-1.6, -9.1). A pedestrian with ID 78 is 10.2 meters away at (-1.0, -10.2). A pedestrian with ID 79 is 22.6 meters away at (-22.5, 0.6). A pedestrian with ID 80 is 22.9 meters away at (-22.9, -0.1). A unknown object with ID 2 is 31.9 meters away at (30.4, -9.5). A unknown object with ID 73 is 31.9 meters away at (31.0, -7.6). A unknown object with ID 63 is 32.4 meters away at (31.8, -6.2). A unknown object with ID 71 is 32.9 meters away at (31.1, -10.6). A unknown object with ID 53 is 34.9 meters away at (32.9, -11.6). A unknown object with ID 72 is 35.0 meters away at (33.0, -11.6).", "velocity_description": "The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.00998965 -0.00142165] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 0.03764309 -0.03423561] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.39766625  0.49794066] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.385858   0.5453476] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-1.6216393 -9.130255 ], 9.273147583007812 meters away.)"}
{"file_name": "images/scenario_623_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 4.2 meters away at (4.0, 1.0). A vehicle with ID 19 is 13.5 meters away at (-9.9, -9.2). A vehicle with ID 23 is 15.0 meters away at (-11.5, 9.6). A vehicle with ID 18 is 18.2 meters away at (-5.8, -17.2). A pedestrian with ID 31 is 19.5 meters away at (-0.7, 19.5). A vehicle with ID 20 is 22.0 meters away at (22.0, 0.5). A vehicle with ID 33 is 22.2 meters away at (-20.6, -8.1). A vehicle with ID 35 is 23.3 meters away at (-23.2, -2.5). A pedestrian with ID 45 is 25.9 meters away at (-6.7, 25.0). A pedestrian with ID 41 is 25.9 meters away at (-5.8, 25.3).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.03623731 -9.504366  ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 2.4463973 -6.9419303] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.2339269 -9.407464 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.0379559  -0.74268866] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 3.9767613 -3.3287077] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.0276788  0.915548 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.1030644  0.8576005] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.430004    -0.68498534]\n [-22.0219       8.437949  ]\n [-19.190983     4.8627834 ]]", "nav_goal": "(123.9820785522461, 253.59825134277344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.0352297  0.97124934], 4.15047025680542 meters away.)"}
{"file_name": "images/scenario_623_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 4.2 meters away at (4.2, 0.9). A vehicle with ID 23 is 11.4 meters away at (-7.6, -8.5). A pedestrian with ID 31 is 17.9 meters away at (1.5, 17.8). A vehicle with ID 29 is 19.8 meters away at (-13.6, 14.4). A vehicle with ID 33 is 22.1 meters away at (-20.5, -8.2). A vehicle with ID 35 is 23.2 meters away at (-23.0, -2.6). A vehicle with ID 42 is 25.7 meters away at (12.8, 22.3). A vehicle with ID 40 is 26.6 meters away at (-24.6, -10.3). A pedestrian with ID 38 is 27.0 meters away at (-8.6, 25.6). A pedestrian with ID 45 is 28.1 meters away at (-8.5, 26.8).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [  1.0414407 -11.02106  ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.0246872 -0.8027989] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 3.6029665 -6.225966 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.0831074  -0.94880515] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.0157912   0.92726254] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.055447    23.190222  ]\n [-16.430004    -0.68498534]\n [-22.0219       8.437949  ]\n [-21.967434    20.423683  ]\n [-19.190983     4.8627834 ]]", "nav_goal": "(123.9820785522461, 253.59825134277344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.1520605 0.8923677], 4.246872425079346 meters away.)"}
{"file_name": "images/scenario_623_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 3.8 meters away at (3.5, 1.5). A vehicle with ID 29 is 8.4 meters away at (-8.1, -2.1). A pedestrian with ID 31 is 16.5 meters away at (3.6, 16.1). A vehicle with ID 33 is 22.1 meters away at (-20.5, -8.3). A vehicle with ID 37 is 22.6 meters away at (-15.3, 16.7). A vehicle with ID 35 is 23.2 meters away at (-23.0, -2.6). A pedestrian with ID 38 is 24.7 meters away at (-6.1, 24.0). A vehicle with ID 42 is 25.6 meters away at (12.8, 22.2). A vehicle with ID 40 is 26.6 meters away at (-24.5, -10.3). A vehicle with ID 48 is 29.5 meters away at (-24.5, -16.5).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.5020543  0.5026228] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 1.4138044 -9.80661  ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9810889 -0.9025386] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 3.705769  -5.1376176] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.2285804  -0.79225856] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-1.4891698  1.5678399] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.055447    23.190222  ]\n [-16.430004    -0.68498534]\n [-22.0219       8.437949  ]\n [-21.967434    20.423683  ]\n [-19.190983     4.8627834 ]]", "nav_goal": "(123.9820785522461, 253.59825134277344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.5192976 1.4982579], 3.82494854927063 meters away.)"}
{"file_name": "images/scenario_623_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 3.7 meters away at (2.8, 2.3). A vehicle with ID 37 is 9.2 meters away at (-8.6, 3.0). A pedestrian with ID 31 is 15.4 meters away at (5.7, 14.3). A unknown object with ID 3 is 19.9 meters away at (19.7, 2.8). A pedestrian with ID 5 is 19.9 meters away at (19.7, 2.8). A vehicle with ID 33 is 22.1 meters away at (-20.5, -8.3). A pedestrian with ID 38 is 22.7 meters away at (-3.7, 22.4). A vehicle with ID 35 is 23.2 meters away at (-23.0, -2.6). A pedestrian with ID 7 is 25.0 meters away at (18.3, 17.0). A vehicle with ID 29 is 25.1 meters away at (-8.5, -23.7).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 2.5262008 -8.917931 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1188955 -0.9782037] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.00423629 -0.02299458] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.1754944 -0.9400776] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ -1.4508328 -11.544516 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.430004    -0.68498534]\n [-22.0219       8.437949  ]\n [-19.190983     4.8627834 ]]", "nav_goal": "(123.9820785522461, 253.59825134277344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.8339462 2.308688 ], 3.6553099155426025 meters away.)"}
{"file_name": "images/scenario_624_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 5.0) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 123 is 10.3 meters away at (-10.2, 1.3). A vehicle with ID 102 is 10.3 meters away at (9.7, -3.5). A unknown object with ID 81 is 11.3 meters away at (-10.8, -3.2). A unknown object with ID 66 is 11.3 meters away at (11.3, 0.7). A pedestrian with ID 111 is 13.0 meters away at (-8.6, -9.8). A pedestrian with ID 112 is 13.6 meters away at (-8.7, -10.5). A vehicle with ID 109 is 16.1 meters away at (6.8, -14.6). A vehicle with ID 106 is 17.1 meters away at (3.2, -16.8). A unknown object with ID 104 is 18.9 meters away at (6.1, -17.9). A unknown object with ID 105 is 20.6 meters away at (7.4, -19.2).", "velocity_description": "The vehicle with ID 123 is traveling at a (x, y) velocity of [ 5.8764796 -5.341152 ] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.46474046  0.21357183] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-0.16084886 -0.00570018] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [ 4.7815366 -4.6935196] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 22.95893  -38.31606 ]\n [ 27.32841  -30.214403]\n [ 21.010262 -38.75059 ]\n [ 24.636501 -32.67721 ]\n [ 31.309046 -27.217041]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.182585    1.3146477], 10.267099380493164 meters away.)"}
{"file_name": "images/scenario_624_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.2) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 101 is 7.3 meters away at (-1.2, 7.2). A unknown object with ID 42 is 10.5 meters away at (-3.5, -9.9). A vehicle with ID 119 is 10.8 meters away at (-9.3, -5.4). A vehicle with ID 98 is 11.9 meters away at (-5.2, 10.8). A vehicle with ID 121 is 12.4 meters away at (-12.1, -2.7). A unknown object with ID 126 is 14.1 meters away at (-14.0, 1.7). A unknown object with ID 62 is 17.7 meters away at (-17.1, 4.5). A pedestrian with ID 111 is 20.2 meters away at (2.3, -20.1). A pedestrian with ID 112 is 21.0 meters away at (2.8, -20.8). A unknown object with ID 78 is 21.5 meters away at (-20.2, 7.5).", "velocity_description": "The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.03621864 -0.0047283 ] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-0.01764305 -0.02019616] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 22.95893  -38.31606 ]\n [ 27.32841  -30.214403]\n [ 21.010262 -38.75059 ]\n [ 24.636501 -32.67721 ]\n [ 31.309046 -27.217041]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.1668358  7.185013 ], 7.279142379760742 meters away.)"}
{"file_name": "images/scenario_624_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 5.1) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 98 is 6.4 meters away at (6.4, 0.6). A unknown object with ID 62 is 7.9 meters away at (-5.5, -5.7). A unknown object with ID 126 is 8.8 meters away at (-2.4, -8.5). A unknown object with ID 78 is 9.0 meters away at (-8.6, -2.7). A vehicle with ID 97 is 10.0 meters away at (-3.2, 9.5). A vehicle with ID 101 is 10.8 meters away at (10.4, -3.0). A unknown object with ID 74 is 11.6 meters away at (-11.6, 0.2). A vehicle with ID 121 is 12.9 meters away at (-0.6, -12.8). A unknown object with ID 30 is 15.1 meters away at (-14.8, 3.0). A vehicle with ID 99 is 15.5 meters away at (-7.7, 13.4).", "velocity_description": "The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 22.95893  -38.31606 ]\n [ 27.32841  -30.214403]\n [ 21.010262 -38.75059 ]\n [ 24.636501 -32.67721 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.41284    0.58363533], 6.439343452453613 meters away.)"}
{"file_name": "images/scenario_624_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.4) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 99 is 4.9 meters away at (3.5, 3.4). A vehicle with ID 100 is 7.3 meters away at (-0.8, 7.3). A pedestrian with ID 57 is 7.5 meters away at (2.4, 7.1). A unknown object with ID 30 is 7.9 meters away at (-3.5, -7.1). A vehicle with ID 97 is 7.9 meters away at (7.9, -0.4). A pedestrian with ID 13 is 8.3 meters away at (2.1, 8.0). A pedestrian with ID 7 is 10.0 meters away at (2.6, 9.6). A unknown object with ID 74 is 10.0 meters away at (-0.3, -10.0). A unknown object with ID 67 is 10.4 meters away at (-4.5, 9.4). A vehicle with ID 17 is 11.4 meters away at (-11.2, -2.2).", "velocity_description": "The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.00241003  0.05267366] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.04904612  0.01563878] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.9867726  0.849029 ] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.5496979 3.38443  ], 4.904561519622803 meters away.)"}
{"file_name": "images/scenario_625_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -3.1) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 9.7 meters away at (4.8, -8.4). A unknown object with ID 34 is 25.1 meters away at (-17.5, 18.0). A pedestrian with ID 26 is 27.5 meters away at (-23.0, -15.1). A pedestrian with ID 36 is 28.3 meters away at (-22.9, -16.7). A pedestrian with ID 37 is 56.5 meters away at (-27.6, -49.3). A pedestrian with ID 38 is 62.3 meters away at (-29.7, -54.7). A pedestrian with ID 35 is 63.3 meters away at (-30.0, -55.8).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00921062 -1.4024644 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [2.7552003e-04 9.3185163e-06] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.0040486  -0.01628188] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.60242254 1.1961062 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.48395604 0.91714185] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.6321903  0.98936814] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 4.8218064 -8.371601 ], 9.660927772521973 meters away.)"}
{"file_name": "images/scenario_625_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -4.8) m/s. Its current heading (yaw) is -1.75 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 8.5 meters away at (7.8, -3.3). A pedestrian with ID 29 is 20.9 meters away at (-19.5, -7.4). A pedestrian with ID 26 is 21.2 meters away at (-19.6, -8.1). A pedestrian with ID 36 is 21.3 meters away at (-19.4, -9.0). A unknown object with ID 34 is 29.5 meters away at (-14.3, 25.8). A pedestrian with ID 37 is 45.2 meters away at (-23.0, -38.9). A pedestrian with ID 38 is 51.5 meters away at (-25.1, -44.9). A pedestrian with ID 35 is 52.7 meters away at (-25.5, -46.1). A pedestrian with ID 1 is 61.0 meters away at (-20.4, -57.5). A unknown object with ID 28 is 74.2 meters away at (-26.9, -69.2).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.3040952 -1.3659463] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01581897 -0.01307037] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.01580287 -0.01856005] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.01947583 -0.01082105] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.5604694 1.2297904] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.6019825  0.97897935] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.5626154  0.93724823] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.28307065 -0.04831117] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 7.8088517 -3.2942028], 8.475255012512207 meters away.)"}
{"file_name": "images/scenario_625_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -5.8) m/s. Its current heading (yaw) is -1.70 ", "actor_description": " The most relevant actors are: A pedestrian with ID 37 is 33.1 meters away at (-20.9, -25.7). A unknown object with ID 34 is 38.6 meters away at (-12.8, 36.4). A pedestrian with ID 38 is 39.4 meters away at (-22.8, -32.1). A pedestrian with ID 35 is 40.6 meters away at (-23.3, -33.2). A pedestrian with ID 1 is 50.6 meters away at (-18.9, -46.9).", "velocity_description": "The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.26866692 1.2062315 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.44247022 1.0865169 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.47080255 1.093366  ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00413828 -0.01293102] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-20.868305 -25.694798], 33.10149002075195 meters away.)"}
{"file_name": "images/scenario_625_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -6.6) m/s. Its current heading (yaw) is -1.78 ", "actor_description": " The most relevant actors are: A pedestrian with ID 37 is 21.6 meters away at (-18.5, -11.2). A pedestrian with ID 38 is 26.9 meters away at (-20.2, -17.8). A pedestrian with ID 35 is 27.6 meters away at (-20.2, -18.8). A unknown object with ID 10 is 30.6 meters away at (-22.9, -20.2). A pedestrian with ID 8 is 35.1 meters away at (-26.5, -23.0). A pedestrian with ID 1 is 38.3 meters away at (-16.6, -34.4). A unknown object with ID 2 is 40.5 meters away at (-27.6, -29.6). A unknown object with ID 34 is 50.0 meters away at (-11.0, 48.8). A vehicle with ID 15 is 67.5 meters away at (-16.7, -65.4).", "velocity_description": "The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.2146275  0.7099883] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.38996384 0.9588882 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.6039038 1.0375648] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.02550668 -0.03126719] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00686022 0.00751784] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.4056098  -0.15993392] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-18.500053 -11.16251 ], 21.606796264648438 meters away.)"}
{"file_name": "images/scenario_626_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.2) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 7.0 meters away at (1.1, 6.9). A vehicle with ID 29 is 8.7 meters away at (-0.4, -8.7). A vehicle with ID 32 is 8.8 meters away at (-3.3, -8.2). A unknown object with ID 31 is 9.2 meters away at (6.8, 6.1). A vehicle with ID 36 is 9.7 meters away at (-9.4, -2.6). A vehicle with ID 27 is 10.4 meters away at (9.8, 3.4). A vehicle with ID 37 is 11.6 meters away at (-0.1, 11.6). A vehicle with ID 22 is 11.8 meters away at (9.0, -7.6). A vehicle with ID 26 is 14.3 meters away at (14.3, -0.4). A vehicle with ID 23 is 17.0 meters away at (12.9, -11.1).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [-3.9014149  3.2793436] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.895687103271484, 93.69036865234375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.1427395 6.894439 ], 6.988501071929932 meters away.)"}
{"file_name": "images/scenario_626_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 8.6 meters away at (-0.5, -8.6). A vehicle with ID 32 is 8.7 meters away at (-3.4, -8.1). A unknown object with ID 31 is 9.1 meters away at (6.7, 6.2). A vehicle with ID 36 is 9.8 meters away at (-9.5, -2.5). A unknown object with ID 19 is 9.9 meters away at (1.8, -9.7). A vehicle with ID 27 is 10.3 meters away at (9.7, 3.5). A vehicle with ID 22 is 11.6 meters away at (8.9, -7.5). A vehicle with ID 37 is 11.7 meters away at (-0.2, 11.7). A vehicle with ID 35 is 12.5 meters away at (-4.5, 11.7). A vehicle with ID 26 is 14.2 meters away at (14.2, -0.3).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.0465865  1.6788638] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.895687103271484, 93.69036865234375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.50783587 -8.592385  ], 8.607379913330078 meters away.)"}
{"file_name": "images/scenario_626_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 8.6 meters away at (-0.5, -8.6). A vehicle with ID 32 is 8.7 meters away at (-3.4, -8.0). A unknown object with ID 31 is 9.1 meters away at (6.7, 6.2). A vehicle with ID 36 is 9.8 meters away at (-9.5, -2.5). A unknown object with ID 19 is 9.8 meters away at (1.7, -9.7). A vehicle with ID 27 is 10.3 meters away at (9.7, 3.5). A vehicle with ID 22 is 11.6 meters away at (8.9, -7.5). A vehicle with ID 37 is 11.7 meters away at (-0.2, 11.7). A vehicle with ID 26 is 14.2 meters away at (14.2, -0.3). A unknown object with ID 10 is 16.5 meters away at (-15.7, 5.3).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.895687103271484, 93.69036865234375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.5297433 -8.567258 ], 8.583620071411133 meters away.)"}
{"file_name": "images/scenario_626_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 8.6 meters away at (-0.5, -8.6). A vehicle with ID 32 is 8.7 meters away at (-3.4, -8.0). A unknown object with ID 31 is 9.1 meters away at (6.6, 6.2). A unknown object with ID 19 is 9.8 meters away at (1.7, -9.7). A vehicle with ID 36 is 9.8 meters away at (-9.5, -2.5). A vehicle with ID 27 is 10.3 meters away at (9.7, 3.5). A vehicle with ID 22 is 11.6 meters away at (8.8, -7.5). A vehicle with ID 37 is 11.7 meters away at (-0.2, 11.7). A vehicle with ID 26 is 14.1 meters away at (14.1, -0.3). A unknown object with ID 10 is 16.5 meters away at (-15.7, 5.2).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(47.895687103271484, 93.69036865234375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.526852 -8.555532], 8.571739196777344 meters away.)"}
{"file_name": "images/scenario_627_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 4.8 meters away at (-4.8, -0.1). A vehicle with ID 77 is 5.8 meters away at (4.2, 3.9). A vehicle with ID 80 is 8.9 meters away at (-8.4, 2.9). A unknown object with ID 82 is 12.7 meters away at (1.2, 12.6). A unknown object with ID 38 is 15.4 meters away at (7.9, -13.2). A unknown object with ID 85 is 16.9 meters away at (-2.3, 16.8). A unknown object with ID 86 is 18.2 meters away at (-3.3, 17.9). A unknown object with ID 88 is 18.6 meters away at (-3.7, 18.2). A vehicle with ID 96 is 18.6 meters away at (-5.8, -17.7). A vehicle with ID 73 is 20.2 meters away at (17.7, 9.9).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.315738677978516, 111.23631286621094)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.8251777  -0.10850441], 4.82639741897583 meters away.)"}
{"file_name": "images/scenario_627_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.1) m/s. Its current heading (yaw) is -0.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 5.7 meters away at (3.1, 4.7). A vehicle with ID 75 is 6.0 meters away at (-6.0, 0.8). A vehicle with ID 80 is 10.3 meters away at (-9.6, 3.8). A unknown object with ID 82 is 13.6 meters away at (-0.1, 13.6). A unknown object with ID 85 is 18.0 meters away at (-3.3, 17.7). A vehicle with ID 96 is 18.2 meters away at (-7.1, -16.8). A unknown object with ID 88 is 19.3 meters away at (-4.4, 18.8). A unknown object with ID 86 is 19.7 meters away at (-4.7, 19.1). A vehicle with ID 73 is 19.8 meters away at (16.6, 10.7). A vehicle with ID 90 is 22.8 meters away at (-19.2, 12.4).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.315738677978516, 111.23631286621094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.1320162 4.7335625], 5.675926208496094 meters away.)"}
{"file_name": "images/scenario_627_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 1.2) m/s. Its current heading (yaw) is 0.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 7.2 meters away at (-4.2, 5.9). A vehicle with ID 75 is 13.4 meters away at (-13.3, 1.9). A vehicle with ID 73 is 15.0 meters away at (9.3, 11.7). A vehicle with ID 114 is 15.6 meters away at (11.0, -11.0). A vehicle with ID 80 is 17.6 meters away at (-16.9, 4.9). A vehicle with ID 96 is 21.3 meters away at (-14.4, -15.7). A vehicle with ID 72 is 21.7 meters away at (13.8, 16.7). A unknown object with ID 85 is 21.7 meters away at (-10.6, 18.9). A vehicle with ID 94 is 23.3 meters away at (18.6, -14.0). A unknown object with ID 68 is 23.3 meters away at (-11.8, 20.1).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [-2.7905688  2.4847906] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[70.76526  61.621456]\n [69.10825  63.865932]\n [70.77077  60.58554 ]]", "nav_goal": "(-58.315738677978516, 111.23631286621094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.1866865  5.898141 ], 7.23300838470459 meters away.)"}
{"file_name": "images/scenario_627_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 4.4) m/s. Its current heading (yaw) is 0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 5.7 meters away at (0.3, 5.7). A vehicle with ID 72 is 11.7 meters away at (4.7, 10.7). A vehicle with ID 77 is 13.2 meters away at (-13.2, -0.1). A vehicle with ID 114 is 14.3 meters away at (-1.1, -14.2). A vehicle with ID 15 is 17.4 meters away at (8.3, 15.3). A vehicle with ID 94 is 22.1 meters away at (9.7, -19.9). A vehicle with ID 75 is 22.7 meters away at (-22.4, -4.1). A vehicle with ID 76 is 25.4 meters away at (21.7, 13.2). A vehicle with ID 80 is 26.0 meters away at (-26.0, -1.2). A vehicle with ID 79 is 26.8 meters away at (24.1, 11.7).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [-1.5073545  1.3716133] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[70.76526  61.621456]\n [69.10825  63.865932]\n [70.77077  60.58554 ]]", "nav_goal": "(-58.315738677978516, 111.23631286621094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.30154228 5.7127438 ], 5.720696449279785 meters away.)"}
{"file_name": "images/scenario_628_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -0.2) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 12.9 meters away at (3.8, 12.4). A unknown object with ID 24 is 17.3 meters away at (8.7, 15.0). A unknown object with ID 26 is 17.5 meters away at (10.1, 14.3). A unknown object with ID 29 is 18.0 meters away at (2.4, 17.8). A unknown object with ID 27 is 18.0 meters away at (7.5, 16.4). A unknown object with ID 28 is 18.4 meters away at (12.1, 13.9). A unknown object with ID 31 is 23.5 meters away at (7.0, 22.4). A unknown object with ID 23 is 28.0 meters away at (-26.0, -10.4). A unknown object with ID 2 is 29.8 meters away at (-28.3, -9.4). A unknown object with ID 39 is 42.5 meters away at (-40.4, 13.2).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.679268    -0.77486455]\n [-32.677486    -0.9752257 ]\n [-32.617733    -0.25260967]\n [-32.655678    -1.3294947 ]\n [-32.631294    -0.40586042]]", "nav_goal": "(-198.3017120361328, -209.12640380859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 3.8353252 12.356546 ], 12.938081741333008 meters away.)"}
{"file_name": "images/scenario_628_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 16.0 meters away at (11.4, 11.3). A unknown object with ID 22 is 16.4 meters away at (10.5, 12.7). A unknown object with ID 29 is 20.2 meters away at (9.0, 18.1). A unknown object with ID 24 is 21.6 meters away at (15.3, 15.3). A unknown object with ID 18 is 21.7 meters away at (10.0, 19.2). A unknown object with ID 23 is 21.8 meters away at (-19.3, -10.1). A unknown object with ID 27 is 21.9 meters away at (14.1, 16.7). A unknown object with ID 26 is 22.2 meters away at (16.8, 14.6). A unknown object with ID 2 is 23.4 meters away at (-21.6, -9.1). A unknown object with ID 28 is 23.5 meters away at (18.8, 14.2).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.679268    -0.77486455]\n [-32.677486    -0.9752257 ]\n [-32.617733    -0.25260967]\n [-32.655678    -1.3294947 ]\n [-32.631294    -0.40586042]]", "nav_goal": "(-198.3017120361328, -209.12640380859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [11.403777 11.284549], 16.043291091918945 meters away.)"}
{"file_name": "images/scenario_628_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.0) m/s. Its current heading (yaw) is -3.11 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 17.2 meters away at (13.0, 11.3). A unknown object with ID 22 is 17.5 meters away at (12.1, 12.6). A unknown object with ID 17 is 19.3 meters away at (10.1, 16.5). A unknown object with ID 23 is 20.3 meters away at (-17.7, -10.1). A unknown object with ID 29 is 21.1 meters away at (10.6, 18.2). A unknown object with ID 2 is 21.9 meters away at (-19.9, -9.1). A unknown object with ID 18 is 22.5 meters away at (11.6, 19.3). A unknown object with ID 24 is 22.8 meters away at (17.0, 15.3). A unknown object with ID 27 is 23.0 meters away at (15.8, 16.7). A unknown object with ID 26 is 23.5 meters away at (18.5, 14.6).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.679268    -0.77486455]\n [-32.677486    -0.9752257 ]\n [-32.617733    -0.25260967]\n [-32.655678    -1.3294947 ]\n [-32.631294    -0.40586042]]", "nav_goal": "(-198.3017120361328, -209.12640380859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [12.983423 11.337443], 17.23678970336914 meters away.)"}
{"file_name": "images/scenario_628_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.11 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 17.3 meters away at (13.1, 11.3). A unknown object with ID 22 is 17.6 meters away at (12.3, 12.6). A unknown object with ID 17 is 19.3 meters away at (10.1, 16.4). A unknown object with ID 23 is 20.2 meters away at (-17.5, -10.1). A unknown object with ID 29 is 21.1 meters away at (10.7, 18.2). A unknown object with ID 2 is 21.8 meters away at (-19.8, -9.1). A unknown object with ID 24 is 22.9 meters away at (17.1, 15.3). A unknown object with ID 27 is 23.0 meters away at (15.9, 16.7). A unknown object with ID 26 is 23.6 meters away at (18.6, 14.6). A unknown object with ID 28 is 25.0 meters away at (20.5, 14.2).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.679268    -0.77486455]\n [-32.677486    -0.9752257 ]\n [-32.617733    -0.25260967]\n [-32.655678    -1.3294947 ]\n [-32.631294    -0.40586042]]", "nav_goal": "(-198.3017120361328, -209.12640380859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [13.121307 11.307853], 17.32155418395996 meters away.)"}
{"file_name": "images/scenario_629_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.5) m/s. Its current heading (yaw) is -2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 4.4 meters away at (4.0, -1.7). A unknown object with ID 64 is 7.6 meters away at (7.6, 0.5). A unknown object with ID 42 is 7.8 meters away at (7.7, -1.2). A pedestrian with ID 74 is 12.7 meters away at (11.6, 5.1). A vehicle with ID 75 is 17.3 meters away at (8.5, 15.1). A vehicle with ID 77 is 23.3 meters away at (6.8, -22.3). A vehicle with ID 76 is 23.3 meters away at (12.3, 19.8). A vehicle with ID 78 is 23.4 meters away at (-23.4, -1.7). A unknown object with ID 63 is 24.2 meters away at (19.4, 14.4). A vehicle with ID 72 is 27.3 meters away at (12.9, -24.1).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [1.4192721 3.431785 ] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.2899906  -0.44203323] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(211.23162841796875, -60.30772018432617)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.0144415 -1.7020688], 4.3603644371032715 meters away.)"}
{"file_name": "images/scenario_629_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.5) m/s. Its current heading (yaw) is -1.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 14.7 meters away at (10.2, 10.5). A pedestrian with ID 74 is 16.6 meters away at (13.1, 10.3). A vehicle with ID 77 is 18.6 meters away at (9.0, -16.3). A vehicle with ID 78 is 21.5 meters away at (-21.0, 4.4). A vehicle with ID 72 is 23.6 meters away at (15.1, -18.1). A vehicle with ID 75 is 23.8 meters away at (10.9, 21.1). A pedestrian with ID 80 is 27.4 meters away at (-26.4, -7.0). A pedestrian with ID 81 is 27.7 meters away at (-26.6, -7.8). A vehicle with ID 71 is 29.5 meters away at (21.2, -20.5). A vehicle with ID 76 is 29.7 meters away at (14.7, 25.8).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [1.6791822 2.2763114] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.45763838 -0.36681148] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-1.3588123   0.22434674] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-1.3201083   0.17396607] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(211.23162841796875, -60.30772018432617)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.192452 10.524368], 14.650884628295898 meters away.)"}
{"file_name": "images/scenario_629_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -3.8) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 8.6 meters away at (4.7, -7.2). A pedestrian with ID 67 is 14.1 meters away at (-3.5, -13.6). A vehicle with ID 72 is 14.1 meters away at (10.8, -9.0). A vehicle with ID 71 is 20.4 meters away at (16.9, -11.4). A pedestrian with ID 74 is 21.2 meters away at (7.9, 19.7). A vehicle with ID 73 is 22.7 meters away at (7.3, 21.5). A vehicle with ID 69 is 25.8 meters away at (21.9, -13.6). A vehicle with ID 90 is 27.0 meters away at (-20.9, -17.1). A vehicle with ID 78 is 28.8 meters away at (-25.6, 13.3). A vehicle with ID 89 is 29.7 meters away at (-27.9, -10.3).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.09737502 -0.07706133] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.5235877   0.34462744] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(211.23162841796875, -60.30772018432617)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.7493453 -7.1914024], 8.618152618408203 meters away.)"}
{"file_name": "images/scenario_629_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -2.8) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 3.0 meters away at (-0.8, -2.9). A vehicle with ID 77 is 7.1 meters away at (-7.0, -1.1). A vehicle with ID 71 is 7.3 meters away at (5.1, -5.2). A vehicle with ID 69 is 12.6 meters away at (10.1, -7.5). A vehicle with ID 68 is 18.7 meters away at (15.7, -10.1). A pedestrian with ID 17 is 22.8 meters away at (22.8, 1.1). A pedestrian with ID 19 is 23.3 meters away at (23.2, 2.1). A vehicle with ID 27 is 23.9 meters away at (20.4, -12.5). A pedestrian with ID 33 is 25.4 meters away at (20.3, -15.3). A pedestrian with ID 8 is 25.6 meters away at (20.0, -15.9).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.2572429  0.5345707] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.2094446   0.55849516] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.03221808 0.00561799] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.05881288 -0.06594122] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(211.23162841796875, -60.30772018432617)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.8471527 -2.9043503], 3.025378942489624 meters away.)"}
{"file_name": "images/scenario_630_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 6.3) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (-6.0, -0.9). A unknown object with ID 29 is 19.9 meters away at (18.6, 7.1). A unknown object with ID 30 is 21.0 meters away at (19.2, 8.4). A unknown object with ID 31 is 22.8 meters away at (20.8, 9.4). A pedestrian with ID 26 is 23.0 meters away at (-11.3, -20.0). A unknown object with ID 33 is 23.9 meters away at (21.0, 11.4). A unknown object with ID 34 is 24.3 meters away at (21.5, 11.5). A pedestrian with ID 27 is 49.7 meters away at (-28.2, -40.9). A unknown object with ID 19 is 54.1 meters away at (-43.7, -31.8). A vehicle with ID 35 is 57.9 meters away at (-28.0, -50.6).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [-7.519259 -8.516414] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0066011 -1.0671445] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.8646814 -1.0271974] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-31.065413 -34.871464]]", "nav_goal": "(203.34934997558594, 56.3388557434082)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.0203657  -0.89029217], 6.085838317871094 meters away.)"}
{"file_name": "images/scenario_630_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 7.1) m/s. Its current heading (yaw) is 1.04 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 10.9 meters away at (9.8, -4.8). A unknown object with ID 29 is 11.0 meters away at (9.1, -6.1). A unknown object with ID 33 is 11.6 meters away at (11.5, -1.8). A unknown object with ID 31 is 12.0 meters away at (11.4, -3.7). A unknown object with ID 34 is 12.1 meters away at (12.0, -1.7). A unknown object with ID 17 is 17.7 meters away at (17.5, -2.8). A pedestrian with ID 26 is 42.2 meters away at (-22.9, -35.5). A vehicle with ID 28 is 42.9 meters away at (-30.3, -30.4). A vehicle with ID 15 is 50.7 meters away at (-32.9, -38.6). A vehicle with ID 3 is 67.9 meters away at (30.1, 60.9).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0506101 -1.0794947] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-7.4000316 -7.8316307] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.075596 9.673702] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.54642  -28.37894 ]\n [-33.79026  -26.563543]]", "nav_goal": "(203.34934997558594, 56.3388557434082)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 9.7835655 -4.809353 ], 10.90174388885498 meters away.)"}
{"file_name": "images/scenario_630_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 7.6) m/s. Its current heading (yaw) is 1.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 14.5 meters away at (10.6, 9.9). A unknown object with ID 34 is 16.8 meters away at (4.2, -16.3). A unknown object with ID 33 is 16.9 meters away at (3.7, -16.4). A unknown object with ID 31 is 18.7 meters away at (3.5, -18.3). A unknown object with ID 30 is 19.5 meters away at (1.9, -19.4). A unknown object with ID 29 is 20.7 meters away at (1.3, -20.7). A pedestrian with ID 18 is 40.2 meters away at (-14.4, -37.5). A vehicle with ID 15 is 40.6 meters away at (-22.7, -33.6). A vehicle with ID 3 is 51.6 meters away at (22.4, 46.5). A pedestrian with ID 26 is 61.8 meters away at (-32.9, -52.3).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.92013615 0.9987084 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [8.567611  9.8448715] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.0834441  0.32456413] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.013008  -1.2169331] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(203.34934997558594, 56.3388557434082)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [10.558643  9.908863], 14.48000431060791 meters away.)"}
{"file_name": "images/scenario_630_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 7.3) m/s. Its current heading (yaw) is 1.15 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 5.9 meters away at (3.4, -4.8). A unknown object with ID 34 is 31.2 meters away at (-2.9, -31.1). A unknown object with ID 33 is 31.5 meters away at (-3.4, -31.3). A vehicle with ID 15 is 31.9 meters away at (-14.7, -28.3). A unknown object with ID 31 is 33.3 meters away at (-3.4, -33.1). A unknown object with ID 30 is 34.6 meters away at (-5.1, -34.2). A unknown object with ID 29 is 36.0 meters away at (-5.7, -35.5). A vehicle with ID 3 is 37.7 meters away at (16.1, 34.1). A unknown object with ID 21 is 43.5 meters away at (-6.5, -43.0). A vehicle with ID 22 is 44.6 meters away at (1.5, -44.6).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.4073086 10.3074665] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.8873218 2.4659078] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(203.34934997558594, 56.3388557434082)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 3.4229202 -4.7970695], 5.893068790435791 meters away.)"}
{"file_name": "images/scenario_631_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.1) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A pedestrian with ID 57 is 10.7 meters away at (2.0, -10.5). A vehicle with ID 11 is 35.0 meters away at (26.7, -22.6). A vehicle with ID 58 is 36.6 meters away at (34.0, 13.6). A unknown object with ID 21 is 47.1 meters away at (38.6, -27.1). A unknown object with ID 36 is 52.2 meters away at (-52.1, 1.5). A unknown object with ID 23 is 53.5 meters away at (-51.2, 15.4). A vehicle with ID 63 is 57.4 meters away at (-55.4, -15.1). A vehicle with ID 62 is 59.2 meters away at (48.0, -34.7). A vehicle with ID 56 is 61.9 meters away at (-60.5, -13.1). A pedestrian with ID 60 is 62.7 meters away at (11.2, -61.7).", "velocity_description": "The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.9654719  -0.90315044] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.2528543  5.6537447] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-8.784212   4.1631923] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.6812534   0.29390523] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  1.981039 -10.509521], 10.694602966308594 meters away.)"}
{"file_name": "images/scenario_631_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 2.9) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 49 is 15.2 meters away at (-9.3, 12.1). A pedestrian with ID 57 is 24.5 meters away at (13.4, -20.5). A vehicle with ID 11 is 29.2 meters away at (22.1, -19.1). A unknown object with ID 32 is 43.2 meters away at (-43.0, -4.4). A unknown object with ID 36 is 43.3 meters away at (-42.8, -6.5). A vehicle with ID 58 is 43.7 meters away at (43.4, 5.6). A vehicle with ID 63 is 51.5 meters away at (-46.0, -23.2). A vehicle with ID 62 is 52.0 meters away at (40.0, -33.2). A vehicle with ID 56 is 55.4 meters away at (-51.2, -21.2).", "velocity_description": "The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 1.0001587 -0.8714555] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.7987704  5.739817 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-8.555169   5.8236914] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.285692 12.087711], 15.242599487304688 meters away.)"}
{"file_name": "images/scenario_631_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.7) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 18.1 meters away at (13.7, -11.8). A pedestrian with ID 57 is 32.9 meters away at (20.1, -26.0). A unknown object with ID 32 is 39.5 meters away at (-38.6, -8.2). A unknown object with ID 36 is 39.8 meters away at (-38.5, -10.2). A vehicle with ID 58 is 47.8 meters away at (47.8, 1.6). A vehicle with ID 63 is 49.6 meters away at (-41.6, -27.0). A vehicle with ID 56 is 53.1 meters away at (-46.9, -25.0).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-5.5282326  4.8440733] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 1.1701348 -0.8125308] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 13.691275 -11.844019], 18.103363037109375 meters away.)"}
{"file_name": "images/scenario_631_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 3.7) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A cyclist with ID 14 is 13.0 meters away at (-7.3, 10.7). A vehicle with ID 11 is 13.5 meters away at (10.2, -8.8). A unknown object with ID 32 is 35.0 meters away at (-32.2, -13.6). A unknown object with ID 36 is 35.7 meters away at (-32.1, -15.6). A pedestrian with ID 57 is 42.9 meters away at (29.0, -31.6). A vehicle with ID 63 is 47.9 meters away at (-35.3, -32.3). A vehicle with ID 56 is 50.6 meters away at (-40.6, -30.2). A vehicle with ID 58 is 54.1 meters away at (54.0, -4.0). A vehicle with ID 33 is 56.1 meters away at (-1.4, -56.1). A vehicle with ID 13 is 66.5 meters away at (-50.0, -43.8).", "velocity_description": "The cyclist with ID 14 is traveling at a (x, y) velocity of [-6.5320847e-09  8.4034006e-08] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-4.2000494  3.6772418] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.2055304  0.09267419] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-7.3465347 10.7106285], 12.988038063049316 meters away.)"}
{"file_name": "images/scenario_632_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -7.8) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 4.0 meters away at (-3.0, 2.7). A vehicle with ID 34 is 5.3 meters away at (2.5, -4.6). A vehicle with ID 71 is 7.8 meters away at (-6.2, -4.8). A vehicle with ID 77 is 10.0 meters away at (-0.2, 10.0). A vehicle with ID 72 is 11.8 meters away at (0.3, -11.8). A vehicle with ID 88 is 12.4 meters away at (11.7, -4.1). A unknown object with ID 53 is 12.5 meters away at (-11.3, -5.4). A vehicle with ID 85 is 13.1 meters away at (13.0, -1.9). A vehicle with ID 82 is 13.5 meters away at (13.5, 0.7). A vehicle with ID 80 is 15.0 meters away at (14.7, 2.9).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(120.02979278564453, -46.394371032714844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.9766874  2.6575346], 3.9903833866119385 meters away.)"}
{"file_name": "images/scenario_632_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -7.6) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 6.9 meters away at (5.9, 3.6). A vehicle with ID 71 is 10.6 meters away at (-0.6, 10.5). A unknown object with ID 53 is 11.4 meters away at (-5.6, 9.9). A vehicle with ID 34 is 13.5 meters away at (8.1, 10.8). A pedestrian with ID 67 is 13.7 meters away at (-7.8, 11.2). A vehicle with ID 66 is 13.7 meters away at (-13.4, -3.1). A pedestrian with ID 51 is 13.9 meters away at (-9.5, 10.1). A pedestrian with ID 38 is 14.7 meters away at (-10.4, 10.3). A vehicle with ID 35 is 15.5 meters away at (-8.9, -12.7). A pedestrian with ID 39 is 15.6 meters away at (-10.9, 11.2).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.00911138 -0.0125163 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.01436277 -0.02862017] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.0239866 -0.0221087] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.0122005  -0.02411294] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(120.02979278564453, -46.394371032714844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.902914  3.6405926], 6.9352946281433105 meters away.)"}
{"file_name": "images/scenario_632_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -7.3) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 3.9 meters away at (-3.4, 1.8). A vehicle with ID 73 is 5.0 meters away at (4.0, -3.0). A vehicle with ID 8 is 8.5 meters away at (2.3, -8.1). A vehicle with ID 36 is 11.1 meters away at (-6.9, -8.7). A vehicle with ID 66 is 14.1 meters away at (-8.0, 11.6). A vehicle with ID 70 is 17.3 meters away at (-9.1, -14.7). A vehicle with ID 55 is 17.4 meters away at (17.3, -1.2). A vehicle with ID 64 is 18.3 meters away at (-12.9, 13.1). A vehicle with ID 74 is 19.3 meters away at (-1.7, -19.3). A vehicle with ID 72 is 21.7 meters away at (11.4, 18.5).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(120.02979278564453, -46.394371032714844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.3868542  1.8462067], 3.8573644161224365 meters away.)"}
{"file_name": "images/scenario_632_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.0) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 4.3 meters away at (-4.0, -1.4). A vehicle with ID 36 is 4.8 meters away at (-1.9, 4.4). A vehicle with ID 74 is 6.8 meters away at (3.4, -5.9). A vehicle with ID 8 is 9.0 meters away at (7.4, 5.0). A vehicle with ID 1 is 9.1 meters away at (-6.1, -6.8). A pedestrian with ID 3 is 9.3 meters away at (-8.9, -2.8). A vehicle with ID 75 is 10.7 meters away at (1.8, -10.6). A vehicle with ID 73 is 13.7 meters away at (9.1, 10.2). A vehicle with ID 76 is 15.2 meters away at (-0.0, -15.2). A vehicle with ID 35 is 15.3 meters away at (1.7, 15.2).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.48504856 1.245378  ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(120.02979278564453, -46.394371032714844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.029934 -1.380394], 4.259795188903809 meters away.)"}
{"file_name": "images/scenario_633_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, -0.1) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 12.4 meters away at (-2.5, -12.2). A vehicle with ID 19 is 20.2 meters away at (-2.4, -20.0). A vehicle with ID 17 is 29.9 meters away at (-29.4, -5.7). A vehicle with ID 22 is 40.4 meters away at (-15.3, -37.4). A vehicle with ID 26 is 48.9 meters away at (-15.3, -46.4). A unknown object with ID 20 is 53.2 meters away at (-53.2, 2.1). A unknown object with ID 12 is 53.2 meters away at (-53.2, 2.4). A vehicle with ID 27 is 53.8 meters away at (-15.3, -51.6). A vehicle with ID 21 is 56.2 meters away at (-56.2, 0.0). A vehicle with ID 23 is 59.1 meters away at (-59.1, 0.7).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -2.488329 -12.176811], 12.42845630645752 meters away.)"}
{"file_name": "images/scenario_633_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.6, 0.5) m/s. Its current heading (yaw) is 0.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 26.3 meters away at (-23.1, -12.4). A unknown object with ID 10 is 42.1 meters away at (38.8, 16.2). A vehicle with ID 17 is 50.5 meters away at (-50.1, -6.0). A unknown object with ID 20 is 74.0 meters away at (-74.0, 1.9). A vehicle with ID 21 is 77.0 meters away at (-77.0, -0.3).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-23.140594 -12.421605], 26.26372718811035 meters away.)"}
{"file_name": "images/scenario_633_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.9, 0.9) m/s. Its current heading (yaw) is 0.08 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 22.8 meters away at (17.4, 14.8). A vehicle with ID 9 is 42.1 meters away at (-14.8, -39.4). A vehicle with ID 18 is 46.7 meters away at (-44.6, -13.9). A vehicle with ID 17 is 71.9 meters away at (-71.5, -7.5).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [17.441864 14.761185], 22.84975242614746 meters away.)"}
{"file_name": "images/scenario_633_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.6, 0.9) m/s. Its current heading (yaw) is 0.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 67.8 meters away at (-65.9, -15.7). A vehicle with ID 1 is 72.8 meters away at (72.7, -4.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-65.92676  -15.732656], 67.7779769897461 meters away.)"}
{"file_name": "images/scenario_634_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -4.6) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 15.0 meters away at (-9.9, -11.3). A unknown object with ID 70 is 18.4 meters away at (13.5, -12.4). A unknown object with ID 101 is 18.9 meters away at (14.0, -12.7). A unknown object with ID 57 is 19.2 meters away at (13.5, -13.7). A vehicle with ID 37 is 22.8 meters away at (-19.6, -11.6). A vehicle with ID 97 is 23.6 meters away at (23.0, 5.3). A vehicle with ID 39 is 36.1 meters away at (-35.8, 4.1). A unknown object with ID 126 is 42.6 meters away at (14.9, 39.9). A unknown object with ID 76 is 53.5 meters away at (-17.3, -50.6). A vehicle with ID 1 is 57.2 meters away at (-56.6, -8.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.1545954 -1.3676767] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.270286   2.3787932] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.964195  -51.810566 ]\n [ -3.8404226 -29.514227 ]\n [-21.63563   -51.308895 ]\n [ -7.1934423 -31.885775 ]\n [-21.502602  -51.38485  ]\n [ 24.8343     45.49388  ]\n [ -4.9526267 -29.94747  ]\n [-21.475313  -51.4024   ]\n [ -9.04529   -34.720505 ]\n [-21.717062  -51.262604 ]\n [ 23.61644    45.02997  ]]", "nav_goal": "(-212.41282653808594, 132.33363342285156)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -9.934447  -11.2540245], 15.011539459228516 meters away.)"}
{"file_name": "images/scenario_634_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.4) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 14.8 meters away at (-14.6, -2.2). A unknown object with ID 70 is 18.7 meters away at (18.3, -4.1). A unknown object with ID 57 is 18.9 meters away at (18.1, -5.4). A unknown object with ID 101 is 19.1 meters away at (18.6, -4.6). A unknown object with ID 74 is 20.3 meters away at (19.4, -6.1). A vehicle with ID 37 is 24.4 meters away at (-24.2, 2.8). A vehicle with ID 39 is 33.6 meters away at (-31.4, 12.0). A vehicle with ID 48 is 37.5 meters away at (23.1, -29.6). A unknown object with ID 76 is 44.4 meters away at (-12.5, -42.6). A unknown object with ID 45 is 47.8 meters away at (21.5, -42.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7312584  1.8133531] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.92316    3.3376393] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.964195  -51.810566 ]\n [ -3.8404226 -29.514227 ]\n [-10.151618  -25.750483 ]\n [-21.63563   -51.308895 ]\n [ -7.1934423 -31.885775 ]\n [-13.120652  -23.981283 ]\n [-21.502602  -51.38485  ]\n [ 31.741966   45.47165  ]\n [ 24.8343     45.49388  ]\n [ -4.9526267 -29.94747  ]\n [-21.475313  -51.4024   ]\n [ -9.04529   -34.720505 ]\n [-21.717062  -51.262604 ]\n [ 23.61644    45.02997  ]]", "nav_goal": "(-212.41282653808594, 132.33363342285156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-14.589519   -2.2108974], 14.756087303161621 meters away.)"}
{"file_name": "images/scenario_634_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -0.1) m/s. Its current heading (yaw) is -3.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 18.9 meters away at (-17.4, 7.4). A unknown object with ID 101 is 24.9 meters away at (24.8, -0.4). A unknown object with ID 57 is 25.3 meters away at (25.2, -1.0). A unknown object with ID 70 is 25.4 meters away at (25.4, 0.1). A unknown object with ID 94 is 25.7 meters away at (25.7, -1.0). A unknown object with ID 74 is 26.6 meters away at (26.5, -1.9). A vehicle with ID 39 is 29.2 meters away at (-24.3, 16.2). A vehicle with ID 37 is 31.1 meters away at (-27.7, 14.2). A unknown object with ID 55 is 36.8 meters away at (23.3, -28.6). A pedestrian with ID 103 is 37.4 meters away at (33.2, 17.2).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.1472     3.2289603] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-5.0787787  3.5644746] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [0.08665995 0.24072237] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.964195  -51.810566 ]\n [ -3.8404226 -29.514227 ]\n [-21.63563   -51.308895 ]\n [ -7.1934423 -31.885775 ]\n [-21.502602  -51.38485  ]\n [ 31.741966   45.47165  ]\n [ -4.9526267 -29.94747  ]\n [-21.475313  -51.4024   ]\n [ -9.04529   -34.720505 ]\n [-21.717062  -51.262604 ]\n [ 29.964739   46.100864 ]]", "nav_goal": "(-212.41282653808594, 132.33363342285156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-17.391905    7.4357347], 18.914770126342773 meters away.)"}
{"file_name": "images/scenario_634_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 2.8) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 19.9 meters away at (-14.8, 13.3). A vehicle with ID 3 is 21.0 meters away at (-17.9, 11.0). A unknown object with ID 107 is 30.0 meters away at (20.4, 22.0). A vehicle with ID 37 is 32.3 meters away at (-27.1, 17.5). A unknown object with ID 101 is 34.4 meters away at (34.2, -3.7). A pedestrian with ID 4 is 34.7 meters away at (-33.8, -7.7). A unknown object with ID 57 is 34.8 meters away at (34.5, -4.1). A unknown object with ID 70 is 34.9 meters away at (34.8, -2.6). A unknown object with ID 94 is 35.0 meters away at (34.8, -4.2). A pedestrian with ID 5 is 35.1 meters away at (-34.1, -8.2).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.4368854  2.9834309] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-3.5585594  2.5598814] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.008685   -0.73691934] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.9834345 -0.7469906] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.964195  -51.810566 ]\n [ -3.8404226 -29.514227 ]\n [-21.63563   -51.308895 ]\n [ -7.1934423 -31.885775 ]\n [-21.502602  -51.38485  ]\n [ 31.741966   45.47165  ]\n [ -4.9526267 -29.94747  ]\n [-21.475313  -51.4024   ]\n [ -9.04529   -34.720505 ]\n [-21.717062  -51.262604 ]\n [ 29.964739   46.100864 ]]", "nav_goal": "(-212.41282653808594, 132.33363342285156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-14.779791  13.303123], 19.885051727294922 meters away.)"}
{"file_name": "images/scenario_635_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -6.5) m/s. Its current heading (yaw) is -1.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 27.9 meters away at (-26.8, -7.6). A vehicle with ID 60 is 30.4 meters away at (-28.6, -10.3). A vehicle with ID 62 is 30.6 meters away at (5.4, -30.1). A vehicle with ID 63 is 32.0 meters away at (-28.9, -13.8). A vehicle with ID 29 is 36.1 meters away at (2.8, -36.0). A pedestrian with ID 66 is 36.3 meters away at (-5.9, -35.8). A vehicle with ID 64 is 37.2 meters away at (-36.4, -7.3). A vehicle with ID 68 is 40.6 meters away at (-40.5, -2.2). A pedestrian with ID 18 is 41.9 meters away at (-8.8, -41.0). A pedestrian with ID 69 is 42.9 meters away at (-41.8, 9.5).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.5386144 -1.0825025] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 0.5461557  -0.20320758] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7455065 -1.2589473] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.284472   -0.39564443] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.533231 -36.55339 ]\n [-25.76284  -29.465117]\n [-23.969229 -26.49957 ]\n [-10.458948 -46.589077]\n [ -9.84763  -45.091106]\n [-13.551363 -39.74555 ]\n [-12.580885 -36.653492]\n [-10.060062 -44.950684]\n [-22.930708 -23.013563]\n [-23.854584 -26.268059]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-26.809998   -7.5972433], 27.865642547607422 meters away.)"}
{"file_name": "images/scenario_635_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -6.6) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 20.2 meters away at (10.8, -17.0). A vehicle with ID 58 is 22.1 meters away at (-21.3, 5.6). A vehicle with ID 60 is 23.4 meters away at (-23.2, 2.9). A vehicle with ID 63 is 23.4 meters away at (-23.4, -0.7). A vehicle with ID 29 is 24.3 meters away at (8.1, -22.9). A pedestrian with ID 66 is 24.9 meters away at (-1.6, -24.9). A pedestrian with ID 18 is 30.8 meters away at (-4.7, -30.5). A pedestrian with ID 46 is 31.4 meters away at (-23.1, 21.3). A vehicle with ID 64 is 31.6 meters away at (-31.1, 5.8). A vehicle with ID 43 is 32.7 meters away at (-32.6, 3.2).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.8302742 -1.0205014] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.8019628 -1.2202202] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.9406973  -0.62576723] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.533231 -36.55339 ]\n [-25.76284  -29.465117]\n [-23.969229 -26.49957 ]\n [-10.458948 -46.589077]\n [ -9.84763  -45.091106]\n [-13.551363 -39.74555 ]\n [-12.580885 -36.653492]\n [-10.060062 -44.950684]\n [-22.930708 -23.013563]\n [-23.854584 -26.268059]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 10.786538 -17.042234], 20.168964385986328 meters away.)"}
{"file_name": "images/scenario_635_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.5) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 66 is 13.4 meters away at (2.2, -13.3). A vehicle with ID 29 is 16.7 meters away at (13.5, -9.8). A vehicle with ID 62 is 16.9 meters away at (16.4, -3.9). A pedestrian with ID 18 is 19.9 meters away at (-0.5, -19.9). A vehicle with ID 63 is 21.7 meters away at (-17.7, 12.5). A vehicle with ID 60 is 23.7 meters away at (-17.5, 16.0). A vehicle with ID 58 is 24.3 meters away at (-15.6, 18.7). A vehicle with ID 40 is 26.8 meters away at (-19.9, -17.9). A unknown object with ID 13 is 30.2 meters away at (-23.1, -19.4). A unknown object with ID 14 is 30.4 meters away at (-23.8, -19.0).", "velocity_description": "The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.88472295 -0.68254936] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.8110843 -1.1985085] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [1.3602008 6.656075 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.533231 -36.55339 ]\n [-25.76284  -29.465117]\n [-23.969229 -26.49957 ]\n [-10.458948 -46.589077]\n [ -9.84763  -45.091106]\n [-13.551363 -39.74555 ]\n [-12.580885 -36.653492]\n [-10.060062 -44.950684]\n [-22.930708 -23.013563]\n [-23.854584 -26.268059]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  2.151329 -13.250416], 13.423924446105957 meters away.)"}
{"file_name": "images/scenario_635_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -6.6) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 66 is 6.0 meters away at (5.8, -1.2). A pedestrian with ID 18 is 9.8 meters away at (3.2, -9.3). A vehicle with ID 40 is 16.3 meters away at (-14.6, 7.3). A unknown object with ID 13 is 18.6 meters away at (-17.4, -6.5). A unknown object with ID 14 is 19.1 meters away at (-18.1, -6.1). A vehicle with ID 29 is 19.2 meters away at (19.0, 3.1). A unknown object with ID 12 is 19.3 meters away at (-18.0, -7.1). A pedestrian with ID 16 is 22.3 meters away at (-3.4, -22.0). A vehicle with ID 62 is 23.8 meters away at (22.1, 8.9). A vehicle with ID 70 is 26.3 meters away at (-25.1, 7.5).", "velocity_description": "The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.94419456 -0.18821894] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0353868 -1.0052315] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-1.569035  6.086113] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.53634435 1.1394652 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.533231 -36.55339 ]\n [-25.76284  -29.465117]\n [-23.969229 -26.49957 ]\n [-10.458948 -46.589077]\n [ -9.84763  -45.091106]\n [-13.551363 -39.74555 ]\n [-12.580885 -36.653492]\n [-10.060062 -44.950684]\n [-22.930708 -23.013563]\n [-23.854584 -26.268059]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 5.8484116 -1.2015953], 5.970573902130127 meters away.)"}
{"file_name": "images/scenario_636_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 7.2) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_636_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 7.0) m/s. Its current heading (yaw) is 2.13 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_636_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 7.2) m/s. Its current heading (yaw) is 2.01 ", "actor_description": " The most relevant actors are: A cyclist with ID 3 is 23.8 meters away at (12.8, 20.1).", "velocity_description": "The cyclist with ID 3 is traveling at a (x, y) velocity of [  3.6849337 -14.747538 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [12.785547 20.097694], 23.81989860534668 meters away.)"}
{"file_name": "images/scenario_636_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 7.1) m/s. Its current heading (yaw) is 1.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 20.4 meters away at (12.1, 16.4). A vehicle with ID 2 is 24.6 meters away at (15.1, 19.4).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [  2.865095 -14.164268] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [  2.5059783 -13.217853 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [12.112991 16.364754], 20.360002517700195 meters away.)"}
{"file_name": "images/scenario_637_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.3) m/s. Its current heading (yaw) is -1.71 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 14.3 meters away at (-12.0, -7.7). A pedestrian with ID 29 is 26.9 meters away at (-26.6, -3.8). A vehicle with ID 36 is 47.9 meters away at (-29.3, -37.8). A pedestrian with ID 30 is 50.4 meters away at (17.3, 47.3). A vehicle with ID 39 is 56.4 meters away at (-48.5, -28.7). A pedestrian with ID 31 is 58.9 meters away at (7.0, 58.5). A vehicle with ID 21 is 68.6 meters away at (-68.4, 5.5). A pedestrian with ID 38 is 70.7 meters away at (-67.6, 20.6). A vehicle with ID 28 is 74.1 meters away at (15.4, 72.5). A vehicle with ID 7 is 74.8 meters away at (-35.2, -66.0).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.414161    0.36949393] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.07401463 -0.14243743] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.7519713 -1.2455713] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1961715 -0.4716175] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 6.7234797 -2.966549 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.1165135  -0.38387674] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 5.200473 12.244005] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.713634 -29.138485]\n [-25.051664 -30.505857]\n [-25.397358 -30.325756]\n [-24.835897 -30.644524]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-12.036746   -7.7085238], 14.293516159057617 meters away.)"}
{"file_name": "images/scenario_637_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -1.6) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 15.0 meters away at (-14.7, -3.2). A pedestrian with ID 29 is 26.3 meters away at (-26.3, -0.4). A pedestrian with ID 1 is 37.7 meters away at (31.5, -20.6). A vehicle with ID 36 is 45.1 meters away at (-29.1, -34.4). A pedestrian with ID 30 is 51.6 meters away at (19.1, 48.0). A vehicle with ID 39 is 54.5 meters away at (-48.3, -25.3). A vehicle with ID 21 is 54.6 meters away at (-54.6, 2.6). A pedestrian with ID 31 is 61.9 meters away at (9.9, 61.1). A pedestrian with ID 38 is 69.4 meters away at (-65.4, 23.1). A pedestrian with ID 17 is 70.2 meters away at (-6.6, 69.9).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.4504547   0.58757067] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00225254  0.02402108] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2390349  -0.65035033] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.71479267 -1.2016734 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 7.2526383 -3.3050096] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3515188 -0.2875749] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.9830773  -0.45737696] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.8138596 -1.0322334] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.713634 -29.138485]\n [-25.051664 -30.505857]\n [-25.397358 -30.325756]\n [-24.835897 -30.644524]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-14.695996   -3.1921139], 15.038680076599121 meters away.)"}
{"file_name": "images/scenario_637_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -2.8) m/s. Its current heading (yaw) is -1.37 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 18.4 meters away at (-18.1, 3.0). A pedestrian with ID 29 is 27.2 meters away at (-26.7, 4.8). A pedestrian with ID 1 is 37.9 meters away at (33.9, -16.9). A vehicle with ID 21 is 39.5 meters away at (-39.5, 0.1). A vehicle with ID 36 is 41.6 meters away at (-29.5, -29.3). A vehicle with ID 39 is 52.7 meters away at (-48.7, -20.2). A pedestrian with ID 30 is 55.5 meters away at (20.6, 51.5). A pedestrian with ID 31 is 66.8 meters away at (11.9, 65.7). A cyclist with ID 25 is 68.7 meters away at (44.7, -52.2). A vehicle with ID 6 is 68.8 meters away at (-35.9, -58.7).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.4586495   0.44314745] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01916553 -0.10860731] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.4673486  -0.70328945] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 7.58093   -3.7272904] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.73388714 -0.48009017] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9172689  -0.45502338] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [ 3.0760462 -1.7626537] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.688744 -17.662628]\n [-28.713634 -29.138485]\n [-25.051664 -30.505857]\n [-25.397358 -30.325756]\n [-28.482355 -20.628174]\n [-24.835897 -30.644524]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-18.123857    3.0338516], 18.37602996826172 meters away.)"}
{"file_name": "images/scenario_637_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -1.8) m/s. Its current heading (yaw) is -1.17 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 23.9 meters away at (-22.3, 8.5). A vehicle with ID 21 is 28.8 meters away at (-28.6, -3.4). A pedestrian with ID 29 is 29.4 meters away at (-28.0, 9.0). A pedestrian with ID 1 is 38.1 meters away at (35.5, -13.9). A vehicle with ID 36 is 39.6 meters away at (-30.8, -24.9). A unknown object with ID 13 is 43.5 meters away at (-12.0, 41.8). A vehicle with ID 39 is 52.5 meters away at (-50.1, -15.7). A vehicle with ID 24 is 63.6 meters away at (-59.6, 22.3). A vehicle with ID 6 is 65.5 meters away at (-37.3, -53.9). A pedestrian with ID 38 is 70.1 meters away at (-62.9, 31.0).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.3403512  0.6776484] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 4.4812627 -4.8781567] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01399644 -0.01442664] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.4260089 -0.6953947] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 5.9786487 -2.3788393] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.2194793  -0.15061508] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.713634 -29.138485]\n [-25.051664 -30.505857]\n [-25.397358 -30.325756]\n [-24.835897 -30.644524]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-22.298729   8.539836], 23.878067016601562 meters away.)"}
{"file_name": "images/scenario_638_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -5.6) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.2 meters away at (-1.5, -7.0). A vehicle with ID 10 is 9.8 meters away at (8.4, 4.9). A vehicle with ID 41 is 12.8 meters away at (-1.5, -12.7). A vehicle with ID 5 is 15.5 meters away at (9.9, 11.9). A vehicle with ID 39 is 22.4 meters away at (16.6, 15.1). A unknown object with ID 40 is 23.6 meters away at (23.3, -3.7). A vehicle with ID 7 is 32.9 meters away at (21.2, 25.2). A vehicle with ID 42 is 35.3 meters away at (25.0, 25.0). A vehicle with ID 32 is 44.8 meters away at (-30.5, -32.8). A vehicle with ID 45 is 44.9 meters away at (26.3, -36.3).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [-6.194311  -7.2541423] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.0943356 -5.994861 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-4.7687516 -5.4126687] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-3.4925048 -4.5194983] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.1084123 -4.824753 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-3.3954482 -4.033835 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.501055  -12.517829 ]\n [ -2.6376524 -13.419206 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.4928846 -7.0046597], 7.161980152130127 meters away.)"}
{"file_name": "images/scenario_638_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -6.1) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 7.5 meters away at (6.8, 3.1). A vehicle with ID 41 is 8.4 meters away at (8.3, -0.8). A vehicle with ID 4 is 11.7 meters away at (-4.6, -10.8). A vehicle with ID 5 is 14.7 meters away at (9.2, 11.4). A vehicle with ID 39 is 26.7 meters away at (21.9, 15.3). A unknown object with ID 40 is 34.2 meters away at (33.2, 8.2). A vehicle with ID 7 is 35.5 meters away at (22.8, 27.3). A vehicle with ID 48 is 37.2 meters away at (37.1, 3.1). A vehicle with ID 42 is 37.7 meters away at (26.5, 26.9). A vehicle with ID 36 is 43.4 meters away at (-19.4, -38.8).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-6.429584 -7.601378] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-6.7431197 -7.977206 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.7281313 -6.644498 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.69975364 -6.5580363 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.56322  -5.292102] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-6.6159253  2.5487404] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-4.6189713 -5.549556 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [7.3630176 9.076736 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.501055  -12.517829 ]\n [  2.4621325  -2.8194695]\n [ -2.6376524 -13.419206 ]\n [  8.057551   -7.2631917]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [6.8292475 3.0891743], 7.4954400062561035 meters away.)"}
{"file_name": "images/scenario_638_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -6.4) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 4.3 meters away at (4.3, 0.0). A vehicle with ID 36 is 10.4 meters away at (5.2, -9.0). A vehicle with ID 5 is 13.7 meters away at (8.6, 10.6). A vehicle with ID 4 is 15.6 meters away at (-7.1, -13.8). A vehicle with ID 41 is 22.0 meters away at (18.6, 11.8). A vehicle with ID 7 is 36.0 meters away at (23.1, 27.6). A vehicle with ID 39 is 39.7 meters away at (36.8, 15.0). A unknown object with ID 35 is 41.0 meters away at (40.7, 4.9). A vehicle with ID 42 is 41.1 meters away at (31.1, 26.9). A vehicle with ID 48 is 44.6 meters away at (38.6, 22.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-6.4665213 -7.650562 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [6.400428 7.844808] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.4145064 -6.322545 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-6.176655 -7.241775] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-5.283526 -6.322804] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 4.9868274 -5.8076935] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-0.2153431 -6.7697253] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-2.7603045  4.287481 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.501055  -12.517829 ]\n [-78.46507   -97.681404 ]\n [ -2.6376524 -13.419206 ]\n [-77.03746   -98.57036  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.3290615  0.03759766], 4.329224586486816 meters away.)"}
{"file_name": "images/scenario_638_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, -6.9) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 4.0 meters away at (3.9, -0.6). A vehicle with ID 23 is 12.8 meters away at (0.5, -12.8). A vehicle with ID 5 is 15.0 meters away at (9.4, 11.6). A vehicle with ID 4 is 15.4 meters away at (-7.0, -13.7). A vehicle with ID 36 is 32.1 meters away at (27.0, 17.4). A vehicle with ID 7 is 35.9 meters away at (23.1, 27.5). A vehicle with ID 41 is 39.3 meters away at (29.9, 25.4). A vehicle with ID 18 is 44.2 meters away at (-20.4, -39.3). A vehicle with ID 3 is 45.9 meters away at (-26.5, -37.5). A vehicle with ID 8 is 50.2 meters away at (-31.7, -38.9).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.3110547 -6.315249 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [5.261988 7.213701] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.45326   -6.3501735] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-5.1635036 -6.0538445] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [3.7855496 4.802048 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-5.7387624 -6.769268 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [5.835171 6.511253] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.6669888 -4.2441235] m/s.", "light_description": "There are active red lights at the following coordinates: [[  -4.501055    -12.517829  ]\n [ -75.2112     -105.80031   ]\n [ -78.46507     -97.681404  ]\n [  -2.6376524   -13.419206  ]\n [ -77.03746     -98.57036   ]\n [  -0.11904652  -15.526254  ]\n [   0.98923075  -17.232367  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.949627  -0.6094208], 3.9963667392730713 meters away.)"}
{"file_name": "images/scenario_639_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.8, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 6.9 meters away at (-0.8, -6.9). A vehicle with ID 36 is 7.9 meters away at (-4.1, -6.7). A vehicle with ID 35 is 11.6 meters away at (-9.5, -6.7). A vehicle with ID 34 is 17.1 meters away at (-16.0, -6.1). A vehicle with ID 33 is 35.1 meters away at (34.4, -7.0). A vehicle with ID 32 is 38.1 meters away at (37.4, -6.9). A vehicle with ID 38 is 39.0 meters away at (-36.2, 14.4). A vehicle with ID 39 is 41.0 meters away at (-40.4, -6.9). A vehicle with ID 40 is 41.4 meters away at (-37.6, 17.3). A vehicle with ID 23 is 43.3 meters away at (42.7, -7.0).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.8392658 -6.8937545], 6.9446539878845215 meters away.)"}
{"file_name": "images/scenario_639_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 16.0 meters away at (14.4, -7.0). A vehicle with ID 32 is 18.7 meters away at (17.4, -6.9). A vehicle with ID 37 is 21.9 meters away at (-20.8, -6.8). A vehicle with ID 23 is 23.7 meters away at (22.6, -7.0). A vehicle with ID 36 is 25.0 meters away at (-24.1, -6.5). A vehicle with ID 31 is 26.4 meters away at (25.4, -7.0). A vehicle with ID 35 is 30.3 meters away at (-29.6, -6.4). A vehicle with ID 34 is 36.6 meters away at (-36.1, -6.1). A vehicle with ID 40 is 60.3 meters away at (-57.7, 17.4). A vehicle with ID 39 is 60.9 meters away at (-60.5, -6.7).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [14.364464  -6.9936743], 15.976523399353027 meters away.)"}
{"file_name": "images/scenario_639_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.7, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 7.5 meters away at (-2.6, -7.0). A vehicle with ID 23 is 7.5 meters away at (2.6, -7.0). A vehicle with ID 33 is 8.9 meters away at (-5.5, -7.0). A vehicle with ID 31 is 9.0 meters away at (5.4, -7.1). A vehicle with ID 37 is 41.4 meters away at (-40.8, -7.0). A vehicle with ID 36 is 44.6 meters away at (-44.1, -6.7). A vehicle with ID 35 is 50.0 meters away at (-49.6, -6.4). A vehicle with ID 34 is 56.5 meters away at (-56.2, -6.1). A vehicle with ID 7 is 76.4 meters away at (75.5, 11.1). A vehicle with ID 40 is 79.7 meters away at (-77.8, 17.4).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.6144943 -7.0067797], 7.478672504425049 meters away.)"}
{"file_name": "images/scenario_639_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.1, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 14.9 meters away at (-13.2, -7.0). A vehicle with ID 23 is 17.5 meters away at (-16.1, -6.9). A vehicle with ID 32 is 22.3 meters away at (-21.3, -6.8). A vehicle with ID 33 is 25.3 meters away at (-24.3, -6.8). A unknown object with ID 2 is 34.3 meters away at (34.1, -3.4). A vehicle with ID 3 is 44.9 meters away at (40.4, -19.6). A vehicle with ID 1 is 47.6 meters away at (43.6, -19.1). A unknown object with ID 4 is 48.2 meters away at (47.3, 9.4). A vehicle with ID 7 is 58.3 meters away at (57.1, 11.6). A vehicle with ID 37 is 59.9 meters away at (-59.5, -6.9).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-13.164055   -7.0397563], 14.928178787231445 meters away.)"}
{"file_name": "images/scenario_640_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 9.5) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 16.1 meters away at (1.2, 16.1). A vehicle with ID 19 is 35.3 meters away at (25.0, -24.9).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[25.78495   6.218025]\n [27.153122  9.808771]]", "nav_goal": "(123.04512786865234, 264.1498718261719)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 1.2043576 16.08918  ], 16.134193420410156 meters away.)"}
{"file_name": "images/scenario_640_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 9.9) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 6.8 meters away at (-6.0, -3.2). A vehicle with ID 19 is 47.7 meters away at (18.0, -44.2).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[25.78495   6.218025]\n [27.153122  9.808771]]", "nav_goal": "(123.04512786865234, 264.1498718261719)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-6.00725   -3.1990585], 6.805955410003662 meters away.)"}
{"file_name": "images/scenario_640_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 9.9) m/s. Its current heading (yaw) is 1.33 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 25.9 meters away at (-12.0, -23.0). A unknown object with ID 13 is 39.6 meters away at (-19.5, -34.4). A unknown object with ID 10 is 56.5 meters away at (36.7, 42.9). A unknown object with ID 9 is 57.9 meters away at (37.2, 44.3). A unknown object with ID 8 is 59.7 meters away at (37.9, 46.1). A unknown object with ID 7 is 61.7 meters away at (38.6, 48.2). A unknown object with ID 6 is 63.8 meters away at (39.3, 50.3). A vehicle with ID 19 is 65.0 meters away at (11.8, -63.9). A unknown object with ID 5 is 65.9 meters away at (40.0, 52.4). A unknown object with ID 4 is 67.3 meters away at (40.4, 53.9).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[25.78495   6.218025]\n [27.153122  9.808771]]", "nav_goal": "(123.04512786865234, 264.1498718261719)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.961552 -22.952744], 25.882564544677734 meters away.)"}
{"file_name": "images/scenario_640_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 9.7) m/s. Its current heading (yaw) is 1.36 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 39.4 meters away at (34.1, 19.6). A unknown object with ID 10 is 39.4 meters away at (32.0, 23.1). A unknown object with ID 9 is 41.2 meters away at (32.7, 25.0). A unknown object with ID 8 is 42.9 meters away at (33.4, 26.9). A unknown object with ID 7 is 44.6 meters away at (34.1, 28.8). A unknown object with ID 6 is 46.3 meters away at (34.6, 30.8). A unknown object with ID 5 is 48.0 meters away at (35.2, 32.6). A unknown object with ID 4 is 49.2 meters away at (35.6, 34.0). A unknown object with ID 3 is 51.4 meters away at (36.4, 36.3). A unknown object with ID 1 is 55.1 meters away at (37.6, 40.3).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(123.04512786865234, 264.1498718261719)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [34.14618  19.593147], 39.36817169189453 meters away.)"}
{"file_name": "images/scenario_641_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 10.5) m/s. Its current heading (yaw) is 1.94 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-114.94963836669922, 279.0791320800781)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_641_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 9.7) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-114.94963836669922, 279.0791320800781)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_641_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 9.9) m/s. Its current heading (yaw) is 1.97 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-114.94963836669922, 279.0791320800781)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_641_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 10.9) m/s. Its current heading (yaw) is 1.97 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-114.94963836669922, 279.0791320800781)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_642_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.7) m/s. Its current heading (yaw) is 2.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 7.0 meters away at (-5.1, -4.8). A vehicle with ID 67 is 8.4 meters away at (-8.2, -1.7). A vehicle with ID 58 is 8.5 meters away at (-1.8, -8.3). A vehicle with ID 55 is 11.8 meters away at (1.5, -11.7). A vehicle with ID 50 is 15.7 meters away at (4.9, -15.0). A vehicle with ID 51 is 21.4 meters away at (9.3, -19.3). A vehicle with ID 54 is 21.5 meters away at (20.2, -7.3). A vehicle with ID 27 is 22.1 meters away at (-21.9, -3.2). A vehicle with ID 52 is 25.2 meters away at (19.8, -15.5). A vehicle with ID 56 is 26.3 meters away at (13.1, -22.8).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 41.432156 -47.677216]\n [ 43.91877  -44.55956 ]]", "nav_goal": "(60.68122482299805, 24.099559783935547)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.082818  -4.8039756], 6.993798732757568 meters away.)"}
{"file_name": "images/scenario_642_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.5) m/s. Its current heading (yaw) is 2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 13.3 meters away at (3.0, -13.0). A vehicle with ID 61 is 17.2 meters away at (6.1, -16.0). A vehicle with ID 78 is 17.5 meters away at (-16.9, -4.6). A vehicle with ID 27 is 17.8 meters away at (-10.5, -14.4). A vehicle with ID 45 is 20.6 meters away at (-18.8, 8.5). A vehicle with ID 58 is 21.8 meters away at (9.5, -19.6). A vehicle with ID 42 is 23.7 meters away at (-21.0, -11.0). A vehicle with ID 21 is 24.9 meters away at (-18.1, 17.1). A vehicle with ID 46 is 25.5 meters away at (-22.5, 11.9). A vehicle with ID 55 is 26.3 meters away at (12.8, -23.0).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-4.77061    5.2905645] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.68122482299805, 24.099559783935547)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  2.9737244 -12.969519 ], 13.306068420410156 meters away.)"}
{"file_name": "images/scenario_642_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.5) m/s. Its current heading (yaw) is 2.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 7.9 meters away at (-7.5, -2.6). A vehicle with ID 46 is 11.2 meters away at (-11.2, 0.8). A pedestrian with ID 26 is 15.3 meters away at (-15.3, 0.9). A vehicle with ID 48 is 15.5 meters away at (-14.9, 4.3). A vehicle with ID 78 is 16.6 meters away at (-5.6, -15.6). A vehicle with ID 28 is 17.1 meters away at (-5.8, -16.1). A vehicle with ID 47 is 19.9 meters away at (-18.3, 7.8). A vehicle with ID 18 is 23.4 meters away at (-8.6, 21.8). A vehicle with ID 42 is 24.0 meters away at (-9.6, -22.0). A vehicle with ID 21 is 24.1 meters away at (-17.3, 16.8).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.97296184  0.9281282 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-5.5831184  5.427577 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.68122482299805, 24.099559783935547)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.4538918 -2.617754 ], 7.900198459625244 meters away.)"}
{"file_name": "images/scenario_642_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.6) m/s. Its current heading (yaw) is 2.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 7.7 meters away at (-6.9, -3.4). A vehicle with ID 48 is 7.7 meters away at (-3.5, -6.8). A pedestrian with ID 26 is 10.2 meters away at (-5.7, -8.5). A vehicle with ID 46 is 10.4 meters away at (0.1, -10.4). A vehicle with ID 49 is 10.4 meters away at (-10.4, 0.1). A vehicle with ID 18 is 10.8 meters away at (2.7, 10.5). A vehicle with ID 45 is 14.3 meters away at (3.9, -13.7). A vehicle with ID 17 is 14.5 meters away at (-14.0, 3.6). A vehicle with ID 15 is 19.4 meters away at (-17.9, 7.5). A vehicle with ID 21 is 23.7 meters away at (-17.1, 16.4).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.1003166  1.0594844] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-5.5147395  5.371463 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.68122482299805, 24.099559783935547)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.899494  -3.3707504], 7.678865432739258 meters away.)"}
{"file_name": "images/scenario_643_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.0) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 4.9 meters away at (4.9, 0.1). A vehicle with ID 52 is 8.5 meters away at (6.7, 5.2). A vehicle with ID 53 is 9.7 meters away at (-0.8, 9.7). A vehicle with ID 55 is 10.8 meters away at (-2.7, -10.5). A vehicle with ID 56 is 15.0 meters away at (1.0, 14.9). A vehicle with ID 58 is 21.2 meters away at (-21.2, -0.9). A vehicle with ID 57 is 21.3 meters away at (2.9, 21.1). A vehicle with ID 63 is 21.5 meters away at (14.4, -15.9). A vehicle with ID 59 is 24.3 meters away at (12.3, 21.0). A vehicle with ID 51 is 25.3 meters away at (12.8, -21.9).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-5.241147   1.8127369] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-3.4185338  1.3280703] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.11061096191406, 101.1043472290039)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.917978   0.09585935], 4.918911933898926 meters away.)"}
{"file_name": "images/scenario_643_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.7) m/s. Its current heading (yaw) is -1.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 8.6 meters away at (6.2, 5.9). A vehicle with ID 52 is 13.7 meters away at (8.1, 11.1). A vehicle with ID 63 is 14.3 meters away at (11.5, -8.6). A vehicle with ID 55 is 14.3 meters away at (-14.3, -0.1). A vehicle with ID 53 is 15.7 meters away at (0.7, 15.7). A vehicle with ID 58 is 20.6 meters away at (-19.9, 5.2). A vehicle with ID 56 is 21.1 meters away at (2.4, 20.9). A vehicle with ID 51 is 21.2 meters away at (13.9, -16.0). A vehicle with ID 65 is 25.4 meters away at (-12.8, -22.0). A vehicle with ID 49 is 25.9 meters away at (18.8, -17.8).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-0.72264826  0.17192815] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-7.4121823  2.6095598] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.11061096191406, 101.1043472290039)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [6.2119837 5.9194555], 8.580716133117676 meters away.)"}
{"file_name": "images/scenario_643_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -3.4) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 7.0 meters away at (6.9, 0.7). A vehicle with ID 51 is 11.9 meters away at (9.8, -6.8). A vehicle with ID 50 is 15.2 meters away at (2.1, 15.1). A vehicle with ID 49 is 17.1 meters away at (14.7, -8.6). A vehicle with ID 52 is 20.7 meters away at (4.0, 20.3). A vehicle with ID 65 is 21.1 meters away at (-16.8, -12.8). A vehicle with ID 68 is 21.6 meters away at (-9.9, -19.2). A vehicle with ID 48 is 22.9 meters away at (20.3, -10.6). A vehicle with ID 53 is 25.1 meters away at (-3.5, 24.9). A vehicle with ID 66 is 25.9 meters away at (-23.0, -11.8).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.11061096191406, 101.1043472290039)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.9155083  0.70159054], 6.951005935668945 meters away.)"}
{"file_name": "images/scenario_643_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -2.0) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 2.6 meters away at (-1.4, -2.2). A vehicle with ID 49 is 5.1 meters away at (3.3, -3.9). A vehicle with ID 48 is 10.7 meters away at (8.9, -5.8). A vehicle with ID 63 is 11.0 meters away at (-8.7, 6.8). A unknown object with ID 13 is 16.8 meters away at (16.7, 2.2). A vehicle with ID 47 is 21.2 meters away at (19.0, -9.3). A vehicle with ID 50 is 21.8 meters away at (-9.4, 19.7). A vehicle with ID 45 is 26.6 meters away at (24.2, -11.1). A vehicle with ID 65 is 29.3 meters away at (-28.1, -8.3). A vehicle with ID 66 is 35.1 meters away at (-34.4, -7.3).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-4.5109997  1.5327245] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(172.11061096191406, 101.1043472290039)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.4273863 -2.1795216], 2.605330228805542 meters away.)"}
{"file_name": "images/scenario_644_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -1.1) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 38.7 meters away at (13.4, 36.3).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(242.4685821533203, -173.16725158691406)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [13.366176 36.308495], 38.69058609008789 meters away.)"}
{"file_name": "images/scenario_644_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 39.0 meters away at (11.9, 37.1). A unknown object with ID 24 is 71.2 meters away at (58.3, -40.9).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(242.4685821533203, -173.16725158691406)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [11.933289 37.131493], 39.00193786621094 meters away.)"}
{"file_name": "images/scenario_644_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 39.0 meters away at (11.8, 37.2).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(242.4685821533203, -173.16725158691406)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [11.847498 37.18122 ], 39.02315139770508 meters away.)"}
{"file_name": "images/scenario_644_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.2) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 38.9 meters away at (11.4, 37.2).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(242.4685821533203, -173.16725158691406)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [11.420308 37.217766], 38.93052291870117 meters away.)"}
{"file_name": "images/scenario_645_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -2.1) m/s. Its current heading (yaw) is -1.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 10.8 meters away at (1.5, -10.7). A vehicle with ID 3 is 12.0 meters away at (-2.9, 11.7). A vehicle with ID 21 is 17.6 meters away at (2.2, -17.4). A unknown object with ID 19 is 34.2 meters away at (-12.1, -32.0). A pedestrian with ID 26 is 52.4 meters away at (10.0, -51.5). A unknown object with ID 12 is 63.6 meters away at (-39.9, 49.5).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.8736921 -3.6722605] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.1148325  1.7689841] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.18592927 -30.021048  ]\n [  3.5771186  -27.022774  ]\n [  3.4455714  -27.044336  ]\n [  3.4485207  -27.04399   ]]", "nav_goal": "(31.679670333862305, 152.96461486816406)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [  1.4929888 -10.713271 ], 10.816802024841309 meters away.)"}
{"file_name": "images/scenario_645_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.6) m/s. Its current heading (yaw) is -1.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 8.1 meters away at (1.1, -8.0). A vehicle with ID 3 is 8.9 meters away at (-2.0, 8.6). A vehicle with ID 21 is 14.8 meters away at (1.9, -14.7). A unknown object with ID 19 is 31.8 meters away at (-12.5, -29.3).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.34728917 -1.484568  ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.18592927 -30.021048  ]\n [  3.5771186  -27.022774  ]\n [  3.4455714  -27.044336  ]\n [  3.4485207  -27.04399   ]]", "nav_goal": "(31.679670333862305, 152.96461486816406)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.1239793 -8.018364 ], 8.096757888793945 meters away.)"}
{"file_name": "images/scenario_645_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.6 meters away at (1.1, -7.5). A vehicle with ID 3 is 8.3 meters away at (-1.8, 8.1). A vehicle with ID 21 is 14.3 meters away at (1.7, -14.2). A unknown object with ID 19 is 31.5 meters away at (-12.6, -28.8).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.18592927 -30.021048  ]\n [  3.5771186  -27.022774  ]\n [  3.4455714  -27.044336  ]\n [  3.4485207  -27.04399   ]]", "nav_goal": "(31.679670333862305, 152.96461486816406)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.0556701 -7.54395  ], 7.617455005645752 meters away.)"}
{"file_name": "images/scenario_645_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.6 meters away at (1.0, -7.5). A vehicle with ID 3 is 8.3 meters away at (-1.8, 8.1). A vehicle with ID 21 is 14.3 meters away at (1.8, -14.2). A unknown object with ID 19 is 31.4 meters away at (-12.6, -28.8). A pedestrian with ID 14 is 47.6 meters away at (10.1, -46.5).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.11627194  0.45528185] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.18592927 -30.021048  ]\n [  3.5771186  -27.022774  ]\n [  3.4455714  -27.044336  ]\n [  3.4485207  -27.04399   ]]", "nav_goal": "(31.679670333862305, 152.96461486816406)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.0456719 -7.498101 ], 7.570663928985596 meters away.)"}
{"file_name": "images/scenario_646_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -2.0) m/s. Its current heading (yaw) is -2.66 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 33.1 meters away at (-20.5, -26.0). A vehicle with ID 22 is 38.8 meters away at (6.0, 38.3). A pedestrian with ID 21 is 43.9 meters away at (43.4, -6.5).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.1360039 -6.229598 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00106331 -0.00668572] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-20.501198 -25.988205], 33.10114669799805 meters away.)"}
{"file_name": "images/scenario_646_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -3.9) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 36.2 meters away at (10.2, 34.7). A pedestrian with ID 21 is 49.8 meters away at (49.8, -0.7).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.938452  -3.5007837] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.01012432 -0.02482901] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [10.173321 34.726524], 36.18601989746094 meters away.)"}
{"file_name": "images/scenario_646_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -4.9) m/s. Its current heading (yaw) is -1.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 40.4 meters away at (12.4, 38.5).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.60525703 -2.1904957 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.36595  38.450615], 40.39017868041992 meters away.)"}
{"file_name": "images/scenario_646_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -5.6) m/s. Its current heading (yaw) is -1.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 46.5 meters away at (14.3, 44.3). A unknown object with ID 13 is 60.1 meters away at (-22.6, -55.7). A unknown object with ID 17 is 68.1 meters away at (-26.3, -62.8).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.99452114 -3.136434  ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [14.255789 44.26078 ], 46.499935150146484 meters away.)"}
{"file_name": "images/scenario_647_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 10.9 meters away at (3.9, -10.1). A vehicle with ID 81 is 12.7 meters away at (7.4, -10.3). A vehicle with ID 85 is 12.9 meters away at (-7.3, -10.6). A vehicle with ID 86 is 14.2 meters away at (-10.2, -9.9). A vehicle with ID 79 is 17.8 meters away at (14.2, -10.7). A vehicle with ID 87 is 17.9 meters away at (-14.7, -10.3). A vehicle with ID 78 is 20.9 meters away at (18.3, -10.1). A vehicle with ID 80 is 24.3 meters away at (22.0, -10.2). A vehicle with ID 82 is 27.2 meters away at (25.0, -10.7). A vehicle with ID 89 is 27.3 meters away at (-25.3, -10.4).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-300.7694091796875, -0.4604043960571289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  3.909215 -10.134978], 10.86276912689209 meters away.)"}
{"file_name": "images/scenario_647_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 9.4 meters away at (2.7, 9.0). A vehicle with ID 87 is 10.5 meters away at (2.1, -10.3). A vehicle with ID 86 is 11.9 meters away at (6.7, -9.9). A vehicle with ID 64 is 12.0 meters away at (-9.3, 7.5). A unknown object with ID 66 is 13.0 meters away at (10.7, 7.4). A vehicle with ID 89 is 13.4 meters away at (-8.5, -10.4). A vehicle with ID 85 is 14.3 meters away at (9.6, -10.6). A vehicle with ID 91 is 14.4 meters away at (-12.6, 6.9). A vehicle with ID 92 is 17.0 meters away at (-15.9, 6.1). A vehicle with ID 93 is 21.6 meters away at (-20.7, 6.1).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [ 0.6567207  -0.08123764] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-300.7694091796875, -0.4604043960571289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.7455559 9.028848 ], 9.437063217163086 meters away.)"}
{"file_name": "images/scenario_647_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 92 is 6.5 meters away at (1.9, 6.2). A vehicle with ID 93 is 6.7 meters away at (-2.8, 6.1). A vehicle with ID 91 is 8.7 meters away at (5.2, 6.9). A vehicle with ID 64 is 11.5 meters away at (8.6, 7.5). A vehicle with ID 94 is 11.6 meters away at (-5.3, -10.3). A vehicle with ID 89 is 14.0 meters away at (9.3, -10.4). A vehicle with ID 77 is 15.3 meters away at (-11.6, -9.9). A vehicle with ID 76 is 18.7 meters away at (-15.8, -10.1). A unknown object with ID 61 is 19.3 meters away at (-19.1, 2.8). A vehicle with ID 75 is 21.5 meters away at (-19.1, -9.9).", "velocity_description": "The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-300.7694091796875, -0.4604043960571289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.9425011 6.2144933], 6.511009216308594 meters away.)"}
{"file_name": "images/scenario_647_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.7, 0.1) m/s. Its current heading (yaw) is 3.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 10.0 meters away at (-0.4, -10.0). A vehicle with ID 76 is 10.5 meters away at (2.9, -10.1). A vehicle with ID 77 is 12.2 meters away at (7.0, -10.0). A unknown object with ID 38 is 13.8 meters away at (10.3, 9.2). A vehicle with ID 25 is 15.7 meters away at (-11.6, -10.6). A vehicle with ID 93 is 17.0 meters away at (16.0, 5.9). A vehicle with ID 94 is 17.0 meters away at (13.4, -10.5). A vehicle with ID 23 is 18.5 meters away at (-15.2, -10.5). A vehicle with ID 92 is 21.7 meters away at (20.9, 6.0). A vehicle with ID 18 is 22.3 meters away at (-19.5, -10.9).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-300.7694091796875, -0.4604043960571289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.43421936 -9.997416  ], 10.006840705871582 meters away.)"}
{"file_name": "images/scenario_648_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 1.8) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 9.5 meters away at (-5.9, -7.5). A vehicle with ID 1 is 11.6 meters away at (7.2, 9.1). A vehicle with ID 2 is 19.8 meters away at (-12.4, -15.4). A pedestrian with ID 40 is 32.9 meters away at (10.0, 31.4). A vehicle with ID 8 is 35.9 meters away at (-22.7, -27.8). A unknown object with ID 41 is 45.1 meters away at (-34.8, -28.8). A unknown object with ID 43 is 49.0 meters away at (-23.0, -43.3). A vehicle with ID 44 is 51.6 meters away at (-29.1, -42.6). A pedestrian with ID 34 is 56.7 meters away at (48.0, 30.2). A vehicle with ID 38 is 60.2 meters away at (24.3, 55.1).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0.8402351 0.9936565] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [2.0487208 2.479728 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0.484029  0.5760534] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.8277879 -1.0823183] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [2.1974885 2.3756256] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-0.29324758  4.0267067 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.24551582 0.15407138] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 34.503498  51.90258 ]\n [-32.810196 -45.210705]\n [ 30.76729   48.92426 ]\n [ 34.43271   51.804996]\n [ 33.11666   50.17139 ]]", "nav_goal": "(-142.01988220214844, 203.3990936279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.8607664 -7.4881287], 9.508977890014648 meters away.)"}
{"file_name": "images/scenario_648_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.7) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 11.7 meters away at (-7.3, -9.1). A vehicle with ID 1 is 12.9 meters away at (8.0, 10.1). A pedestrian with ID 40 is 23.9 meters away at (3.7, 23.6). A vehicle with ID 2 is 24.0 meters away at (-15.2, -18.6). A vehicle with ID 8 is 36.9 meters away at (-23.1, -28.7). A vehicle with ID 38 is 53.4 meters away at (19.8, 49.6). A unknown object with ID 43 is 56.0 meters away at (-27.5, -48.8). A vehicle with ID 45 is 75.7 meters away at (-62.1, -43.3). A vehicle with ID 46 is 79.1 meters away at (-64.4, -46.0).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [2.2622523 2.7034123] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.124494 3.777597] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.88960415 -1.0986371 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [1.801315  2.1371987] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [1.8455421 2.075293 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[34.503498 51.90258 ]\n [30.76729  48.92426 ]\n [34.43271  51.804996]\n [33.11666  50.17139 ]]", "nav_goal": "(-142.01988220214844, 203.3990936279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.326501 -9.115158], 11.694602012634277 meters away.)"}
{"file_name": "images/scenario_648_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 4.7) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 12.7 meters away at (7.9, 9.9). A pedestrian with ID 40 is 13.7 meters away at (-5.0, 12.7). A vehicle with ID 39 is 13.9 meters away at (-8.8, -10.8). A vehicle with ID 2 is 27.1 meters away at (-17.0, -21.1). A vehicle with ID 8 is 42.4 meters away at (-26.6, -33.0). A vehicle with ID 38 is 43.0 meters away at (13.0, 41.0). A vehicle with ID 31 is 69.6 meters away at (40.6, 56.5).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [3.8160994 4.3432755] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.71839803 -1.1291947 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [3.5318108 4.156772 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [3.1462684 3.6472242] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [2.3103924 2.758    ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ -7.8655868 -10.172451 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[34.503498 51.90258 ]\n [30.76729  48.92426 ]\n [34.43271  51.804996]\n [33.11666  50.17139 ]]", "nav_goal": "(-142.01988220214844, 203.3990936279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [7.8863306 9.90086  ], 12.657853126525879 meters away.)"}
{"file_name": "images/scenario_648_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 4.4) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 13.3 meters away at (8.3, 10.4). A pedestrian with ID 40 is 14.3 meters away at (-14.2, 1.2). A vehicle with ID 39 is 14.4 meters away at (-9.2, -11.1). A vehicle with ID 2 is 28.3 meters away at (-17.9, -21.9). A vehicle with ID 38 is 32.2 meters away at (5.5, 31.8). A vehicle with ID 31 is 32.5 meters away at (17.6, 27.4). A unknown object with ID 35 is 40.5 meters away at (14.5, 37.8). A unknown object with ID 6 is 41.8 meters away at (35.4, 22.3). A vehicle with ID 8 is 44.6 meters away at (-28.2, -34.7). A vehicle with ID 20 is 57.3 meters away at (30.3, 48.7).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [4.6328588 5.38538  ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.7672505 -1.2324708] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [3.6354604 4.328091 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [3.6905851 4.29043  ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ -7.78962  -10.000218] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [3.3513339 4.1009035] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ -9.911969 -12.732377] m/s.", "light_description": "There are active red lights at the following coordinates: [[34.503498 51.90258 ]\n [30.76729  48.92426 ]\n [39.491455 57.803425]\n [34.43271  51.804996]\n [33.11666  50.17139 ]]", "nav_goal": "(-142.01988220214844, 203.3990936279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.321756 10.387104], 13.309528350830078 meters away.)"}
{"file_name": "images/scenario_649_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.7) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 66 is 23.5 meters away at (-16.2, 17.0). A pedestrian with ID 69 is 25.8 meters away at (-14.3, 21.5). A vehicle with ID 14 is 37.0 meters away at (-26.7, 25.6). A vehicle with ID 68 is 39.2 meters away at (-8.8, -38.2). A pedestrian with ID 40 is 47.6 meters away at (-5.0, -47.3). A vehicle with ID 70 is 48.5 meters away at (6.1, -48.1). A unknown object with ID 72 is 62.5 meters away at (21.7, -58.6). A unknown object with ID 60 is 73.8 meters away at (-69.6, 24.4).", "velocity_description": "The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.9001691  -0.91219646] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.38286996  0.05002789] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-207.4154815673828, -96.37983703613281)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-16.199532  16.982513], 23.46977996826172 meters away.)"}
{"file_name": "images/scenario_649_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 3.7) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A pedestrian with ID 69 is 12.6 meters away at (-3.5, 12.1). A unknown object with ID 27 is 13.7 meters away at (-8.2, 10.9). A vehicle with ID 38 is 24.8 meters away at (11.6, 21.9). A vehicle with ID 14 is 25.3 meters away at (-17.5, 18.3). A vehicle with ID 68 is 45.3 meters away at (0.4, -45.3). A pedestrian with ID 43 is 56.1 meters away at (46.8, -31.0). A vehicle with ID 70 is 57.4 meters away at (15.6, -55.2). A unknown object with ID 60 is 62.8 meters away at (-60.4, 17.2). A vehicle with ID 42 is 78.8 meters away at (-60.2, -50.9).", "velocity_description": "The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.9207391 -0.9126871] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.3682497 -1.1747063] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-207.4154815673828, -96.37983703613281)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-3.5226974 12.138685 ], 12.639504432678223 meters away.)"}
{"file_name": "images/scenario_649_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.8) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 61 is 3.5 meters away at (2.4, 2.5). A unknown object with ID 27 is 3.7 meters away at (1.0, 3.6). A pedestrian with ID 69 is 8.0 meters away at (7.4, 2.9). A vehicle with ID 14 is 13.8 meters away at (-8.2, 11.0). A vehicle with ID 38 is 25.4 meters away at (20.8, 14.6). A vehicle with ID 68 is 53.4 meters away at (9.8, -52.5). A pedestrian with ID 45 is 65.1 meters away at (14.6, -63.4). A vehicle with ID 70 is 67.7 meters away at (25.3, -62.8). A pedestrian with ID 43 is 69.6 meters away at (55.9, -41.4). A cyclist with ID 36 is 71.4 meters away at (-43.6, -56.6).", "velocity_description": "The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.78333557 -0.8952263 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.7925344 -0.6450307] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.24683563 -1.4720621 ] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-1.7705839 -2.4577067] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-207.4154815673828, -96.37983703613281)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [2.3810062 2.498186 ], 3.4511048793792725 meters away.)"}
{"file_name": "images/scenario_649_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 3.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 4.0 meters away at (0.8, 3.9). A unknown object with ID 27 is 10.6 meters away at (10.0, -3.6). A unknown object with ID 61 is 12.3 meters away at (11.3, -4.8). A pedestrian with ID 69 is 19.0 meters away at (17.9, -6.5). A unknown object with ID 62 is 36.3 meters away at (-3.9, -36.1). A unknown object with ID 32 is 43.0 meters away at (-23.1, 36.3). A pedestrian with ID 29 is 47.7 meters away at (-32.9, 34.6). A cyclist with ID 57 is 47.8 meters away at (-32.9, 34.7). A vehicle with ID 68 is 62.8 meters away at (19.0, -59.9). A vehicle with ID 8 is 71.6 meters away at (-71.4, -4.7).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.88559294 -1.0369139 ] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-2.0267427  1.3671186] m/s.The cyclist with ID 57 is traveling at a (x, y) velocity of [-2.5640843  2.1719632] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-207.4154815673828, -96.37983703613281)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.8271675 3.8708897], 3.9582815170288086 meters away.)"}
{"file_name": "images/scenario_650_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 5.1) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A unknown object with ID 66 is 7.7 meters away at (-5.2, 5.6). A vehicle with ID 73 is 14.5 meters away at (-4.4, 13.8). A vehicle with ID 62 is 15.9 meters away at (-15.9, 0.3). A vehicle with ID 75 is 16.5 meters away at (-6.7, 15.1). A vehicle with ID 69 is 17.7 meters away at (-15.6, 8.3). A vehicle with ID 65 is 17.9 meters away at (-17.7, 2.2). A vehicle with ID 89 is 20.0 meters away at (17.7, 9.3). A vehicle with ID 68 is 20.3 meters away at (-19.9, 3.6). A vehicle with ID 78 is 21.2 meters away at (-10.3, 18.5). A vehicle with ID 60 is 22.2 meters away at (-0.2, 22.2).", "velocity_description": "The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [ 3.883355 -6.237617] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.729258 28.427126]\n [14.67674  25.808376]\n [26.116768 29.197844]\n [28.699474 31.229818]]", "nav_goal": "(195.4332275390625, 200.58938598632812)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-5.2111554  5.642971 ], 7.681097984313965 meters away.)"}
{"file_name": "images/scenario_650_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.5) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 13.5 meters away at (-13.0, 3.4). A vehicle with ID 60 is 14.6 meters away at (-8.9, 11.6). A unknown object with ID 66 is 14.8 meters away at (-13.9, -4.9). A vehicle with ID 75 is 16.1 meters away at (-15.3, 4.9). A vehicle with ID 61 is 17.2 meters away at (-8.5, 15.0). A vehicle with ID 91 is 17.3 meters away at (17.2, 1.6). A vehicle with ID 78 is 20.6 meters away at (-18.9, 8.2). A vehicle with ID 81 is 23.1 meters away at (-20.7, 10.2). A vehicle with ID 90 is 23.7 meters away at (-13.6, 19.4). A vehicle with ID 93 is 23.9 meters away at (23.5, -4.4).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.729258 28.427126]\n [14.67674  25.808376]\n [20.98405  20.906277]\n [26.116768 29.197844]\n [28.699474 31.229818]\n [20.989561 19.870361]]", "nav_goal": "(195.4332275390625, 200.58938598632812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-13.042559   3.392067], 13.4764404296875 meters away.)"}
{"file_name": "images/scenario_650_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 5.5) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 91 is 12.4 meters away at (8.2, -9.4). A vehicle with ID 60 is 18.0 meters away at (-18.0, 0.7). A vehicle with ID 61 is 18.1 meters away at (-17.6, 4.1). A vehicle with ID 93 is 21.1 meters away at (14.5, -15.3). A vehicle with ID 59 is 22.9 meters away at (17.2, 15.1). A vehicle with ID 73 is 23.3 meters away at (-22.1, -7.4). A vehicle with ID 84 is 23.4 meters away at (-15.3, -17.7). A vehicle with ID 90 is 24.2 meters away at (-22.7, 8.6). A vehicle with ID 75 is 25.0 meters away at (-24.3, -6.0). A vehicle with ID 52 is 27.6 meters away at (19.8, -19.3).", "velocity_description": "The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [4.1346803 5.2957835] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.729258 28.427126]\n [14.67674  25.808376]\n [26.116768 29.197844]\n [28.699474 31.229818]]", "nav_goal": "(195.4332275390625, 200.58938598632812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.193113 -9.358591], 12.438261032104492 meters away.)"}
{"file_name": "images/scenario_650_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.8) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 8.7 meters away at (7.8, 3.8). A vehicle with ID 18 is 19.2 meters away at (14.8, 12.1). A vehicle with ID 91 is 20.5 meters away at (-1.3, -20.5). A vehicle with ID 10 is 25.6 meters away at (19.1, 17.1). A vehicle with ID 24 is 25.9 meters away at (2.4, 25.8). A vehicle with ID 84 is 26.7 meters away at (-15.1, -22.1). A vehicle with ID 93 is 26.9 meters away at (5.1, -26.4). A vehicle with ID 61 is 27.9 meters away at (-27.0, -7.0). A vehicle with ID 60 is 29.3 meters away at (-27.3, -10.6). A vehicle with ID 90 is 32.2 meters away at (-32.1, -2.6).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [6.1313477 0.629123 ] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.729258 28.427126]\n [14.67674  25.808376]\n [26.116768 29.197844]\n [28.699474 31.229818]]", "nav_goal": "(195.4332275390625, 200.58938598632812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [7.7829666 3.839363 ], 8.678437232971191 meters away.)"}
{"file_name": "images/scenario_651_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 5.2) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 34 is 10.5 meters away at (-2.3, 10.2). A pedestrian with ID 35 is 19.9 meters away at (4.0, 19.5). A pedestrian with ID 37 is 37.1 meters away at (-4.3, -36.8). A pedestrian with ID 38 is 37.8 meters away at (-4.8, -37.5). A vehicle with ID 8 is 45.9 meters away at (-25.9, -37.9). A unknown object with ID 23 is 64.1 meters away at (32.7, 55.2).", "velocity_description": "The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.02019445 0.01249672] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.06532636 0.00832266] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.5207506  -0.42903134] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.4657501  -0.38915107] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [1.3752527 7.0183525] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.48408317565918, -2.2497739791870117)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-2.3318954 10.222825 ], 10.48541259765625 meters away.)"}
{"file_name": "images/scenario_651_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 5.5) m/s. Its current heading (yaw) is 1.11 ", "actor_description": " The most relevant actors are: A pedestrian with ID 34 is 8.1 meters away at (-8.1, -0.3). A pedestrian with ID 35 is 9.1 meters away at (-1.7, 9.0). A pedestrian with ID 32 is 32.6 meters away at (26.6, 18.7). A vehicle with ID 8 is 43.0 meters away at (-24.4, -35.4). A vehicle with ID 22 is 62.9 meters away at (39.4, 49.0).", "velocity_description": "The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.00223958 -0.02756565] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.01494377 -0.00129813] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.89826816  0.32648262] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [4.9494042 6.5241637] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.2323682  -0.39564675] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.48408317565918, -2.2497739791870117)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-8.059835   -0.28638268], 8.064921379089355 meters away.)"}
{"file_name": "images/scenario_651_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.9) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 35 is 6.6 meters away at (-6.1, -2.4). A pedestrian with ID 34 is 17.2 meters away at (-12.6, -11.8). A vehicle with ID 8 is 37.7 meters away at (-18.1, -33.1). A vehicle with ID 22 is 44.2 meters away at (27.6, 34.5). A vehicle with ID 18 is 52.4 meters away at (36.4, 37.7). A pedestrian with ID 4 is 62.7 meters away at (2.4, 62.6). A pedestrian with ID 1 is 63.1 meters away at (1.5, 63.1). A unknown object with ID 5 is 70.1 meters away at (19.5, 67.3).", "velocity_description": "The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.02009862 0.00653133] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.00806671 0.00149413] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [5.528619 7.442032] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.6649058 -2.9029536] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.7503467  -0.23784104] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.1462079  -0.08616546] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.68352324 -0.37513676] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.48408317565918, -2.2497739791870117)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.1118155 -2.4262905], 6.575802326202393 meters away.)"}
{"file_name": "images/scenario_651_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 5.0) m/s. Its current heading (yaw) is 1.33 ", "actor_description": " The most relevant actors are: A pedestrian with ID 35 is 16.2 meters away at (-9.0, -13.5). A vehicle with ID 22 is 23.5 meters away at (18.0, 15.0). A pedestrian with ID 34 is 27.6 meters away at (-15.5, -22.8). A vehicle with ID 8 is 30.3 meters away at (-10.7, -28.4). A vehicle with ID 18 is 33.8 meters away at (24.5, 23.3). A pedestrian with ID 1 is 50.6 meters away at (-2.2, 50.5). A pedestrian with ID 4 is 51.6 meters away at (-0.5, 51.6). A unknown object with ID 5 is 58.6 meters away at (16.5, 56.2).", "velocity_description": "The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.01078509 -0.01384482] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.6455836 -5.556223 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00496468  0.00817647] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [4.755094 8.256664] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.6340063 -3.2692537] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.13970909 -0.678321  ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00992897  0.00172842] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.48408317565918, -2.2497739791870117)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -9.035959 -13.463604], 16.2147216796875 meters away.)"}
{"file_name": "images/scenario_652_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.5) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 6.9 meters away at (2.9, -6.3). A vehicle with ID 34 is 10.0 meters away at (-8.8, -4.7). A vehicle with ID 42 is 10.6 meters away at (9.7, -4.2). A vehicle with ID 2 is 10.6 meters away at (10.5, -1.3). A vehicle with ID 30 is 11.2 meters away at (-10.2, 4.6). A unknown object with ID 33 is 15.7 meters away at (-9.4, -12.6). A unknown object with ID 39 is 16.1 meters away at (-15.4, -4.7). A vehicle with ID 35 is 17.1 meters away at (16.3, -5.3). A unknown object with ID 43 is 17.7 meters away at (-17.3, -3.9). A unknown object with ID 36 is 19.8 meters away at (-18.9, -5.7).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [-13.956151    5.8852844] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-9.163926  4.018813] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 2.9262278 -1.3053477] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 2.9197745 -6.2598767], 6.907325267791748 meters away.)"}
{"file_name": "images/scenario_652_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.4) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 8.2 meters away at (7.5, -3.3). A vehicle with ID 2 is 9.0 meters away at (9.0, -0.7). A vehicle with ID 30 is 9.4 meters away at (-8.5, 3.8). A vehicle with ID 35 is 14.6 meters away at (14.0, -4.3). A unknown object with ID 33 is 16.4 meters away at (-11.6, -11.6). A unknown object with ID 39 is 18.1 meters away at (-17.7, -3.7). A unknown object with ID 43 is 19.8 meters away at (-19.6, -2.9). A unknown object with ID 36 is 21.8 meters away at (-21.3, -4.7). A vehicle with ID 38 is 22.1 meters away at (-9.8, -19.8). A unknown object with ID 47 is 22.2 meters away at (-22.2, -1.7).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.52398837 -0.24973325] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 1.231683   -0.51335025] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 7.5345573 -3.296036 ], 8.223953247070312 meters away.)"}
{"file_name": "images/scenario_652_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 7.1 meters away at (2.4, -6.6). A vehicle with ID 42 is 7.6 meters away at (7.0, -3.1). A vehicle with ID 2 is 8.8 meters away at (8.8, -0.6). A vehicle with ID 30 is 9.1 meters away at (-8.3, 3.7). A vehicle with ID 35 is 14.1 meters away at (13.4, -4.1). A unknown object with ID 39 is 18.5 meters away at (-18.2, -3.4). A unknown object with ID 43 is 20.3 meters away at (-20.1, -2.7). A vehicle with ID 48 is 21.3 meters away at (-13.9, 16.1). A vehicle with ID 38 is 22.1 meters away at (-10.3, -19.5). A unknown object with ID 36 is 22.2 meters away at (-21.8, -4.4).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-14.564476    6.2445374] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 8.77259   -3.3558493] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.154203  -7.2909894]\n [17.947815  -4.3254437]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 2.4054208 -6.643282 ], 7.06535530090332 meters away.)"}
{"file_name": "images/scenario_652_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.44 ", "actor_description": " The most relevant actors are: A cyclist with ID 6 is 8.1 meters away at (2.5, -7.7). A vehicle with ID 42 is 8.7 meters away at (7.9, -3.7). A vehicle with ID 2 is 8.9 meters away at (8.8, -0.6). A vehicle with ID 30 is 9.1 meters away at (-8.3, 3.8). A vehicle with ID 48 is 10.6 meters away at (1.5, 10.5). A vehicle with ID 35 is 14.5 meters away at (13.8, -4.5). A unknown object with ID 39 is 18.6 meters away at (-18.3, -3.4). A unknown object with ID 43 is 20.4 meters away at (-20.2, -2.6). A vehicle with ID 38 is 22.1 meters away at (-10.4, -19.5). A unknown object with ID 47 is 22.8 meters away at (-22.8, -1.5).", "velocity_description": "The cyclist with ID 6 is traveling at a (x, y) velocity of [-15.628041    7.0362954] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 1.2670468 -0.9846749] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 7.057385  -1.3078028] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 0.56796676 -0.67911524] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.154203  -7.2909894]\n [17.947815  -4.3254437]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [ 2.545951  -7.7169466], 8.126077651977539 meters away.)"}
{"file_name": "images/scenario_653_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 5.5) m/s. Its current heading (yaw) is 1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 6.2 meters away at (-1.3, -6.0). A vehicle with ID 80 is 11.3 meters away at (9.5, -6.1). A vehicle with ID 86 is 21.0 meters away at (3.6, -20.6). A vehicle with ID 84 is 21.0 meters away at (13.6, 16.0). A vehicle with ID 12 is 38.6 meters away at (6.2, 38.1). A vehicle with ID 13 is 39.4 meters away at (10.8, 37.9). A pedestrian with ID 92 is 45.8 meters away at (4.5, 45.6). A pedestrian with ID 93 is 46.4 meters away at (5.3, 46.1). A vehicle with ID 90 is 49.4 meters away at (38.7, 30.8). A vehicle with ID 85 is 49.9 meters away at (3.7, 49.8).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-1.4925151  3.1789181] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [ 1.0425117  -0.34377173] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [ 0.98269486 -0.37871894] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(14.24636459350586, 271.52801513671875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.342777  -6.0139136], 6.161996841430664 meters away.)"}
{"file_name": "images/scenario_653_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 5.5) m/s. Its current heading (yaw) is 1.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 16.9 meters away at (1.9, -16.8). A vehicle with ID 84 is 17.5 meters away at (16.7, 5.1). A vehicle with ID 80 is 21.2 meters away at (12.8, -16.9). A vehicle with ID 86 is 26.0 meters away at (4.8, -25.6). A unknown object with ID 41 is 26.9 meters away at (10.0, 24.9). A vehicle with ID 12 is 28.8 meters away at (9.4, 27.2). A vehicle with ID 13 is 30.5 meters away at (14.1, 27.0). A vehicle with ID 16 is 31.5 meters away at (16.6, 26.7). A vehicle with ID 18 is 34.0 meters away at (21.4, 26.4). A pedestrian with ID 92 is 35.4 meters away at (10.1, 33.9).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-0.5359585  1.9397391] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [ 1.104887   -0.37109652] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(14.24636459350586, 271.52801513671875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  1.8713198 -16.799896 ], 16.903797149658203 meters away.)"}
{"file_name": "images/scenario_653_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 5.1) m/s. Its current heading (yaw) is 1.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 84 is 20.4 meters away at (19.6, -5.6). A vehicle with ID 12 is 20.6 meters away at (12.2, 16.7). A vehicle with ID 13 is 23.6 meters away at (16.9, 16.4). A vehicle with ID 16 is 25.3 meters away at (19.4, 16.2). A unknown object with ID 76 is 27.5 meters away at (27.4, -2.0). A vehicle with ID 77 is 27.7 meters away at (4.7, -27.3). A vehicle with ID 18 is 28.9 meters away at (24.2, 15.7). A vehicle with ID 81 is 29.6 meters away at (6.3, 29.0). A vehicle with ID 85 is 29.8 meters away at (9.7, 28.2). A vehicle with ID 8 is 31.0 meters away at (12.6, 28.3).", "velocity_description": "The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(14.24636459350586, 271.52801513671875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [19.584854  -5.5691185], 20.361276626586914 meters away.)"}
{"file_name": "images/scenario_653_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 3.4) m/s. Its current heading (yaw) is 1.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 16.5 meters away at (14.3, 8.3). A vehicle with ID 13 is 20.7 meters away at (19.1, 8.1). A vehicle with ID 17 is 21.2 meters away at (-0.8, 21.2). A vehicle with ID 81 is 22.2 meters away at (8.4, 20.5). A vehicle with ID 16 is 22.9 meters away at (21.5, 7.8). A vehicle with ID 85 is 23.0 meters away at (11.8, 19.7). A pedestrian with ID 58 is 23.9 meters away at (19.9, 13.2). A pedestrian with ID 69 is 24.5 meters away at (20.4, 13.6). A vehicle with ID 8 is 24.6 meters away at (14.7, 19.7). A vehicle with ID 84 is 25.9 meters away at (21.8, -14.0).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 1.3499672 -5.733586 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 1.0246967 -0.3290943] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.0818696 -0.3245698] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(14.24636459350586, 271.52801513671875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [14.30545   8.260925], 16.519346237182617 meters away.)"}
{"file_name": "images/scenario_654_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 6.3 meters away at (-5.3, 3.3). A vehicle with ID 25 is 20.0 meters away at (0.7, 20.0). A vehicle with ID 11 is 29.2 meters away at (21.9, 19.4). A vehicle with ID 15 is 31.7 meters away at (10.7, 29.8). A vehicle with ID 24 is 37.6 meters away at (-17.7, -33.2). A pedestrian with ID 18 is 41.1 meters away at (23.9, 33.4). A pedestrian with ID 19 is 41.2 meters away at (25.2, 32.6). A vehicle with ID 26 is 56.8 meters away at (-23.7, -51.6). A vehicle with ID 27 is 61.6 meters away at (22.5, 57.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.4877431 -4.608807 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.8983097 -2.4327261] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.3427744  1.8220636] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.00299948 0.00321347] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01009526 0.00107471] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-162.86700439453125, -69.23135375976562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.3185115  3.3114665], 6.265171527862549 meters away.)"}
{"file_name": "images/scenario_654_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 6.3 meters away at (-5.3, 3.3). A vehicle with ID 25 is 10.0 meters away at (0.3, 10.0). A vehicle with ID 7 is 26.8 meters away at (-0.9, 26.8). A vehicle with ID 15 is 33.7 meters away at (-1.1, 33.7). A vehicle with ID 2 is 34.5 meters away at (23.3, 25.5). A vehicle with ID 24 is 37.7 meters away at (-17.7, -33.2). A pedestrian with ID 18 is 41.2 meters away at (23.9, 33.5). A pedestrian with ID 19 is 41.2 meters away at (25.2, 32.6). A pedestrian with ID 21 is 43.2 meters away at (28.3, 32.6). A vehicle with ID 26 is 56.8 meters away at (-23.7, -51.6).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-1.4833034 -5.352765 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 7.9321017 -2.7062376] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.477161   2.1507828] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-6.0513973  2.0971203] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [1.4778131e-03 7.2197981e-05] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00331388 -0.00465325] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00397177  0.00384434] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-162.86700439453125, -69.23135375976562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.3173013  3.3176248], 6.267401695251465 meters away.)"}
{"file_name": "images/scenario_654_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 3.9 meters away at (-3.6, -1.5). A vehicle with ID 10 is 6.3 meters away at (-5.3, 3.3). A vehicle with ID 7 is 26.7 meters away at (16.5, 21.0). A vehicle with ID 2 is 31.7 meters away at (11.6, 29.5). A vehicle with ID 24 is 37.6 meters away at (-17.7, -33.2). A vehicle with ID 9 is 37.8 meters away at (-19.0, 32.7). A vehicle with ID 15 is 40.6 meters away at (-14.1, 38.0). A pedestrian with ID 18 is 41.2 meters away at (23.9, 33.5). A pedestrian with ID 19 is 41.2 meters away at (25.2, 32.6). A pedestrian with ID 21 is 43.2 meters away at (28.1, 32.8).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [-2.1428478 -6.1416187] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 9.345088  -3.1298242] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.978604  2.017075] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [10.456499  -3.5865653] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.646332   2.2789037] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.00147378 0.00799408] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00042917 -0.00020929] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00983081  0.00896795] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.3885269 23.80433  ]\n [ 2.5674102 25.673935 ]]", "nav_goal": "(-162.86700439453125, -69.23135375976562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.5864222 -1.4852062], 3.8817858695983887 meters away.)"}
{"file_name": "images/scenario_654_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 6.3 meters away at (-5.3, 3.3). A vehicle with ID 25 is 16.7 meters away at (-8.1, -14.6). A vehicle with ID 9 is 25.4 meters away at (3.1, 25.3). A vehicle with ID 2 is 33.8 meters away at (-1.2, 33.8). A vehicle with ID 6 is 34.6 meters away at (23.5, 25.4). A vehicle with ID 24 is 37.7 meters away at (-17.7, -33.3). A pedestrian with ID 18 is 41.2 meters away at (23.9, 33.5). A pedestrian with ID 19 is 41.2 meters away at (25.2, 32.6). A pedestrian with ID 21 is 43.2 meters away at (28.1, 32.8). A vehicle with ID 12 is 45.7 meters away at (-25.2, 38.1).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-2.266931 -6.854625] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [10.683415  -3.5396748] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-6.9474063  2.3625572] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-6.717703   2.4839172] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.00227401 -0.00111043] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.0055641  0.00194423] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.02486649  0.00740439] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 7.5390315 -2.590607 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-162.86700439453125, -69.23135375976562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.324492   3.2975955], 6.262934684753418 meters away.)"}
{"file_name": "images/scenario_655_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.3) m/s. Its current heading (yaw) is 1.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 9.2 meters away at (2.2, 8.9). A vehicle with ID 18 is 11.8 meters away at (-3.4, -11.3). A pedestrian with ID 25 is 34.0 meters away at (33.1, 7.5). A vehicle with ID 27 is 34.4 meters away at (32.4, 11.5). A vehicle with ID 41 is 38.0 meters away at (3.6, -37.8). A pedestrian with ID 33 is 39.2 meters away at (27.3, 28.1). A pedestrian with ID 36 is 40.0 meters away at (27.6, 29.0). A vehicle with ID 26 is 42.7 meters away at (17.5, 38.9). A vehicle with ID 38 is 43.1 meters away at (21.0, 37.6). A unknown object with ID 32 is 43.6 meters away at (13.6, 41.4).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0.21344237 0.6883176 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.81353086 -0.9066364 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.27996618 -0.10382284] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.2139688  0.08678441] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[28.21169   15.062886 ]\n [ 2.2785144 16.3551   ]\n [20.753042  25.56303  ]\n [28.189085  15.000626 ]\n [27.853935  12.741237 ]\n [ 3.3477693 16.307108 ]\n [17.511581  27.410503 ]\n [14.413604  28.316538 ]\n [28.171062  14.94778  ]\n [22.722076  25.815813 ]\n [28.28268   15.245411 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.2162697 8.943872 ], 9.214374542236328 meters away.)"}
{"file_name": "images/scenario_655_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 9.1 meters away at (2.2, 8.8). A vehicle with ID 18 is 10.7 meters away at (-3.1, -10.2). A unknown object with ID 12 is 21.3 meters away at (-5.4, 20.6). A cyclist with ID 39 is 30.1 meters away at (-6.7, -29.4). A pedestrian with ID 25 is 31.9 meters away at (31.4, 5.3). A vehicle with ID 27 is 34.3 meters away at (32.4, 11.4). A vehicle with ID 41 is 38.1 meters away at (3.5, -37.9). A pedestrian with ID 33 is 39.6 meters away at (28.0, 28.0). A pedestrian with ID 36 is 40.4 meters away at (28.1, 29.0). A vehicle with ID 26 is 42.5 meters away at (17.5, 38.7).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0.11731616 0.366903  ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [4.750592 9.05909 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.64398414 -1.0153115 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.36312634 -0.06829529] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.49924436 -0.046435  ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[28.21169   15.062886 ]\n [ 2.2785144 16.3551   ]\n [20.753042  25.56303  ]\n [28.189085  15.000626 ]\n [27.853935  12.741237 ]\n [ 3.3477693 16.307108 ]\n [17.511581  27.410503 ]\n [14.413604  28.316538 ]\n [28.171062  14.94778  ]\n [22.722076  25.815813 ]\n [28.28268   15.245411 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.1501403 8.802249 ], 9.061053276062012 meters away.)"}
{"file_name": "images/scenario_655_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 9.1 meters away at (2.1, 8.8). A vehicle with ID 18 is 10.1 meters away at (-2.9, -9.7). A cyclist with ID 39 is 13.7 meters away at (0.2, -13.7). A unknown object with ID 12 is 21.3 meters away at (-5.4, 20.7). A pedestrian with ID 25 is 30.4 meters away at (30.3, 2.9). A vehicle with ID 27 is 34.3 meters away at (32.3, 11.4). A vehicle with ID 41 is 38.2 meters away at (3.5, -38.0). A pedestrian with ID 33 is 40.4 meters away at (28.9, 28.3). A pedestrian with ID 36 is 41.4 meters away at (29.1, 29.4). A vehicle with ID 26 is 42.5 meters away at (17.5, 38.7).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0.13766612 0.418511  ] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [2.7445872 7.592032 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.4140778 -1.2182622] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.67619705 0.12247493] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.70717156 0.19233216] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.01067084 -0.71453315] m/s.", "light_description": "There are active red lights at the following coordinates: [[28.21169   15.062886 ]\n [ 2.2785144 16.3551   ]\n [20.753042  25.56303  ]\n [28.189085  15.000626 ]\n [27.853935  12.741237 ]\n [ 3.3477693 16.307108 ]\n [17.511581  27.410503 ]\n [14.413604  28.316538 ]\n [28.171062  14.94778  ]\n [22.722076  25.815813 ]\n [28.28268   15.245411 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.1475265 8.827358 ], 9.084829330444336 meters away.)"}
{"file_name": "images/scenario_655_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.2) m/s. Its current heading (yaw) is 1.35 ", "actor_description": " The most relevant actors are: A cyclist with ID 39 is 4.5 meters away at (4.5, -0.1). A vehicle with ID 18 is 9.2 meters away at (-2.6, -8.8). A vehicle with ID 30 is 13.1 meters away at (2.9, 12.8). A vehicle with ID 27 is 34.2 meters away at (32.3, 11.2). A vehicle with ID 26 is 36.5 meters away at (17.2, 32.2). A vehicle with ID 41 is 38.3 meters away at (3.5, -38.1). A pedestrian with ID 33 is 41.3 meters away at (29.9, 28.5). A pedestrian with ID 36 is 42.2 meters away at (30.2, 29.5). A vehicle with ID 38 is 42.4 meters away at (21.1, 36.8). A unknown object with ID 32 is 43.3 meters away at (13.6, 41.2).", "velocity_description": "The cyclist with ID 39 is traveling at a (x, y) velocity of [1.8958048 5.787496 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0.08687165 0.33275118] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0.6843136 4.3031373] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.34677166 -6.0163975 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.61827195 -0.04048412] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.64523    -0.16657922] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 0.02129702 -1.8813933 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[28.21169  15.062886]\n [ 9.249155 16.200104]\n [28.189085 15.000626]\n [27.853935 12.741237]\n [28.171062 14.94778 ]\n [22.722076 25.815813]\n [28.28268  15.245411]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [ 4.5071845  -0.14785314], 4.509608745574951 meters away.)"}
{"file_name": "images/scenario_656_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.6) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 43 is 2.8 meters away at (2.7, 0.7). A vehicle with ID 41 is 3.3 meters away at (-1.7, -2.8). A unknown object with ID 48 is 3.3 meters away at (-1.0, 3.1). A unknown object with ID 46 is 11.3 meters away at (10.5, -4.3). A cyclist with ID 1 is 11.9 meters away at (-7.1, 9.5). A vehicle with ID 2 is 16.8 meters away at (12.0, -11.8). A unknown object with ID 54 is 17.0 meters away at (-8.8, -14.5). A vehicle with ID 55 is 17.1 meters away at (2.0, -17.0). A unknown object with ID 57 is 18.7 meters away at (-10.9, -15.2). A unknown object with ID 52 is 19.4 meters away at (-1.5, -19.3).", "velocity_description": "The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [0.0002885  0.01764311] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.9077117  1.9030684] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 8.92985   -5.7877116] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.29523     6.657346 ]\n [-36.507767   12.2900505]\n [-38.7938      9.799581 ]\n [-38.362534   10.358872 ]\n [-17.420456    4.5155554]\n [ -7.2006307   5.681634 ]\n [ -7.0509844   5.454384 ]]", "nav_goal": "(-249.52127075195312, 160.76788330078125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [2.7057805 0.6957476], 2.7937989234924316 meters away.)"}
{"file_name": "images/scenario_656_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 48 is 2.9 meters away at (-0.6, 2.9). A unknown object with ID 43 is 3.1 meters away at (3.1, 0.4). A vehicle with ID 41 is 3.3 meters away at (-1.3, -3.1). A unknown object with ID 32 is 7.6 meters away at (0.9, -7.5). A cyclist with ID 1 is 11.4 meters away at (-6.7, 9.2). A unknown object with ID 46 is 11.8 meters away at (10.9, -4.6). A vehicle with ID 2 is 12.7 meters away at (8.5, -9.5). A unknown object with ID 54 is 17.0 meters away at (-8.4, -14.8). A unknown object with ID 57 is 18.6 meters away at (-10.5, -15.4). A unknown object with ID 52 is 19.7 meters away at (-1.1, -19.6).", "velocity_description": "The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.02673804 -0.00089983] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.1387626  0.7623695] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.29523     6.657346 ]\n [-36.507767   12.2900505]\n [-38.7938      9.799581 ]\n [-38.362534   10.358872 ]\n [-17.420456    4.5155554]\n [ -7.2006307   5.681634 ]\n [ -7.0509844   5.454384 ]]", "nav_goal": "(-249.52127075195312, 160.76788330078125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.6026988  2.8659244], 2.928611993789673 meters away.)"}
{"file_name": "images/scenario_656_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 48 is 2.9 meters away at (-0.5, 2.8). A unknown object with ID 43 is 3.2 meters away at (3.2, 0.4). A vehicle with ID 41 is 3.4 meters away at (-1.2, -3.2). A vehicle with ID 2 is 11.3 meters away at (7.3, -8.6). A cyclist with ID 1 is 11.3 meters away at (-6.7, 9.1). A unknown object with ID 46 is 11.9 meters away at (10.9, -4.7). A unknown object with ID 54 is 17.1 meters away at (-8.4, -14.9). A unknown object with ID 57 is 18.6 meters away at (-10.4, -15.5). A unknown object with ID 52 is 19.7 meters away at (-1.1, -19.7). A unknown object with ID 49 is 20.6 meters away at (18.3, -9.4).", "velocity_description": "The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [-0.00750738 -0.00652769] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.29523     6.657346 ]\n [-36.507767   12.2900505]\n [-38.7938      9.799581 ]\n [-38.362534   10.358872 ]\n [-17.420456    4.5155554]\n [ -7.2006307   5.681634 ]\n [ -7.0509844   5.454384 ]]", "nav_goal": "(-249.52127075195312, 160.76788330078125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.53504133  2.8100905 ], 2.8605730533599854 meters away.)"}
{"file_name": "images/scenario_656_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 1.6) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 48 is 2.3 meters away at (2.0, 1.1). A vehicle with ID 41 is 4.5 meters away at (0.8, -4.4). A unknown object with ID 43 is 5.8 meters away at (5.6, -1.3). A cyclist with ID 1 is 8.5 meters away at (-4.1, 7.4). A vehicle with ID 2 is 13.9 meters away at (9.6, -10.2). A unknown object with ID 46 is 14.9 meters away at (13.5, -6.4). A unknown object with ID 54 is 17.5 meters away at (-5.8, -16.5). A unknown object with ID 57 is 18.9 meters away at (-7.8, -17.2). A unknown object with ID 52 is 21.4 meters away at (1.5, -21.4). A unknown object with ID 49 is 23.6 meters away at (20.8, -11.1).", "velocity_description": "The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.95156693  0.6257772 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.04817132 -0.0237122 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.29523     6.657346 ]\n [-17.420456    4.5155554]\n [ -7.2006307   5.681634 ]\n [ -7.0509844   5.454384 ]]", "nav_goal": "(-249.52127075195312, 160.76788330078125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [2.0242372 1.1274753], 2.3170533180236816 meters away.)"}
{"file_name": "images/scenario_657_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 14.0 meters away at (11.8, 7.4). A vehicle with ID 11 is 14.6 meters away at (-4.8, -13.8). A vehicle with ID 12 is 17.1 meters away at (2.7, -16.8). A unknown object with ID 8 is 18.5 meters away at (15.0, -10.9). A vehicle with ID 13 is 20.6 meters away at (-7.2, -19.3). A vehicle with ID 14 is 20.8 meters away at (13.1, -16.2). A vehicle with ID 16 is 21.8 meters away at (7.0, 20.6). A vehicle with ID 17 is 22.4 meters away at (1.2, -22.4). A vehicle with ID 21 is 25.6 meters away at (22.1, 12.8). A vehicle with ID 3 is 26.5 meters away at (-8.7, -25.0).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(212.301513671875, -137.34654235839844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.84791    7.4326506], 13.986324310302734 meters away.)"}
{"file_name": "images/scenario_657_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 14.0 meters away at (11.9, 7.5). A vehicle with ID 11 is 14.5 meters away at (-4.8, -13.7). A vehicle with ID 12 is 17.0 meters away at (2.8, -16.7). A unknown object with ID 8 is 18.5 meters away at (15.0, -10.8). A vehicle with ID 13 is 20.6 meters away at (-7.1, -19.3). A vehicle with ID 14 is 20.7 meters away at (13.1, -16.1). A vehicle with ID 16 is 21.9 meters away at (7.0, 20.7). A vehicle with ID 17 is 22.3 meters away at (1.2, -22.2). A vehicle with ID 21 is 25.7 meters away at (22.2, 12.9). A vehicle with ID 3 is 26.4 meters away at (-8.7, -24.9).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(212.301513671875, -137.34654235839844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.864225  7.525771], 14.049806594848633 meters away.)"}
{"file_name": "images/scenario_657_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 14.1 meters away at (11.9, 7.6). A vehicle with ID 11 is 14.5 meters away at (-4.7, -13.7). A vehicle with ID 12 is 16.9 meters away at (2.8, -16.7). A unknown object with ID 8 is 18.5 meters away at (15.0, -10.8). A vehicle with ID 13 is 20.5 meters away at (-7.1, -19.2). A vehicle with ID 14 is 20.7 meters away at (13.1, -16.0). A vehicle with ID 16 is 21.9 meters away at (7.0, 20.8). A vehicle with ID 17 is 22.3 meters away at (1.2, -22.2). A vehicle with ID 21 is 25.7 meters away at (22.2, 13.0). A vehicle with ID 3 is 26.5 meters away at (-8.7, -25.0).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(212.301513671875, -137.34654235839844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.876424   7.5522375], 14.07429313659668 meters away.)"}
{"file_name": "images/scenario_657_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 14.1 meters away at (11.9, 7.5). A vehicle with ID 11 is 14.5 meters away at (-4.8, -13.7). A vehicle with ID 12 is 16.9 meters away at (2.8, -16.7). A unknown object with ID 8 is 18.5 meters away at (15.0, -10.8). A vehicle with ID 13 is 20.5 meters away at (-7.1, -19.2). A vehicle with ID 14 is 20.7 meters away at (13.1, -16.0). A vehicle with ID 16 is 21.9 meters away at (7.0, 20.8). A vehicle with ID 17 is 22.2 meters away at (1.2, -22.2). A vehicle with ID 21 is 25.7 meters away at (22.2, 13.0). A vehicle with ID 3 is 26.5 meters away at (-8.7, -25.0).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(212.301513671875, -137.34654235839844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.876358   7.5457764], 14.070772171020508 meters away.)"}
{"file_name": "images/scenario_658_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 9.6) m/s. Its current heading (yaw) is 1.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 16.5 meters away at (-8.5, 14.1). A vehicle with ID 25 is 18.1 meters away at (6.5, -17.0). A vehicle with ID 29 is 21.7 meters away at (-10.0, 19.3). A vehicle with ID 26 is 24.7 meters away at (8.3, -23.2). A vehicle with ID 30 is 34.3 meters away at (-13.2, 31.6). A vehicle with ID 27 is 43.1 meters away at (12.9, -41.2).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0.34673193 0.13274047] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0.411792   0.09942064] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.51714   14.0908375], 16.464914321899414 meters away.)"}
{"file_name": "images/scenario_658_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 9.1) m/s. Its current heading (yaw) is 1.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 6.1 meters away at (-6.1, 0.4). A vehicle with ID 28 is 6.5 meters away at (-4.7, -4.5). A vehicle with ID 30 is 15.9 meters away at (-9.3, 12.8). A unknown object with ID 11 is 35.0 meters away at (-15.7, 31.3). A vehicle with ID 25 is 37.3 meters away at (10.3, -35.8). A vehicle with ID 26 is 43.8 meters away at (12.1, -42.1). A vehicle with ID 27 is 62.1 meters away at (16.4, -59.9).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.132947    0.44212723], 6.148862838745117 meters away.)"}
{"file_name": "images/scenario_658_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 9.0) m/s. Its current heading (yaw) is 1.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 6.7 meters away at (-4.5, -5.0). A unknown object with ID 11 is 17.0 meters away at (-10.4, 13.4). A vehicle with ID 29 is 17.5 meters away at (-1.4, -17.4). A unknown object with ID 8 is 18.6 meters away at (-11.1, 14.9). A unknown object with ID 7 is 20.7 meters away at (-12.0, 16.8). A vehicle with ID 28 is 22.6 meters away at (0.1, -22.6). A unknown object with ID 21 is 22.9 meters away at (-12.8, 19.0). A unknown object with ID 17 is 25.2 meters away at (-13.7, 21.1). A vehicle with ID 25 is 55.9 meters away at (15.0, -53.9). A vehicle with ID 26 is 62.3 meters away at (16.5, -60.1).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.5052176 -4.995682 ], 6.727096080780029 meters away.)"}
{"file_name": "images/scenario_658_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 8.9) m/s. Its current heading (yaw) is 1.92 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 5.8 meters away at (-5.0, -2.9). A unknown object with ID 7 is 6.0 meters away at (-5.9, -1.1). A unknown object with ID 11 is 6.2 meters away at (-4.3, -4.4). A unknown object with ID 21 is 6.8 meters away at (-6.7, 1.1). A unknown object with ID 17 is 8.2 meters away at (-7.6, 3.2). A pedestrian with ID 13 is 12.4 meters away at (6.9, 10.3). A vehicle with ID 30 is 22.9 meters away at (1.6, -22.8). A vehicle with ID 29 is 35.7 meters away at (4.8, -35.3). A vehicle with ID 28 is 41.0 meters away at (6.4, -40.5). A vehicle with ID 19 is 49.8 meters away at (8.5, -49.1).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00042092 -0.0037487 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-4.9557724 -2.9285965], 5.7564191818237305 meters away.)"}
{"file_name": "images/scenario_659_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.6) m/s. Its current heading (yaw) is -0.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.0 meters away at (-3.9, -0.6). A vehicle with ID 28 is 8.1 meters away at (-7.6, 2.8). A vehicle with ID 37 is 9.4 meters away at (0.1, 9.4). A pedestrian with ID 35 is 9.5 meters away at (-9.5, 0.7). A pedestrian with ID 34 is 9.8 meters away at (-9.8, 0.1). A pedestrian with ID 29 is 10.5 meters away at (-10.5, 0.9). A unknown object with ID 23 is 11.1 meters away at (-8.1, -7.6). A vehicle with ID 40 is 12.6 meters away at (-10.9, 6.3). A vehicle with ID 43 is 13.8 meters away at (-3.7, 13.3). A vehicle with ID 48 is 17.2 meters away at (-14.2, 9.8).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.03420976 -0.00823058] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.02043647 -0.01175763] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.00099488 0.01343831] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.454905 -27.438593]\n [  8.760206 -11.029244]\n [ 11.24682   -7.911587]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.9253619  -0.62979126], 3.9755630493164062 meters away.)"}
{"file_name": "images/scenario_659_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.2 meters away at (-4.2, -0.4). A vehicle with ID 28 is 8.5 meters away at (-7.9, 3.1). A unknown object with ID 21 is 8.8 meters away at (3.2, 8.2). A vehicle with ID 37 is 9.6 meters away at (-0.2, 9.6). A pedestrian with ID 35 is 9.7 meters away at (-9.7, 0.9). A pedestrian with ID 34 is 10.0 meters away at (-10.0, 0.4). A unknown object with ID 23 is 11.2 meters away at (-8.3, -7.4). A vehicle with ID 40 is 12.9 meters away at (-11.1, 6.6). A vehicle with ID 5 is 13.2 meters away at (8.6, -10.0). A vehicle with ID 43 is 14.1 meters away at (-3.9, 13.5).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.01727501 -0.01195918] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.01027523  0.02326949] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.544386 -9.025564] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.454905 -27.438593]\n [  8.760206 -11.029244]\n [ 11.24682   -7.911587]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.198191   -0.35656905], 4.213306427001953 meters away.)"}
{"file_name": "images/scenario_659_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.2) m/s. Its current heading (yaw) is -0.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.4 meters away at (-4.4, -0.2). A vehicle with ID 28 is 8.7 meters away at (-8.0, 3.3). A vehicle with ID 37 is 9.8 meters away at (-0.4, 9.8). A pedestrian with ID 35 is 9.9 meters away at (-9.8, 1.1). A pedestrian with ID 34 is 10.1 meters away at (-10.0, 0.5). A pedestrian with ID 26 is 11.0 meters away at (-10.9, 1.4). A vehicle with ID 40 is 13.2 meters away at (-11.3, 6.7). A vehicle with ID 43 is 14.3 meters away at (-4.1, 13.7). A vehicle with ID 17 is 16.4 meters away at (14.9, -6.7). A vehicle with ID 1 is 17.2 meters away at (-0.1, -17.2).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.08947448  0.0675905 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00414036  0.00544121] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00541197  0.09315347] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [3.8726158 6.576261 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.454905 -27.438593]\n [  8.760206 -11.029244]\n [ 11.24682   -7.911587]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.3661795  -0.19392371], 4.370483875274658 meters away.)"}
{"file_name": "images/scenario_659_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.9) m/s. Its current heading (yaw) is -0.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 5.8 meters away at (-5.7, 1.2). A vehicle with ID 28 is 10.4 meters away at (-9.3, 4.7). A vehicle with ID 37 is 11.3 meters away at (-1.7, 11.2). A pedestrian with ID 34 is 11.6 meters away at (-11.5, 2.0). A pedestrian with ID 35 is 11.8 meters away at (-11.4, 2.9). A pedestrian with ID 26 is 12.5 meters away at (-12.3, 2.5). A cyclist with ID 46 is 12.7 meters away at (12.1, 3.9). A vehicle with ID 40 is 15.0 meters away at (-12.6, 8.2). A vehicle with ID 19 is 15.9 meters away at (8.5, -13.5). A vehicle with ID 1 is 16.0 meters away at (-1.4, -15.9).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.0124771  0.00206751] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.00630359 -0.00837662] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.02804426  0.0565054 ] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [-4.8222227 -6.9514422] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.8318598 6.2725153] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.454905 -27.438593]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.68217    1.2423575], 5.816400051116943 meters away.)"}
{"file_name": "images/scenario_660_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 3.8) m/s. Its current heading (yaw) is 2.66 ", "actor_description": " The most relevant actors are: A cyclist with ID 57 is 8.1 meters away at (6.2, -5.2). A pedestrian with ID 50 is 28.7 meters away at (-22.8, -17.5). A vehicle with ID 58 is 34.0 meters away at (10.3, -32.4). A vehicle with ID 59 is 38.7 meters away at (14.9, -35.7). A vehicle with ID 49 is 45.4 meters away at (-23.3, -38.9). A vehicle with ID 56 is 48.8 meters away at (-42.3, 24.3). A vehicle with ID 72 is 54.8 meters away at (-50.3, 21.8). A vehicle with ID 71 is 55.8 meters away at (-52.1, 20.0). A pedestrian with ID 61 is 56.6 meters away at (56.4, -4.8). A pedestrian with ID 63 is 56.9 meters away at (56.7, -4.1).", "velocity_description": "The cyclist with ID 57 is traveling at a (x, y) velocity of [-7.2946568  3.471467 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.0262321  -0.00473278] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 1.1915296  -0.49479148] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 1.1269956  -0.45362544] m/s.", "light_description": "There are active red lights at the following coordinates: [[-77.05312   37.429176]\n [-76.195564  39.926186]\n [-78.41909   34.51776 ]\n [-75.46014   43.056812]]", "nav_goal": "(7.531266212463379, 223.27880859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 6.2026415 -5.2450833], 8.123032569885254 meters away.)"}
{"file_name": "images/scenario_660_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 3.6) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A cyclist with ID 57 is 7.3 meters away at (5.3, -5.1). A pedestrian with ID 50 is 26.6 meters away at (-9.4, -24.9). A vehicle with ID 56 is 33.6 meters away at (-29.0, 17.0). A vehicle with ID 72 is 39.6 meters away at (-36.8, 14.4). A vehicle with ID 71 is 40.7 meters away at (-38.7, 12.6). A vehicle with ID 74 is 43.2 meters away at (-37.3, 21.9). A cyclist with ID 73 is 43.3 meters away at (-38.4, 20.1). A pedestrian with ID 1 is 47.3 meters away at (-45.4, 13.3). A vehicle with ID 59 is 51.7 meters away at (28.3, -43.2). A vehicle with ID 35 is 71.4 meters away at (-68.8, 19.2).", "velocity_description": "The cyclist with ID 57 is traveling at a (x, y) velocity of [-7.065301  3.911142] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.02952701  0.00658697] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 73 is traveling at a (x, y) velocity of [0.0118472  0.03595424] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00609266 0.03181931] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-95.30543   45.038612]\n [-77.05312   37.429176]\n [-98.136345  48.613777]\n [-76.195564  39.926186]\n [-78.41909   34.51776 ]\n [-92.54445   39.490845]\n [-75.46014   43.056812]]", "nav_goal": "(7.531266212463379, 223.27880859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 5.317831 -5.052026], 7.3350043296813965 meters away.)"}
{"file_name": "images/scenario_660_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 2.8) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A cyclist with ID 57 is 4.3 meters away at (1.9, -3.8). A vehicle with ID 56 is 20.9 meters away at (-17.9, 10.7). A vehicle with ID 72 is 27.1 meters away at (-25.9, 8.2). A vehicle with ID 71 is 28.5 meters away at (-27.8, 6.4). A cyclist with ID 73 is 30.7 meters away at (-27.4, 13.9). A pedestrian with ID 50 is 31.0 meters away at (1.4, -31.0). A pedestrian with ID 1 is 35.1 meters away at (-34.3, 7.2). A pedestrian with ID 15 is 42.9 meters away at (-29.2, 31.5). A pedestrian with ID 47 is 43.7 meters away at (-29.2, 32.5). A vehicle with ID 27 is 47.1 meters away at (-24.5, 40.3).", "velocity_description": "The cyclist with ID 57 is traveling at a (x, y) velocity of [-7.1377463  3.7622194] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 73 is traveling at a (x, y) velocity of [-0.01941544  0.01865691] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.02372083  0.00769986] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00160101  0.03298752] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.05546011 -0.01470356] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.00504797  0.00842381] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.02838985 -6.007964  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-95.30543   45.038612]\n [-77.05312   37.429176]\n [-98.136345  48.613777]\n [-76.195564  39.926186]\n [-78.41909   34.51776 ]\n [-92.54445   39.490845]\n [-75.46014   43.056812]]", "nav_goal": "(7.531266212463379, 223.27880859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 1.9287643 -3.8047867], 4.265739440917969 meters away.)"}
{"file_name": "images/scenario_660_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 1.5) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A cyclist with ID 57 is 4.6 meters away at (-4.6, -0.4). A vehicle with ID 56 is 12.6 meters away at (-10.8, 6.6). A vehicle with ID 72 is 19.2 meters away at (-18.7, 4.1). A vehicle with ID 71 is 21.7 meters away at (-21.5, 2.8). A vehicle with ID 51 is 21.9 meters away at (-18.6, 11.5). A cyclist with ID 73 is 25.5 meters away at (-22.8, 11.5). A pedestrian with ID 1 is 27.4 meters away at (-27.2, 3.1). A vehicle with ID 27 is 29.0 meters away at (-14.9, 24.9). A pedestrian with ID 50 is 36.1 meters away at (8.5, -35.1). A pedestrian with ID 15 is 36.4 meters away at (-23.2, 28.1).", "velocity_description": "The cyclist with ID 57 is traveling at a (x, y) velocity of [-6.5934467  3.818454 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-1.7697124  1.1210071] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 73 is traveling at a (x, y) velocity of [-2.4931333  1.5790188] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.01466529  0.0012121 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 2.9372282 -5.4247394] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.03967622  0.01648132] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.86969006  0.80213404] m/s.", "light_description": "There are active red lights at the following coordinates: [[-77.05312   37.429176]\n [-78.41909   34.51776 ]]", "nav_goal": "(7.531266212463379, 223.27880859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-4.630886   -0.38456345], 4.646826267242432 meters away.)"}
{"file_name": "images/scenario_661_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 10.2) m/s. Its current heading (yaw) is 1.92 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-56.91808319091797, 294.00213623046875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_661_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 10.3) m/s. Its current heading (yaw) is 1.90 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-56.91808319091797, 294.00213623046875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_661_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 10.7) m/s. Its current heading (yaw) is 1.89 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-56.91808319091797, 294.00213623046875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_661_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 10.6) m/s. Its current heading (yaw) is 1.87 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-56.91808319091797, 294.00213623046875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_662_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -5.2) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 4.2 meters away at (3.5, -2.3). A unknown object with ID 42 is 6.1 meters away at (2.0, 5.7). A vehicle with ID 55 is 7.5 meters away at (3.7, -6.5). A vehicle with ID 56 is 7.8 meters away at (-3.2, -7.1). A vehicle with ID 53 is 8.7 meters away at (8.3, -2.6). A vehicle with ID 50 is 9.7 meters away at (9.4, 2.6). A vehicle with ID 58 is 12.5 meters away at (-3.2, -12.0). A vehicle with ID 51 is 13.4 meters away at (13.3, 1.1). A vehicle with ID 59 is 15.5 meters away at (-9.5, -12.3). A vehicle with ID 52 is 17.6 meters away at (17.6, 0.0).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 9.950379   -3.5502992 ]\n [ 0.79376197 19.76499   ]\n [ 9.712484   -3.039477  ]\n [28.201866   -1.1926987 ]\n [ 2.056946   20.64149   ]\n [ 7.611071    3.5137823 ]\n [35.586433   -5.45982   ]\n [ 7.7807913   3.38207   ]]", "nav_goal": "(-236.68487548828125, -185.0132293701172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.5123596 -2.284954 ], 4.190189361572266 meters away.)"}
{"file_name": "images/scenario_662_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, -5.6) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 4.5 meters away at (4.3, -1.5). A vehicle with ID 61 is 5.8 meters away at (-1.5, -5.6). A vehicle with ID 60 is 7.2 meters away at (5.2, -5.0). A vehicle with ID 62 is 9.6 meters away at (-0.7, -9.5). A vehicle with ID 58 is 10.7 meters away at (10.6, -1.2). A vehicle with ID 56 is 11.3 meters away at (10.7, 3.6). A vehicle with ID 63 is 12.9 meters away at (-7.7, -10.4). A vehicle with ID 35 is 15.1 meters away at (-6.5, -13.6). A vehicle with ID 55 is 18.2 meters away at (17.7, 4.3). A vehicle with ID 54 is 19.4 meters away at (17.4, 8.5).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 9.950379  -3.5502992]\n [ 9.712484  -3.039477 ]\n [ 7.611071   3.5137823]\n [ 7.7807913  3.38207  ]]", "nav_goal": "(-236.68487548828125, -185.0132293701172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.2723293 -1.5008469], 4.528282165527344 meters away.)"}
{"file_name": "images/scenario_662_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, -5.9) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 5.6 meters away at (-1.7, -5.4). A vehicle with ID 47 is 6.8 meters away at (3.0, -6.1). A vehicle with ID 63 is 7.2 meters away at (7.1, 1.2). A vehicle with ID 35 is 8.6 meters away at (8.4, -1.9). A vehicle with ID 28 is 10.5 meters away at (-2.1, -10.3). A vehicle with ID 62 is 14.3 meters away at (14.1, 2.1). A vehicle with ID 61 is 14.5 meters away at (13.3, 5.9). A vehicle with ID 29 is 16.8 meters away at (-8.4, -14.5). A vehicle with ID 60 is 21.2 meters away at (20.2, 6.7). A vehicle with ID 59 is 21.7 meters away at (19.2, 10.1).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[7.611071  3.5137823]\n [7.7807913 3.38207  ]]", "nav_goal": "(-236.68487548828125, -185.0132293701172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.704853 -5.350731], 5.615767478942871 meters away.)"}
{"file_name": "images/scenario_662_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, -6.1) m/s. Its current heading (yaw) is -2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 6.2 meters away at (1.7, -6.0). A vehicle with ID 29 is 6.6 meters away at (6.0, -2.6). A vehicle with ID 30 is 9.6 meters away at (-4.7, -8.4). A vehicle with ID 28 is 12.5 meters away at (12.4, 1.6). A vehicle with ID 65 is 14.3 meters away at (12.8, 6.5). A vehicle with ID 21 is 16.4 meters away at (-10.1, -12.9). A unknown object with ID 44 is 17.1 meters away at (8.0, 15.1). A vehicle with ID 47 is 18.5 meters away at (17.5, 5.8). A vehicle with ID 49 is 23.9 meters away at (-15.4, -18.3). A vehicle with ID 35 is 25.2 meters away at (23.0, 10.2).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[7.611071  3.5137823]\n [7.7807913 3.38207  ]]", "nav_goal": "(-236.68487548828125, -185.0132293701172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.7296333 -5.988064 ], 6.2328596115112305 meters away.)"}
{"file_name": "images/scenario_663_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -9.8) m/s. Its current heading (yaw) is -1.60 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 54.9 meters away at (23.0, 49.8).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00339201 -0.00260812] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(157.3377685546875, -245.79513549804688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [22.989239 49.833435], 54.88056564331055 meters away.)"}
{"file_name": "images/scenario_663_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -9.7) m/s. Its current heading (yaw) is -1.26 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 72.6 meters away at (20.8, 69.5).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.02622932 0.00751742] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(157.3377685546875, -245.79513549804688)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [20.83002 69.50449], 72.5586929321289 meters away.)"}
{"file_name": "images/scenario_663_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -8.7) m/s. Its current heading (yaw) is -0.98 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(157.3377685546875, -245.79513549804688)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_663_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -8.9) m/s. Its current heading (yaw) is -0.95 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(157.3377685546875, -245.79513549804688)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_664_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 5.0) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 12.1 meters away at (10.1, 6.7).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [3.9847665 0.686096 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.117653  6.652874], 12.108989715576172 meters away.)"}
{"file_name": "images/scenario_664_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.8) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 32.8 meters away at (32.8, -0.6).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [3.7651095 2.0397213] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [32.832996  -0.5617714], 32.837799072265625 meters away.)"}
{"file_name": "images/scenario_664_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.7) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_664_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 4.2) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 49.7 meters away at (-34.6, 35.6).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-34.576885  35.647755], 49.66209411621094 meters away.)"}
{"file_name": "images/scenario_665_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -3.4) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 9.6 meters away at (-9.5, -1.1). A vehicle with ID 14 is 26.1 meters away at (-26.0, 1.8). A vehicle with ID 34 is 32.7 meters away at (-16.0, -28.5). A vehicle with ID 33 is 34.4 meters away at (-23.6, -25.0). A vehicle with ID 35 is 40.6 meters away at (-35.5, -19.7). A pedestrian with ID 26 is 42.4 meters away at (0.2, -42.4). A pedestrian with ID 29 is 48.8 meters away at (14.7, -46.6). A pedestrian with ID 30 is 49.6 meters away at (14.3, -47.5). A pedestrian with ID 31 is 49.7 meters away at (13.9, -47.7). A pedestrian with ID 36 is 71.1 meters away at (-68.3, -19.5).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.02406032 -0.02227779] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [2.1551445 3.1688485] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.2690695   0.04526031] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.0746936 -0.7900272] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.99581254 -0.72069997] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1693155 -0.7198889] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.64859194 1.1419514 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(207.03363037109375, -184.53070068359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-9.523236  -1.1262679], 9.589604377746582 meters away.)"}
{"file_name": "images/scenario_665_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -3.7) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 23.4 meters away at (-22.7, 5.7). A vehicle with ID 28 is 36.3 meters away at (-29.1, -21.7). A vehicle with ID 14 is 36.6 meters away at (-34.0, 13.6). A pedestrian with ID 26 is 37.9 meters away at (-13.1, -35.6). A vehicle with ID 33 is 41.1 meters away at (-36.8, -18.2). A pedestrian with ID 29 is 41.4 meters away at (3.6, -41.2). A pedestrian with ID 30 is 42.2 meters away at (3.3, -42.0). A pedestrian with ID 31 is 42.2 meters away at (2.9, -42.1). A vehicle with ID 35 is 50.4 meters away at (-48.7, -12.9). A vehicle with ID 7 is 68.9 meters away at (29.0, -62.5).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00920486 -0.04193929] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [3.1609614 1.1840065] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.03887412 -0.06048895] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.1878946  -0.76370084] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.1330618  -0.77690023] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.097616   -0.76367474] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(207.03363037109375, -184.53070068359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-22.741394    5.6758103], 23.438982009887695 meters away.)"}
{"file_name": "images/scenario_665_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -3.6) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 14.1 meters away at (13.6, 3.6). A unknown object with ID 19 is 20.0 meters away at (-10.2, 17.2). A pedestrian with ID 29 is 36.2 meters away at (-7.6, -35.4). A pedestrian with ID 30 is 36.9 meters away at (-7.8, -36.1). A pedestrian with ID 31 is 37.2 meters away at (-8.5, -36.2). A pedestrian with ID 32 is 38.3 meters away at (-36.2, 12.7). A vehicle with ID 28 is 45.0 meters away at (-42.6, -14.5). A vehicle with ID 14 is 45.4 meters away at (-40.0, 21.3). A vehicle with ID 33 is 51.5 meters away at (-50.3, -11.0). A vehicle with ID 7 is 57.7 meters away at (15.5, -55.5).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.0873073 -0.7668459] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.0863639 -0.738803 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.0542914 -0.7074763] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.05994638 -0.12416026] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 3.4669576  -0.93755317] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(207.03363037109375, -184.53070068359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [13.633942   3.5623379], 14.09165096282959 meters away.)"}
{"file_name": "images/scenario_665_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -4.1) m/s. Its current heading (yaw) is -0.52 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 10.7 meters away at (0.1, 10.7). A pedestrian with ID 29 is 34.8 meters away at (-18.7, -29.4). A pedestrian with ID 30 is 35.8 meters away at (-19.0, -30.3). A pedestrian with ID 31 is 36.2 meters away at (-19.9, -30.3). A vehicle with ID 7 is 48.4 meters away at (1.8, -48.3). A vehicle with ID 14 is 52.3 meters away at (-45.6, 25.6). A vehicle with ID 8 is 53.8 meters away at (1.1, -53.8). A vehicle with ID 6 is 55.3 meters away at (14.9, -53.2). A vehicle with ID 28 is 56.6 meters away at (-56.1, -7.4). A unknown object with ID 24 is 62.0 meters away at (57.8, -22.5).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.0881197 -0.7747197] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.0030347  -0.72259843] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9791824 -0.7422962] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 4.705589  -2.3680124] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(207.03363037109375, -184.53070068359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.07454681 10.68218   ], 10.682440757751465 meters away.)"}
{"file_name": "images/scenario_666_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 20.7 meters away at (-13.4, -15.8). A unknown object with ID 37 is 26.9 meters away at (25.5, 8.5). A vehicle with ID 38 is 28.9 meters away at (13.5, 25.5). A vehicle with ID 36 is 29.9 meters away at (29.7, 3.5). A unknown object with ID 41 is 49.1 meters away at (47.9, -10.4). A unknown object with ID 35 is 53.7 meters away at (53.1, -8.4). A vehicle with ID 42 is 57.7 meters away at (-30.0, 49.4). A vehicle with ID 40 is 63.1 meters away at (41.6, 47.5). A pedestrian with ID 8 is 63.5 meters away at (47.3, 42.3). A vehicle with ID 43 is 65.7 meters away at (-36.2, 54.9).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [4.759669 5.600679] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.4257028 -1.6636635] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.3347692  1.0438385] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [7.468636 8.435687] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.8552283 1.0758806] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.934753 15.901236]]", "nav_goal": "(-77.51729583740234, 128.42105102539062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-13.42811  -15.775578], 20.716732025146484 meters away.)"}
{"file_name": "images/scenario_666_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 4.2) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 15.2 meters away at (-9.9, -11.6). A vehicle with ID 38 is 15.4 meters away at (4.2, 14.8). A vehicle with ID 36 is 20.5 meters away at (20.4, 0.6). A unknown object with ID 37 is 21.3 meters away at (21.1, 3.3). A unknown object with ID 25 is 45.4 meters away at (42.2, -16.7). A unknown object with ID 22 is 45.6 meters away at (42.6, -16.3). A unknown object with ID 41 is 45.7 meters away at (42.8, -16.2). A unknown object with ID 31 is 46.1 meters away at (43.3, -15.7). A unknown object with ID 35 is 50.4 meters away at (48.5, -13.7). A vehicle with ID 42 is 56.0 meters away at (-34.3, 44.3).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [3.4757602 4.1004786] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.5081873 -4.089549 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.7763183  1.048698 ] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-77.51729583740234, 128.42105102539062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -9.929476 -11.558695], 15.238041877746582 meters away.)"}
{"file_name": "images/scenario_666_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.5) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 12.6 meters away at (9.1, -8.7). A unknown object with ID 37 is 13.9 meters away at (11.7, -7.4). A vehicle with ID 38 is 15.2 meters away at (-13.9, -6.2). A vehicle with ID 39 is 18.9 meters away at (-12.5, -14.2). A unknown object with ID 11 is 35.9 meters away at (23.1, -27.5). A unknown object with ID 25 is 42.8 meters away at (32.8, -27.5). A unknown object with ID 22 is 42.9 meters away at (33.2, -27.2). A unknown object with ID 41 is 42.9 meters away at (33.3, -27.1). A unknown object with ID 31 is 43.1 meters away at (34.0, -26.5). A unknown object with ID 35 is 46.2 meters away at (39.1, -24.6).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.9106315  0.8502441] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.9286456 -5.6268353] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [2.9885163 4.737458 ] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-77.51729583740234, 128.42105102539062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.104155 -8.667717], 12.57040023803711 meters away.)"}
{"file_name": "images/scenario_666_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, 7.0) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 21.0 meters away at (0.0, -21.0). A vehicle with ID 36 is 21.2 meters away at (-4.4, -20.7). A vehicle with ID 39 is 28.3 meters away at (-23.3, -16.1). A pedestrian with ID 8 is 35.3 meters away at (28.6, 20.6). A unknown object with ID 12 is 42.0 meters away at (11.3, -40.5). A unknown object with ID 28 is 42.4 meters away at (11.2, -40.9). A unknown object with ID 31 is 45.9 meters away at (22.2, -40.2). A unknown object with ID 41 is 46.1 meters away at (21.6, -40.7). A unknown object with ID 22 is 46.1 meters away at (21.4, -40.9). A unknown object with ID 35 is 46.9 meters away at (27.3, -38.1).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.67056036  0.8785516 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.5959158  6.827145 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.0098451 1.3817585] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.3761477 10.646598 ]\n [ 8.239551   9.745221 ]]", "nav_goal": "(-77.51729583740234, 128.42105102539062)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 7.3490143e-03 -2.1002464e+01], 21.002466201782227 meters away.)"}
{"file_name": "images/scenario_667_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 7.2) m/s. Its current heading (yaw) is 2.00 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 14.2 meters away at (13.9, -2.9). A unknown object with ID 28 is 15.8 meters away at (14.7, 5.8). A unknown object with ID 9 is 15.9 meters away at (14.3, 6.8). A unknown object with ID 32 is 15.9 meters away at (13.9, 7.8). A unknown object with ID 7 is 16.0 meters away at (16.0, 0.1). A unknown object with ID 22 is 16.0 meters away at (13.4, 8.8). A unknown object with ID 47 is 16.1 meters away at (15.6, 3.8). A unknown object with ID 23 is 16.2 meters away at (13.0, 9.7). A unknown object with ID 46 is 16.3 meters away at (16.1, 2.7). A unknown object with ID 45 is 16.6 meters away at (16.5, 1.7).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [13.850453  -2.9133778], 14.153544425964355 meters away.)"}
{"file_name": "images/scenario_667_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.1) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 20.5 meters away at (20.3, 2.8). A unknown object with ID 15 is 21.2 meters away at (21.2, -0.4). A unknown object with ID 10 is 21.7 meters away at (21.7, -1.5). A vehicle with ID 5 is 21.7 meters away at (11.6, -18.4). A unknown object with ID 17 is 21.8 meters away at (21.7, -2.0). A unknown object with ID 23 is 22.3 meters away at (22.1, -2.6). A unknown object with ID 22 is 22.8 meters away at (22.6, -3.5). A unknown object with ID 32 is 23.4 meters away at (23.0, -4.5). A unknown object with ID 9 is 24.1 meters away at (23.5, -5.5). A unknown object with ID 28 is 24.8 meters away at (23.9, -6.5).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.0128054  -0.01908291] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.468735  8.297886] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [20.338465   2.8001862], 20.530323028564453 meters away.)"}
{"file_name": "images/scenario_667_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 5.1) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 21.5 meters away at (16.8, -13.4). A pedestrian with ID 54 is 35.1 meters away at (34.4, -6.9). A unknown object with ID 17 is 37.5 meters away at (35.7, -11.7). A unknown object with ID 22 is 39.1 meters away at (36.8, -13.3). A unknown object with ID 32 is 39.9 meters away at (37.3, -14.3). A unknown object with ID 9 is 40.7 meters away at (37.7, -15.3). A unknown object with ID 28 is 41.5 meters away at (38.2, -16.3). A unknown object with ID 47 is 42.4 meters away at (38.7, -17.3). A unknown object with ID 46 is 43.2 meters away at (39.2, -18.3). A unknown object with ID 36 is 54.6 meters away at (43.9, -32.6).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.0536222  6.570183 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.0415437  0.02347779] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 16.834126 -13.373697], 21.499849319458008 meters away.)"}
{"file_name": "images/scenario_667_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 5.4) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 21.6 meters away at (17.7, -12.4). A vehicle with ID 33 is 54.3 meters away at (54.1, -4.4).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-8.668871   5.7870584] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [  0.5860699 -10.502047 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 17.658749 -12.409161], 21.58283233642578 meters away.)"}
{"file_name": "images/scenario_668_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.2) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 4.5 meters away at (0.3, -4.5). A vehicle with ID 63 is 4.8 meters away at (4.8, 0.4). A vehicle with ID 54 is 9.6 meters away at (-3.2, -9.0). A vehicle with ID 24 is 9.7 meters away at (8.4, 4.8). A vehicle with ID 64 is 14.2 meters away at (-11.3, 8.7). A vehicle with ID 57 is 16.5 meters away at (-14.9, -7.1). A vehicle with ID 27 is 16.5 meters away at (13.1, 10.1). A pedestrian with ID 55 is 17.1 meters away at (3.5, 16.7). A vehicle with ID 56 is 17.6 meters away at (-8.8, -15.3). A vehicle with ID 13 is 20.8 meters away at (-13.5, -15.8).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.49292707 -0.59557533] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [3.7622988 4.9002657] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.599081 -22.603476]\n [-17.792233 -15.851964]\n [-27.6516   -25.222223]\n [-19.17907  -14.139257]\n [-17.860865 -15.487754]]", "nav_goal": "(205.5153045654297, 108.795654296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.3461585 -4.50541  ], 4.518688678741455 meters away.)"}
{"file_name": "images/scenario_668_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.7) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 4.0 meters away at (3.9, -0.7). A vehicle with ID 24 is 5.9 meters away at (-0.6, -5.8). A pedestrian with ID 55 is 8.0 meters away at (-6.2, 5.0). A vehicle with ID 25 is 8.7 meters away at (7.9, 3.7). A vehicle with ID 63 is 11.1 meters away at (-4.3, -10.2). A unknown object with ID 38 is 13.5 meters away at (-8.9, 10.1). A vehicle with ID 58 is 17.6 meters away at (-8.8, -15.3). A vehicle with ID 49 is 20.3 meters away at (7.6, 18.8). A vehicle with ID 64 is 20.6 meters away at (-20.4, -2.4). A vehicle with ID 13 is 21.0 meters away at (-13.9, -15.7).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.15691395 -0.0017427 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.902482  5.9793477] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.599081 -22.603476]\n [-17.792233 -15.851964]\n [-27.6516   -25.222223]\n [-19.17907  -14.139257]\n [-17.860865 -15.487754]]", "nav_goal": "(205.5153045654297, 108.795654296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.8925266  -0.72719955], 3.959871530532837 meters away.)"}
{"file_name": "images/scenario_668_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 5.9) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 6.7 meters away at (6.4, 2.1). A vehicle with ID 49 is 7.7 meters away at (-2.2, 7.4). A vehicle with ID 25 is 7.8 meters away at (-1.8, -7.6). A vehicle with ID 50 is 12.3 meters away at (1.9, 12.2). A vehicle with ID 27 is 13.4 meters away at (-5.8, -12.1). A pedestrian with ID 55 is 17.3 meters away at (-16.0, -6.4). A vehicle with ID 51 is 17.4 meters away at (5.6, 16.5). A vehicle with ID 26 is 19.8 meters away at (15.2, 12.6). A vehicle with ID 13 is 20.0 meters away at (-13.3, -15.0). A vehicle with ID 24 is 20.2 meters away at (-10.5, -17.3).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.00093026  0.0187024 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [5.1943903 6.060784 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.599081 -22.603476]\n [-17.792233 -15.851964]\n [-27.6516   -25.222223]\n [-19.17907  -14.139257]\n [-17.860865 -15.487754]]", "nav_goal": "(205.5153045654297, 108.795654296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [6.397545  2.1461296], 6.747922420501709 meters away.)"}
{"file_name": "images/scenario_668_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.7) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 5.4 meters away at (5.3, 1.1). A vehicle with ID 51 is 6.6 meters away at (-4.4, 5.0). A vehicle with ID 50 is 8.1 meters away at (-8.1, 0.7). A vehicle with ID 28 is 9.9 meters away at (-3.5, -9.3). A vehicle with ID 1 is 10.9 meters away at (9.4, 5.6). A vehicle with ID 49 is 12.8 meters away at (-12.1, -4.0). A vehicle with ID 52 is 13.6 meters away at (2.7, 13.3). A vehicle with ID 53 is 18.3 meters away at (6.2, 17.2). A vehicle with ID 13 is 19.8 meters away at (-13.2, -14.8). A vehicle with ID 25 is 22.5 meters away at (-11.8, -19.1).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.984686  5.7757206] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.792233 -15.851964]\n [-19.17907  -14.139257]\n [-17.860865 -15.487754]]", "nav_goal": "(205.5153045654297, 108.795654296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.2564697 1.1194077], 5.3743414878845215 meters away.)"}
{"file_name": "images/scenario_669_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.5) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 13.1 meters away at (1.6, 13.0). A unknown object with ID 7 is 16.0 meters away at (15.8, 2.5). A unknown object with ID 35 is 17.2 meters away at (17.0, 2.8). A unknown object with ID 15 is 19.6 meters away at (19.3, 3.2). A unknown object with ID 36 is 45.6 meters away at (11.7, 44.1). A vehicle with ID 33 is 66.6 meters away at (24.7, 61.8).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 1.5667876 13.047648 ], 13.141383171081543 meters away.)"}
{"file_name": "images/scenario_669_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.1) m/s. Its current heading (yaw) is 1.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 10.5 meters away at (8.2, -6.5). A unknown object with ID 10 is 10.5 meters away at (6.6, -8.2). A unknown object with ID 7 is 14.0 meters away at (13.5, -3.5). A unknown object with ID 30 is 14.4 meters away at (3.0, 14.1). A unknown object with ID 35 is 15.1 meters away at (14.7, -3.2). A vehicle with ID 33 is 60.2 meters away at (22.4, 55.8).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 8.226555 -6.459166], 10.459303855895996 meters away.)"}
{"file_name": "images/scenario_669_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.0) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 5.6 meters away at (-4.8, -2.9). A unknown object with ID 7 is 16.4 meters away at (9.3, -13.4). A unknown object with ID 35 is 16.9 meters away at (10.5, -13.2). A unknown object with ID 16 is 18.1 meters away at (12.9, -12.7). A vehicle with ID 33 is 49.4 meters away at (18.4, 45.9). A pedestrian with ID 1 is 76.7 meters away at (21.5, 73.6). A pedestrian with ID 2 is 77.4 meters away at (21.3, 74.5).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2408372  -0.11617725] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2735982  -0.15539117] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-4.8487926 -2.8993149], 5.649497032165527 meters away.)"}
{"file_name": "images/scenario_669_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.5) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A unknown object with ID 21 is 10.5 meters away at (6.8, -8.1). A unknown object with ID 31 is 11.6 meters away at (7.2, -9.2). A vehicle with ID 33 is 36.3 meters away at (14.4, 33.3). A pedestrian with ID 1 is 64.5 meters away at (19.6, 61.4). A pedestrian with ID 2 is 64.8 meters away at (19.4, 61.8).", "velocity_description": "The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.1105452  0.17295603] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [1.133473   0.09766084] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 6.7712736 -8.0655   ], 10.531022071838379 meters away.)"}
{"file_name": "images/scenario_670_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 6.2 meters away at (-2.5, -5.7). A vehicle with ID 27 is 7.6 meters away at (7.3, -2.0). A vehicle with ID 29 is 8.1 meters away at (6.3, -5.2). A vehicle with ID 32 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 52 is 9.9 meters away at (-9.1, -4.0). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.0). A vehicle with ID 30 is 11.1 meters away at (-6.5, -9.0). A vehicle with ID 47 is 15.8 meters away at (-15.7, -1.5). A vehicle with ID 35 is 18.3 meters away at (-17.6, 5.2). A unknown object with ID 36 is 19.7 meters away at (-19.3, -4.1).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 32.50565   -8.371266]\n [ 24.074026  -8.733229]\n [ 32.02337  -10.599445]]", "nav_goal": "(-28.33574676513672, -103.9059066772461)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.460947  -5.6813326], 6.191429138183594 meters away.)"}
{"file_name": "images/scenario_670_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 6.2 meters away at (-2.0, -5.8). A vehicle with ID 27 is 7.3 meters away at (7.1, -1.9). A vehicle with ID 29 is 8.6 meters away at (6.7, -5.3). A vehicle with ID 32 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 52 is 9.9 meters away at (-9.0, -4.0). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.1). A vehicle with ID 30 is 11.1 meters away at (-6.5, -9.0). A vehicle with ID 47 is 15.8 meters away at (-15.7, -1.5). A vehicle with ID 35 is 18.8 meters away at (-18.0, 5.4). A unknown object with ID 2 is 18.9 meters away at (-18.1, -5.5).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [ 0.63404083 -0.18572335] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 0.5594052  -0.16419776] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.7143746   0.16294302] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 32.50565   -8.371266]\n [ 24.074026  -8.733229]\n [ 32.02337  -10.599445]]", "nav_goal": "(-28.33574676513672, -103.9059066772461)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.9575282 -5.8494635], 6.168317794799805 meters away.)"}
{"file_name": "images/scenario_670_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 7.3 meters away at (1.7, -7.1). A vehicle with ID 27 is 7.3 meters away at (7.1, -1.9). A vehicle with ID 52 is 8.9 meters away at (-7.7, -4.4). A vehicle with ID 32 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 30 is 11.0 meters away at (-6.2, -9.1). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.0). A vehicle with ID 29 is 12.2 meters away at (10.3, -6.5). A vehicle with ID 47 is 15.4 meters away at (-15.3, -1.6). A unknown object with ID 2 is 18.9 meters away at (-18.1, -5.6). A pedestrian with ID 34 is 19.0 meters away at (10.6, -15.8).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [ 3.2583983 -1.1209555] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 1.1693914  -0.35054004] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 2.9617577 -0.8245069] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 0.5386231  -0.16406907] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.00036692 0.00058819] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 32.50565   -8.371266]\n [ 32.02337  -10.599445]]", "nav_goal": "(-28.33574676513672, -103.9059066772461)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.691098 -7.066038], 7.2655839920043945 meters away.)"}
{"file_name": "images/scenario_670_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 6.6 meters away at (-3.0, -5.9). A vehicle with ID 27 is 7.4 meters away at (7.1, -1.9). A vehicle with ID 32 is 9.7 meters away at (-9.2, 3.1). A vehicle with ID 30 is 11.0 meters away at (-6.3, -9.0). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.1). A vehicle with ID 47 is 13.1 meters away at (-12.9, -2.4). A vehicle with ID 28 is 14.8 meters away at (10.9, -10.0). A pedestrian with ID 11 is 18.4 meters away at (6.0, -17.4). A unknown object with ID 2 is 18.9 meters away at (-18.1, -5.6). A pedestrian with ID 34 is 19.0 meters away at (10.6, -15.8).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [ 3.538154  -1.1476548] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.7233184   0.20797814] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 2.210734   -0.69486344] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 5.6776576 -1.7797514] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00067605 -0.00124583] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00092411 -0.00245347] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 32.50565   -8.371266]\n [ 32.02337  -10.599445]]", "nav_goal": "(-28.33574676513672, -103.9059066772461)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.9727216 -5.854078 ], 6.565615177154541 meters away.)"}
{"file_name": "images/scenario_671_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 3.3 meters away at (-0.8, -3.2). A vehicle with ID 108 is 3.5 meters away at (2.5, 2.5). A vehicle with ID 96 is 7.5 meters away at (-3.9, 6.4). A vehicle with ID 116 is 8.4 meters away at (8.3, -1.4). A vehicle with ID 41 is 10.1 meters away at (-8.2, 5.8). A unknown object with ID 97 is 13.5 meters away at (-9.1, 9.9). A unknown object with ID 114 is 14.2 meters away at (5.6, -13.0). A unknown object with ID 113 is 14.2 meters away at (5.3, -13.1). A vehicle with ID 115 is 14.8 meters away at (14.0, -4.8). A pedestrian with ID 117 is 16.3 meters away at (-4.5, 15.7).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [-2.922106   1.5581981] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [0.00354754 0.00604974] m/s.", "light_description": "There are active red lights at the following coordinates: [[-48.86615    12.788387 ]\n [-35.126545   -1.857695 ]\n [-47.93759    13.882926 ]\n [-35.397522   -1.5253915]\n [-45.105366   15.697988 ]]", "nav_goal": "(-249.21498107910156, 164.5807647705078)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.8145164 -3.2447495], 3.3454201221466064 meters away.)"}
{"file_name": "images/scenario_671_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 108 is 3.5 meters away at (2.5, 2.5). A vehicle with ID 56 is 6.0 meters away at (-5.9, -0.9). A vehicle with ID 96 is 7.5 meters away at (-3.8, 6.4). A vehicle with ID 116 is 8.4 meters away at (8.3, -1.4). A vehicle with ID 41 is 10.2 meters away at (-8.3, 5.9). A unknown object with ID 97 is 13.5 meters away at (-9.1, 9.9). A unknown object with ID 114 is 14.2 meters away at (5.7, -13.0). A unknown object with ID 113 is 14.2 meters away at (5.4, -13.1). A vehicle with ID 115 is 14.8 meters away at (14.0, -4.8). A pedestrian with ID 117 is 16.1 meters away at (-4.4, 15.5).", "velocity_description": "The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-2.616693   1.1455245] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.3322374   0.21309148] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [0.01148447 0.00026794] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.126545   -1.857695 ]\n [-35.397522   -1.5253915]\n [-23.588453    8.478377 ]]", "nav_goal": "(-249.21498107910156, 164.5807647705078)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.5175135 2.4919846], 3.5422959327697754 meters away.)"}
{"file_name": "images/scenario_671_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.0) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 108 is 4.1 meters away at (3.6, 1.8). A vehicle with ID 96 is 6.4 meters away at (-2.8, 5.7). A vehicle with ID 116 is 9.7 meters away at (9.4, -2.2). A vehicle with ID 56 is 9.9 meters away at (-9.8, 0.8). A unknown object with ID 97 is 12.1 meters away at (-7.9, 9.2). A vehicle with ID 41 is 13.0 meters away at (-10.7, 7.4). A unknown object with ID 51 is 14.7 meters away at (-10.9, 9.9). A unknown object with ID 114 is 15.3 meters away at (6.8, -13.7). A unknown object with ID 113 is 15.4 meters away at (6.6, -13.9). A pedestrian with ID 117 is 15.4 meters away at (-3.5, 15.0).", "velocity_description": "The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-2.1939237  1.1238039] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-3.3053865  2.1556818] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [0.03144797 0.01102473] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.126545   -1.857695 ]\n [-35.397522   -1.5253915]\n [-23.588453    8.478377 ]]", "nav_goal": "(-249.21498107910156, 164.5807647705078)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.6323657 1.8051459], 4.0561842918396 meters away.)"}
{"file_name": "images/scenario_671_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 2.7) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 96 is 3.7 meters away at (3.1, 2.0). A unknown object with ID 97 is 5.7 meters away at (-1.9, 5.4). A unknown object with ID 55 is 5.9 meters away at (1.2, 5.8). A unknown object with ID 51 is 7.7 meters away at (-4.8, 6.1). A vehicle with ID 56 is 7.8 meters away at (-7.7, -0.9). A vehicle with ID 108 is 9.8 meters away at (9.6, -2.1). A unknown object with ID 46 is 10.7 meters away at (-7.4, 7.8). A pedestrian with ID 117 is 11.6 meters away at (2.8, 11.2). A vehicle with ID 116 is 16.6 meters away at (15.5, -6.1). A vehicle with ID 57 is 16.8 meters away at (-16.3, 4.0).", "velocity_description": "The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-1.4918907   0.83470964] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [-0.00167273 -0.00392394] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-0.33034924  0.20554917] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.126545   -1.857695 ]\n [-35.397522   -1.5253915]\n [-23.588453    8.478377 ]]", "nav_goal": "(-249.21498107910156, 164.5807647705078)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.129832  1.9744935], 3.7006044387817383 meters away.)"}
{"file_name": "images/scenario_672_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -4.8) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 7.0 meters away at (-3.1, -6.2). A vehicle with ID 63 is 7.8 meters away at (-7.1, -3.3). A vehicle with ID 62 is 9.1 meters away at (-9.1, -0.5). A vehicle with ID 65 is 10.9 meters away at (1.4, -10.8). A vehicle with ID 60 is 11.2 meters away at (-11.1, 1.4). A vehicle with ID 66 is 13.2 meters away at (3.5, -12.8). A vehicle with ID 58 is 13.7 meters away at (-13.2, 3.6). A vehicle with ID 57 is 16.1 meters away at (-15.2, 5.4). A vehicle with ID 67 is 17.3 meters away at (7.3, -15.7). A vehicle with ID 59 is 19.9 meters away at (-18.0, 8.5).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.1199389 -6.2315884], 6.968982219696045 meters away.)"}
{"file_name": "images/scenario_672_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.8) m/s. Its current heading (yaw) is -0.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 6.9 meters away at (-4.6, -5.1). A vehicle with ID 65 is 7.3 meters away at (-6.6, -3.1). A vehicle with ID 67 is 8.1 meters away at (-0.8, -8.0). A vehicle with ID 64 is 11.3 meters away at (-11.2, 1.4). A vehicle with ID 3 is 13.8 meters away at (3.5, -13.3). A vehicle with ID 63 is 15.9 meters away at (-15.2, 4.4). A vehicle with ID 62 is 18.7 meters away at (-17.2, 7.2). A vehicle with ID 47 is 20.9 meters away at (18.9, -8.9). A vehicle with ID 68 is 21.2 meters away at (-5.1, -20.6). A vehicle with ID 60 is 21.4 meters away at (-19.4, 9.0).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-7.2479997 -8.170432 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.616109 -5.099762], 6.878664970397949 meters away.)"}
{"file_name": "images/scenario_672_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.3) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 6.4 meters away at (-3.9, -5.1). A vehicle with ID 66 is 8.0 meters away at (-7.7, -2.1). A vehicle with ID 65 is 9.8 meters away at (-9.8, -0.1). A vehicle with ID 3 is 10.5 meters away at (0.2, -10.5). A vehicle with ID 64 is 15.0 meters away at (-14.3, 4.4). A vehicle with ID 68 is 19.5 meters away at (-8.3, -17.6). A vehicle with ID 63 is 19.9 meters away at (-18.5, 7.4). A vehicle with ID 47 is 22.6 meters away at (0.8, -22.6). A vehicle with ID 62 is 22.8 meters away at (-20.4, 10.2). A vehicle with ID 60 is 25.5 meters away at (-22.5, 12.0).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-7.482401 -8.07728 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.899004 -5.07242 ], 6.397787094116211 meters away.)"}
{"file_name": "images/scenario_672_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 6.3 meters away at (-4.3, -4.7). A vehicle with ID 66 is 8.3 meters away at (-8.1, -1.7). A vehicle with ID 3 is 10.1 meters away at (-0.1, -10.1). A vehicle with ID 65 is 10.3 meters away at (-10.3, 0.3). A vehicle with ID 64 is 15.6 meters away at (-14.9, 4.8). A vehicle with ID 68 is 19.3 meters away at (-8.8, -17.2). A vehicle with ID 63 is 20.4 meters away at (-18.8, 7.8). A vehicle with ID 62 is 23.4 meters away at (-20.9, 10.6). A vehicle with ID 60 is 26.1 meters away at (-23.0, 12.4). A vehicle with ID 58 is 28.9 meters away at (-24.9, 14.6).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.2727203 -4.6554756], 6.318986415863037 meters away.)"}
{"file_name": "images/scenario_673_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.8) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 16.1 meters away at (-0.6, 16.0). A pedestrian with ID 21 is 19.5 meters away at (12.5, -15.0). A pedestrian with ID 22 is 32.4 meters away at (-8.8, 31.1). A pedestrian with ID 9 is 43.7 meters away at (-43.7, 2.3). A pedestrian with ID 13 is 44.4 meters away at (-44.4, 2.8).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [2.9305444 5.17777  ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.2874413   0.21487686] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.03714642 -0.05467592] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.71108526 -1.4041059 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.7148281 -1.2698064] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.05253601074219, -39.56382369995117)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.6483247 16.038588 ], 16.051685333251953 meters away.)"}
{"file_name": "images/scenario_673_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 1.9) m/s. Its current heading (yaw) is 2.67 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 24.2 meters away at (17.1, -17.1). A vehicle with ID 19 is 24.4 meters away at (11.3, 21.6). A pedestrian with ID 22 is 28.9 meters away at (-3.2, 28.8). A pedestrian with ID 9 is 39.6 meters away at (-39.5, -3.5). A vehicle with ID 12 is 39.8 meters away at (-0.6, 39.8). A pedestrian with ID 13 is 40.6 meters away at (-40.4, -3.2).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.70367473  0.35449296] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.8851705 2.5768104] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.14876182  0.42599735] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.70168686 -1.3201172 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.6802933 -0.989611 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.74554175 -1.2720289 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.05253601074219, -39.56382369995117)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 17.111462 -17.123032], 24.20744514465332 meters away.)"}
{"file_name": "images/scenario_673_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 1.6) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A pedestrian with ID 22 is 26.6 meters away at (4.9, 26.2). A pedestrian with ID 21 is 32.0 meters away at (24.8, -20.3). A vehicle with ID 19 is 33.9 meters away at (28.6, 18.1). A pedestrian with ID 9 is 33.9 meters away at (-32.3, -10.2). A vehicle with ID 12 is 35.5 meters away at (13.3, 32.9).", "velocity_description": "The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.38107303  0.61777073] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.22593783  0.10099088] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.0823092 -1.9765947] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.57581186 -1.5585096 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.4513016 -2.3499198] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.05253601074219, -39.56382369995117)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 4.9461603 26.153288 ], 26.616891860961914 meters away.)"}
{"file_name": "images/scenario_673_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, -0.2) m/s. Its current heading (yaw) is -3.10 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 28.2 meters away at (-23.8, -15.1). A vehicle with ID 12 is 38.1 meters away at (28.2, 25.7). A pedestrian with ID 21 is 40.5 meters away at (34.2, -21.7). A vehicle with ID 19 is 51.8 meters away at (50.8, 10.3). A vehicle with ID 15 is 67.1 meters away at (-32.8, -58.5). A vehicle with ID 1 is 68.9 meters away at (-42.2, -54.5). A vehicle with ID 3 is 69.5 meters away at (-44.5, -53.4). A vehicle with ID 5 is 73.7 meters away at (-29.9, -67.4).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.75592947 -1.5515963 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 3.0910504 -3.1889465] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.43511552  0.25357088] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 7.1913104 -4.021377 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.0919502 -6.8558645] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.05253601074219, -39.56382369995117)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-23.79756  -15.058195], 28.16155433654785 meters away.)"}
{"file_name": "images/scenario_674_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -3.6) m/s. Its current heading (yaw) is -2.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 25.2 meters away at (-3.0, 25.0). A unknown object with ID 27 is 29.8 meters away at (14.4, 26.0). A unknown object with ID 28 is 29.9 meters away at (12.9, 27.0). A unknown object with ID 35 is 32.9 meters away at (-10.4, 31.3). A unknown object with ID 31 is 33.1 meters away at (19.9, 26.5). A unknown object with ID 20 is 33.2 meters away at (18.9, 27.3). A unknown object with ID 32 is 34.0 meters away at (5.2, 33.6). A unknown object with ID 33 is 35.2 meters away at (34.5, 6.9). A unknown object with ID 34 is 36.3 meters away at (35.4, 8.1). A vehicle with ID 45 is 38.2 meters away at (-17.6, -33.9).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-65.48666 -78.97631]\n [-65.55528 -78.6121 ]\n [-66.87349 -77.2636 ]]", "nav_goal": "(72.8878402709961, -210.1393280029297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.9973578 25.010813 ], 25.189777374267578 meters away.)"}
{"file_name": "images/scenario_674_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -2.8) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 25.5 meters away at (-4.3, -25.1). A vehicle with ID 45 is 29.4 meters away at (-10.9, -27.4). A unknown object with ID 29 is 31.8 meters away at (3.8, 31.6). A vehicle with ID 50 is 36.4 meters away at (-15.7, -32.8). A unknown object with ID 28 is 38.9 meters away at (19.7, 33.5). A unknown object with ID 27 is 38.9 meters away at (21.2, 32.6). A unknown object with ID 32 is 41.9 meters away at (11.9, 40.1). A unknown object with ID 20 is 42.4 meters away at (25.5, 33.9). A unknown object with ID 33 is 43.4 meters away at (41.3, 13.3). A unknown object with ID 13 is 44.6 meters away at (-20.0, -39.9).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-65.48666 -78.97631]\n [-65.55528 -78.6121 ]\n [-66.87349 -77.2636 ]]", "nav_goal": "(72.8878402709961, -210.1393280029297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -4.264756 -25.13752 ], 25.496726989746094 meters away.)"}
{"file_name": "images/scenario_674_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.8) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 21.6 meters away at (-0.9, -21.5). A vehicle with ID 45 is 24.9 meters away at (-7.6, -23.7). A vehicle with ID 50 is 31.7 meters away at (-12.4, -29.1). A unknown object with ID 29 is 35.9 meters away at (6.9, 35.3). A unknown object with ID 18 is 38.7 meters away at (-26.2, 28.5). A unknown object with ID 28 is 43.7 meters away at (22.9, 37.2). A unknown object with ID 27 is 43.7 meters away at (24.4, 36.2). A unknown object with ID 20 is 47.1 meters away at (28.9, 37.2). A unknown object with ID 36 is 49.5 meters away at (9.4, 48.6). A pedestrian with ID 15 is 58.9 meters away at (-40.7, -42.6).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00235072 -0.00737111] m/s.", "light_description": "There are active red lights at the following coordinates: [[-65.48666 -78.97631]\n [-65.55528 -78.6121 ]\n [-66.87349 -77.2636 ]]", "nav_goal": "(72.8878402709961, -210.1393280029297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -0.9201393 -21.541254 ], 21.560897827148438 meters away.)"}
{"file_name": "images/scenario_674_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 24.5 meters away at (-7.3, -23.4). A vehicle with ID 50 is 31.3 meters away at (-12.1, -28.8). A unknown object with ID 18 is 38.8 meters away at (-25.9, 28.9). A unknown object with ID 28 is 44.1 meters away at (23.1, 37.5). A unknown object with ID 6 is 44.2 meters away at (23.9, 37.2). A unknown object with ID 10 is 53.6 meters away at (42.1, 33.2). A vehicle with ID 37 is 60.6 meters away at (-31.4, -51.8). A vehicle with ID 39 is 61.7 meters away at (-40.3, -46.7). A vehicle with ID 23 is 64.2 meters away at (-18.0, 61.6). A vehicle with ID 21 is 72.3 meters away at (-48.6, -53.5).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 7.3600297 -6.0288644] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-65.48666 -78.97631]\n [-65.55528 -78.6121 ]\n [-66.87349 -77.2636 ]]", "nav_goal": "(72.8878402709961, -210.1393280029297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -7.348055 -23.39227 ], 24.51922035217285 meters away.)"}
{"file_name": "images/scenario_675_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.5) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 48 is 18.6 meters away at (18.6, -0.6). A unknown object with ID 49 is 21.2 meters away at (21.2, -0.8). A unknown object with ID 51 is 22.6 meters away at (22.6, -1.0). A unknown object with ID 52 is 23.1 meters away at (23.0, -1.4). A unknown object with ID 50 is 23.4 meters away at (23.1, -4.2). A unknown object with ID 37 is 24.3 meters away at (23.7, -5.2). A unknown object with ID 29 is 65.1 meters away at (10.2, -64.3). A unknown object with ID 54 is 66.9 meters away at (11.4, -65.9). A unknown object with ID 46 is 67.3 meters away at (-2.8, 67.2). A unknown object with ID 4 is 69.5 meters away at (-2.3, 69.4).", "velocity_description": "The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [18.596329  -0.5977583], 18.605934143066406 meters away.)"}
{"file_name": "images/scenario_675_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 4.4) m/s. Its current heading (yaw) is 1.54 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 12.7 meters away at (-10.5, -7.1). A unknown object with ID 48 is 20.8 meters away at (18.7, -9.1). A unknown object with ID 33 is 21.9 meters away at (19.9, -9.2). A unknown object with ID 49 is 23.3 meters away at (21.3, -9.3). A unknown object with ID 4 is 60.9 meters away at (-2.1, 60.8). A unknown object with ID 3 is 63.0 meters away at (-1.5, 63.0). A unknown object with ID 2 is 65.5 meters away at (-1.0, 65.5). A vehicle with ID 36 is 73.2 meters away at (-69.6, -22.9).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.0395584 -0.7431007] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-10.534056   -7.0645466], 12.68361759185791 meters away.)"}
{"file_name": "images/scenario_675_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 5.4) m/s. Its current heading (yaw) is 1.47 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 19.7 meters away at (-9.3, -17.4). A unknown object with ID 31 is 30.0 meters away at (-4.5, -29.7). A unknown object with ID 4 is 51.1 meters away at (-2.9, 51.0). A unknown object with ID 3 is 53.2 meters away at (-2.3, 53.2). A unknown object with ID 2 is 55.7 meters away at (-1.7, 55.7). A unknown object with ID 27 is 57.3 meters away at (19.6, -53.9). A vehicle with ID 32 is 68.4 meters away at (-1.4, 68.4). A unknown object with ID 45 is 74.2 meters away at (33.1, 66.4). A vehicle with ID 23 is 74.4 meters away at (-61.4, 42.1).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.9570943  -0.24224915] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 3.0586383  -0.32415563] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -9.268216 -17.41883 ], 19.731081008911133 meters away.)"}
{"file_name": "images/scenario_675_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 5.9) m/s. Its current heading (yaw) is 1.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 31.6 meters away at (-9.4, -30.2). A unknown object with ID 26 is 37.8 meters away at (2.2, -37.7). A unknown object with ID 4 is 40.1 meters away at (-4.3, 39.8). A unknown object with ID 3 is 42.2 meters away at (-3.7, 42.0). A unknown object with ID 41 is 43.3 meters away at (15.9, 40.3). A unknown object with ID 2 is 44.6 meters away at (-3.2, 44.5). A vehicle with ID 32 is 56.6 meters away at (4.0, 56.5). A unknown object with ID 43 is 57.1 meters away at (-3.9, 57.0). A vehicle with ID 7 is 59.1 meters away at (-12.6, 57.7). A unknown object with ID 45 is 63.6 meters away at (31.2, 55.4).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.486323  -1.1452012] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 3.342264   -0.37375543] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 1.6078188  -0.23675573] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -9.405158 -30.155369], 31.588024139404297 meters away.)"}
{"file_name": "images/scenario_676_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 5.6) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 8.5 meters away at (-8.1, -2.4). A vehicle with ID 34 is 11.5 meters away at (3.0, -11.1). A vehicle with ID 40 is 43.6 meters away at (12.5, -41.8). A vehicle with ID 43 is 45.9 meters away at (-6.7, -45.4). A vehicle with ID 42 is 46.4 meters away at (4.9, -46.1). A vehicle with ID 47 is 47.3 meters away at (-20.4, -42.7). A vehicle with ID 44 is 49.2 meters away at (-14.2, -47.1). A unknown object with ID 39 is 49.3 meters away at (24.8, -42.6). A vehicle with ID 36 is 49.5 meters away at (32.3, -37.6). A vehicle with ID 46 is 50.0 meters away at (-19.2, -46.2).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [ 3.41828  -2.544068] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.3891115 -0.9385436] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [4.3786016 3.1382422] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 4.7120914  -0.64815336] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [5.424819  1.6215552] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 4.2539725 -0.7004402] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 6.412369  -1.9649512] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-227.5821533203125, 191.5640106201172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.149785  -2.3983088], 8.495345115661621 meters away.)"}
{"file_name": "images/scenario_676_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 5.8) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 19.3 meters away at (-6.8, 18.0). A vehicle with ID 37 is 20.8 meters away at (11.2, -17.5). A vehicle with ID 34 is 30.2 meters away at (18.9, -23.5). A vehicle with ID 47 is 55.8 meters away at (3.7, -55.7). A vehicle with ID 31 is 56.2 meters away at (-38.6, -40.9). A vehicle with ID 43 is 59.6 meters away at (18.5, -56.6). A vehicle with ID 42 is 59.7 meters away at (29.0, -52.2). A vehicle with ID 40 is 60.3 meters away at (36.4, -48.1). A vehicle with ID 13 is 60.9 meters away at (-33.0, -51.2). A vehicle with ID 2 is 60.9 meters away at (-41.5, 44.7).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 1.753305  -1.1479566] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.48687676 -0.11891893] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 5.7497387  -0.72440666] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [6.026208  1.6061528] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [4.558573  3.0596583] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [5.870876  1.2580466] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.3027633  -0.02956251] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-227.5821533203125, 191.5640106201172)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-6.8377132 18.03006  ], 19.2830867767334 meters away.)"}
{"file_name": "images/scenario_676_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 5.7) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 40.6 meters away at (27.2, -30.2). A vehicle with ID 2 is 43.6 meters away at (-27.6, 33.7). A pedestrian with ID 3 is 45.9 meters away at (-30.8, 34.0). A vehicle with ID 34 is 48.3 meters away at (33.4, -34.9). A vehicle with ID 31 is 57.5 meters away at (-24.7, -52.0). A vehicle with ID 32 is 62.0 meters away at (-37.2, -49.6). A vehicle with ID 17 is 64.5 meters away at (-42.6, -48.4). A vehicle with ID 13 is 65.0 meters away at (-19.0, -62.2). A vehicle with ID 43 is 75.8 meters away at (43.1, -62.4).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [ 0.5208345 -0.1328706] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.2309695  -0.93931895] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [4.9035387 3.420008 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-227.5821533203125, 191.5640106201172)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 27.172857 -30.157711], 40.59374237060547 meters away.)"}
{"file_name": "images/scenario_676_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.5) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 25.9 meters away at (-15.0, 21.2). A vehicle with ID 2 is 26.7 meters away at (-14.0, 22.7). A vehicle with ID 37 is 58.1 meters away at (40.9, -41.2). A vehicle with ID 31 is 63.9 meters away at (-11.2, -62.9). A vehicle with ID 34 is 65.6 meters away at (47.0, -45.8). A vehicle with ID 13 is 73.5 meters away at (-5.6, -73.3).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.08081    -0.75515187] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-227.5821533203125, 191.5640106201172)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-14.963436  21.16682 ], 25.921781539916992 meters away.)"}
{"file_name": "images/scenario_677_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -3.1) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 17 is 7.1 meters away at (6.7, -2.2). A vehicle with ID 16 is 20.3 meters away at (-19.0, 7.3). A pedestrian with ID 3 is 23.3 meters away at (-18.9, -13.6). A vehicle with ID 18 is 26.4 meters away at (-23.7, 11.6). A vehicle with ID 21 is 27.5 meters away at (-20.2, 18.6). A vehicle with ID 19 is 32.0 meters away at (-27.0, 17.2). A vehicle with ID 23 is 42.5 meters away at (-36.7, 21.4). A vehicle with ID 24 is 48.0 meters away at (-40.6, 25.5).", "velocity_description": "The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00197642 -0.00546508] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.345355  -1.1229758] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(2.684363603591919, -11.522513389587402)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 6.7443004 -2.2046924], 7.0955095291137695 meters away.)"}
{"file_name": "images/scenario_677_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -3.9) m/s. Its current heading (yaw) is -1.26 ", "actor_description": " The most relevant actors are: A unknown object with ID 17 is 5.1 meters away at (1.9, 4.7). A pedestrian with ID 3 is 24.7 meters away at (-23.8, -6.7). A vehicle with ID 16 is 27.8 meters away at (-23.9, 14.3). A unknown object with ID 7 is 27.8 meters away at (-13.3, -24.5). A unknown object with ID 14 is 30.0 meters away at (3.8, -29.8). A unknown object with ID 9 is 30.9 meters away at (3.6, -30.7). A vehicle with ID 18 is 34.2 meters away at (-28.7, 18.6). A vehicle with ID 21 is 35.8 meters away at (-25.1, 25.5). A vehicle with ID 19 is 40.3 meters away at (-32.6, 23.8). A pedestrian with ID 12 is 48.0 meters away at (16.7, -45.0).", "velocity_description": "The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00202849 -0.00313176] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0054936  -0.00581418] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(2.684363603591919, -11.522513389587402)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [1.8763561 4.698226 ], 5.059055328369141 meters away.)"}
{"file_name": "images/scenario_677_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -3.5) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 12.3 meters away at (-10.0, -7.2). A unknown object with ID 17 is 12.4 meters away at (1.8, 12.3). A unknown object with ID 14 is 22.5 meters away at (3.8, -22.2). A unknown object with ID 9 is 22.9 meters away at (3.6, -22.6). A pedestrian with ID 3 is 23.9 meters away at (-23.9, 0.9). A vehicle with ID 16 is 32.4 meters away at (-24.0, 21.8). A vehicle with ID 18 is 38.9 meters away at (-28.9, 26.0). A vehicle with ID 21 is 41.6 meters away at (-25.3, 33.1). A vehicle with ID 19 is 45.2 meters away at (-31.8, 32.1). A vehicle with ID 23 is 55.1 meters away at (-41.7, 36.0).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.02526096 -0.00189482] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.01432491  0.00145851] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(2.684363603591919, -11.522513389587402)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-9.969873  -7.1770897], 12.284502029418945 meters away.)"}
{"file_name": "images/scenario_677_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.1) m/s. Its current heading (yaw) is -2.22 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 3.2 meters away at (2.6, -1.8). A unknown object with ID 1 is 15.3 meters away at (-10.5, -11.1). A unknown object with ID 14 is 17.8 meters away at (6.9, -16.5). A unknown object with ID 17 is 18.6 meters away at (4.8, 17.9). A pedestrian with ID 3 is 21.9 meters away at (-20.9, 6.6). A vehicle with ID 16 is 34.6 meters away at (-20.9, 27.5). A vehicle with ID 18 is 41.0 meters away at (-25.9, 31.8). A vehicle with ID 21 is 44.7 meters away at (-22.2, 38.8).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.03016418 0.00774155] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(2.684363603591919, -11.522513389587402)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.5865545 -1.846981 ], 3.178302049636841 meters away.)"}
{"file_name": "images/scenario_678_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -6.0) m/s. Its current heading (yaw) is -1.18 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 25.2 meters away at (13.1, -21.5). A unknown object with ID 9 is 33.7 meters away at (-20.6, 26.6). A unknown object with ID 10 is 33.9 meters away at (-20.7, 26.8). A unknown object with ID 13 is 36.1 meters away at (29.5, -20.9). A vehicle with ID 12 is 63.0 meters away at (-13.4, 61.6).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.01271634  8.620718  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 13.1460285 -21.476469 ], 25.180482864379883 meters away.)"}
{"file_name": "images/scenario_678_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -5.9) m/s. Its current heading (yaw) is -1.16 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 63.4 meters away at (-21.3, 59.7).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-21.316982  59.685844], 63.37833786010742 meters away.)"}
{"file_name": "images/scenario_678_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -6.6) m/s. Its current heading (yaw) is -1.16 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_678_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -6.2) m/s. Its current heading (yaw) is -1.11 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_679_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -4.2) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 105 is 11.1 meters away at (-10.8, -2.6). A cyclist with ID 1 is 14.1 meters away at (-12.7, 6.1). A pedestrian with ID 77 is 16.5 meters away at (-1.6, 16.5). A pedestrian with ID 76 is 17.3 meters away at (-0.8, 17.3). A pedestrian with ID 41 is 18.2 meters away at (-1.2, 18.2). A vehicle with ID 104 is 22.8 meters away at (-22.6, 2.9). A pedestrian with ID 123 is 28.7 meters away at (27.2, 9.3). A vehicle with ID 108 is 30.2 meters away at (-29.3, -7.1). A pedestrian with ID 106 is 31.3 meters away at (-25.8, 17.6). A pedestrian with ID 107 is 31.4 meters away at (-25.5, 18.4).", "velocity_description": "The vehicle with ID 105 is traveling at a (x, y) velocity of [-1.265359   0.5849419] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 7.805156  -3.1490657] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.88639116 -0.38630152] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.7854836  -0.49454132] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.7539093 -0.5779183] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-1.3333673   0.21224831] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-2.5101297 -1.0187179] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.37863    -0.42271596] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.3409873  -0.45123035] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.954686   -4.176372 ]\n [-21.390684    5.877449 ]\n [-10.002341   -4.276473 ]\n [-23.184298    2.9119034]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-10.823044  -2.638959], 11.140124320983887 meters away.)"}
{"file_name": "images/scenario_679_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.3, -4.3) m/s. Its current heading (yaw) is -0.44 ", "actor_description": " The most relevant actors are: A cyclist with ID 1 is 15.3 meters away at (-13.4, 7.4). A unknown object with ID 97 is 16.9 meters away at (16.4, 4.0). A pedestrian with ID 123 is 19.0 meters away at (6.4, 17.9). A vehicle with ID 105 is 30.8 meters away at (-30.1, 6.6). A pedestrian with ID 76 is 32.2 meters away at (-20.2, 25.0). A pedestrian with ID 77 is 32.2 meters away at (-21.1, 24.3). A pedestrian with ID 41 is 32.9 meters away at (-20.6, 25.6). A vehicle with ID 11 is 35.2 meters away at (-32.0, 14.6). A vehicle with ID 104 is 42.3 meters away at (-40.7, 11.6). A pedestrian with ID 106 is 48.3 meters away at (-41.2, 25.3).", "velocity_description": "The cyclist with ID 1 is traveling at a (x, y) velocity of [ 8.883005  -3.8947523] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-1.413494   -0.05732197] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.8909778 -0.5125055] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.809211 -0.596144] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.846551  -0.5869032] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [10.190696 -5.037233] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.1838344  -0.45741168] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.954686  -4.176372]\n [-10.002341  -4.276473]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-13.418543   7.383356], 15.315718650817871 meters away.)"}
{"file_name": "images/scenario_679_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.4, -4.2) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 11.6 meters away at (0.8, 11.6). A unknown object with ID 97 is 12.7 meters away at (-2.2, 12.5). A cyclist with ID 1 is 15.8 meters away at (-13.7, 7.8). A pedestrian with ID 86 is 25.7 meters away at (11.2, 23.1). A vehicle with ID 11 is 33.8 meters away at (-30.9, 13.5). A unknown object with ID 25 is 34.7 meters away at (33.4, -9.3). A unknown object with ID 23 is 36.6 meters away at (35.1, -10.4). A unknown object with ID 28 is 38.8 meters away at (36.9, -11.7). A unknown object with ID 69 is 40.7 meters away at (38.6, -12.8). A unknown object with ID 46 is 43.2 meters away at (40.8, -14.2).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 9.445948 -4.06313 ] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.1611274   0.25523433] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 9.648208  -4.4741697] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.954686  -4.176372]\n [-10.002341  -4.276473]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 0.81098557 11.608802  ], 11.63709545135498 meters away.)"}
{"file_name": "images/scenario_679_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.7, -4.1) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 14.3 meters away at (14.2, -0.9). A cyclist with ID 1 is 15.1 meters away at (-12.9, 7.8). A unknown object with ID 23 is 16.0 meters away at (15.9, -1.9). A unknown object with ID 28 is 18.1 meters away at (17.8, -3.2). A unknown object with ID 69 is 19.9 meters away at (19.4, -4.4). A unknown object with ID 46 is 22.3 meters away at (21.6, -5.8). A unknown object with ID 52 is 24.7 meters away at (23.7, -7.1). A unknown object with ID 40 is 25.6 meters away at (25.6, -0.1). A unknown object with ID 73 is 26.7 meters away at (25.5, -8.0). A unknown object with ID 13 is 27.2 meters away at (-18.4, 20.1).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [10.262714 -4.076687] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [14.238686   -0.85071564], 14.264077186584473 meters away.)"}
{"file_name": "images/scenario_680_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 3.8) m/s. Its current heading (yaw) is 0.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 94 is 7.4 meters away at (1.3, -7.3). A vehicle with ID 83 is 7.7 meters away at (6.7, -3.8). A pedestrian with ID 92 is 10.5 meters away at (-3.6, -9.9). A pedestrian with ID 89 is 11.9 meters away at (-2.5, -11.6). A pedestrian with ID 85 is 13.4 meters away at (12.5, -4.8). A vehicle with ID 86 is 14.4 meters away at (-9.6, -10.7). A pedestrian with ID 98 is 14.6 meters away at (14.5, -1.9). A pedestrian with ID 53 is 15.7 meters away at (-4.1, -15.1). A pedestrian with ID 91 is 16.3 meters away at (-6.6, -14.9). A pedestrian with ID 99 is 16.5 meters away at (12.4, -10.8).", "velocity_description": "The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.77667964 -0.8818316 ] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.7117176  0.18243034] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.06961603  0.02180793] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-1.2631482 -0.883366 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.10750394 -0.03187883] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1348933  -0.49857262] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [0.01346375 0.0482382 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[85.42034  56.458687]\n [81.79405  60.773018]\n [84.72857  57.249382]\n [83.0497   59.444485]\n [86.57107  51.623657]\n [82.80611  59.78611 ]]", "nav_goal": "(241.53445434570312, -69.23135375976562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.3497763 -7.320334 ], 7.443734645843506 meters away.)"}
{"file_name": "images/scenario_680_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, 3.7) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 97 is 8.7 meters away at (3.9, -7.7). A pedestrian with ID 95 is 8.7 meters away at (7.2, -4.8). A pedestrian with ID 96 is 9.6 meters away at (4.4, -8.5). A pedestrian with ID 30 is 9.8 meters away at (7.9, -5.8). A pedestrian with ID 98 is 10.9 meters away at (-0.3, -10.9). A pedestrian with ID 85 is 12.2 meters away at (0.1, -12.2). A vehicle with ID 83 is 12.4 meters away at (-5.5, -11.1). A pedestrian with ID 99 is 18.2 meters away at (0.0, -18.2). A vehicle with ID 94 is 18.3 meters away at (-11.0, -14.6). A pedestrian with ID 89 is 23.5 meters away at (-13.5, -19.2).", "velocity_description": "The pedestrian with ID 97 is traveling at a (x, y) velocity of [-1.0246298 -0.8193772] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.0225383  -0.93166906] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-0.9543069 -0.764303 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.0644251 -0.8470556] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-1.244516   -0.67972136] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.00197747  0.0049649 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.00322034  0.00632284] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.898167   -0.07979911] m/s.", "light_description": "There are active red lights at the following coordinates: [[85.42034  56.458687]\n [81.79405  60.773018]\n [84.72857  57.249382]\n [83.0497   59.444485]\n [86.57107  51.623657]\n [82.80611  59.78611 ]]", "nav_goal": "(241.53445434570312, -69.23135375976562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.8769112 -7.743282 ], 8.659610748291016 meters away.)"}
{"file_name": "images/scenario_680_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 3.5) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 13.9 meters away at (9.8, 9.9). A vehicle with ID 58 is 14.7 meters away at (10.8, -9.9). A pedestrian with ID 95 is 15.2 meters away at (-6.4, -13.8). A pedestrian with ID 30 is 15.8 meters away at (-5.8, -14.7). A pedestrian with ID 97 is 19.4 meters away at (-10.1, -16.6). A pedestrian with ID 96 is 19.7 meters away at (-9.6, -17.2). A vehicle with ID 31 is 21.3 meters away at (13.6, 16.5). A pedestrian with ID 85 is 22.0 meters away at (-10.8, -19.1). A unknown object with ID 76 is 23.7 meters away at (-14.4, -18.8). A vehicle with ID 36 is 23.7 meters away at (18.1, 15.3).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [1.0096483  0.65838414] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.0700425 -0.8647822] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1090829  -0.80567735] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [-1.1891909 -0.7655842] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-1.2054459 -0.7154653] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.4781402  0.25161162] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 85.42034   56.458687]\n [ 98.33618   55.883514]\n [ 97.98906   55.62967 ]\n [ 81.79405   60.773018]\n [ 84.72857   57.249382]\n [ 83.0497    59.444485]\n [ 98.09705   55.7052  ]\n [ 86.57107   51.623657]\n [103.31777   59.98764 ]\n [ 82.80611   59.78611 ]]", "nav_goal": "(241.53445434570312, -69.23135375976562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [9.753151 9.895386], 13.893977165222168 meters away.)"}
{"file_name": "images/scenario_680_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 3.4) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 3.8 meters away at (-0.1, 3.8). A vehicle with ID 31 is 10.0 meters away at (2.6, 9.7). A vehicle with ID 36 is 11.2 meters away at (7.2, 8.6). A vehicle with ID 58 is 16.7 meters away at (-0.1, -16.7). A vehicle with ID 37 is 18.4 meters away at (13.5, 12.5). A vehicle with ID 84 is 25.1 meters away at (16.7, 18.7). A vehicle with ID 1 is 27.1 meters away at (20.9, 17.4). A pedestrian with ID 95 is 29.7 meters away at (-19.6, -22.3). A pedestrian with ID 30 is 30.0 meters away at (-19.1, -23.1). A vehicle with ID 2 is 33.2 meters away at (26.3, 20.3).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.1742504 -0.6836825] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.2081856 -0.6661303] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[85.42034  56.458687]\n [81.79405  60.773018]\n [84.72857  57.249382]\n [83.0497   59.444485]\n [86.57107  51.623657]\n [82.80611  59.78611 ]]", "nav_goal": "(241.53445434570312, -69.23135375976562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.1331253  3.7531128], 3.7554731369018555 meters away.)"}
{"file_name": "images/scenario_681_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 3.1) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 33.3 meters away at (20.8, -26.0). A vehicle with ID 7 is 35.2 meters away at (20.1, -28.9). A unknown object with ID 10 is 37.8 meters away at (18.9, 32.7). A vehicle with ID 8 is 46.0 meters away at (33.7, -31.3). A vehicle with ID 4 is 49.9 meters away at (-23.3, 44.1). A pedestrian with ID 5 is 52.2 meters away at (-49.5, 16.7). A pedestrian with ID 3 is 57.2 meters away at (-53.6, 19.9). A unknown object with ID 12 is 58.9 meters away at (58.4, 7.7). A vehicle with ID 9 is 60.2 meters away at (-31.4, 51.4). A cyclist with ID 15 is 65.4 meters away at (51.8, -39.9).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-7.2803807  3.3914866] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.2456669 -0.4802018] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.77507484  0.3295394 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [ 1.7044612  -0.33583024] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.89193725585938, -61.61215591430664)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 20.770428 -25.99901 ], 33.277008056640625 meters away.)"}
{"file_name": "images/scenario_681_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 3.4) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A pedestrian with ID 5 is 37.2 meters away at (-35.9, 9.6). A unknown object with ID 10 is 40.1 meters away at (30.1, 26.5). A vehicle with ID 6 is 45.4 meters away at (31.9, -32.2). A pedestrian with ID 3 is 46.0 meters away at (-43.8, 14.1). A vehicle with ID 7 is 47.0 meters away at (31.3, -35.1). A vehicle with ID 9 is 49.6 meters away at (-20.2, 45.3). A vehicle with ID 4 is 50.5 meters away at (-25.6, 43.6). A vehicle with ID 8 is 58.5 meters away at (44.9, -37.6). A cyclist with ID 15 is 81.0 meters away at (65.8, -47.2).", "velocity_description": "The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.0949361  -0.41918486] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.7397013   0.30655444] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-5.9784884  1.3136946] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [ 1.8642226 -0.6860245] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.89193725585938, -61.61215591430664)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-35.90664    9.565294], 37.158870697021484 meters away.)"}
{"file_name": "images/scenario_681_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 3.0) m/s. Its current heading (yaw) is 2.66 ", "actor_description": " The most relevant actors are: A pedestrian with ID 5 is 22.3 meters away at (-22.2, 2.4). A pedestrian with ID 3 is 34.7 meters away at (-33.7, 8.1). A vehicle with ID 9 is 40.1 meters away at (-8.5, 39.2). A vehicle with ID 4 is 41.3 meters away at (-24.5, 33.3). A unknown object with ID 10 is 46.5 meters away at (41.8, 20.4). A vehicle with ID 6 is 58.0 meters away at (43.7, -38.2). A unknown object with ID 2 is 62.2 meters away at (48.2, -39.3). A vehicle with ID 8 is 71.5 meters away at (56.6, -43.6).", "velocity_description": "The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.0853205 -0.5102348] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.71784043  0.31072935] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.1627877 -4.401651 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.89193725585938, -61.61215591430664)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-22.170921    2.3807182], 22.298376083374023 meters away.)"}
{"file_name": "images/scenario_681_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.6) m/s. Its current heading (yaw) is 2.67 ", "actor_description": " The most relevant actors are: A pedestrian with ID 5 is 9.8 meters away at (-8.9, -4.2). A pedestrian with ID 3 is 24.2 meters away at (-23.9, 3.5). A vehicle with ID 4 is 26.5 meters away at (-17.7, 19.8). A vehicle with ID 9 is 33.8 meters away at (2.7, 33.7).", "velocity_description": "The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.081588   -0.37080026] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.616369   0.5037577] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.407586  -2.7974694] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.89193725585938, -61.61215591430664)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-8.919365 -4.166956], 9.844724655151367 meters away.)"}
{"file_name": "images/scenario_682_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 5.1) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 54 is 5.0 meters away at (5.0, -0.3). A unknown object with ID 116 is 5.3 meters away at (-2.6, 4.6). A unknown object with ID 111 is 8.5 meters away at (1.8, -8.3). A unknown object with ID 106 is 13.6 meters away at (12.6, -5.3). A unknown object with ID 90 is 14.4 meters away at (-10.5, 9.8). A unknown object with ID 74 is 16.9 meters away at (-6.6, -15.6). A unknown object with ID 100 is 17.6 meters away at (-13.9, -10.8). A pedestrian with ID 42 is 19.8 meters away at (-13.1, -14.9). A unknown object with ID 113 is 20.6 meters away at (1.1, -20.6). A pedestrian with ID 43 is 20.7 meters away at (-13.5, -15.7).", "velocity_description": "The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.0769901   0.81649154] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-1.1062405  0.7527512] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 35.339268 -40.011765]\n [ 33.18647  -42.385357]]", "nav_goal": "(-93.68067932128906, 220.94540405273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 4.976015  -0.3383503], 4.987504959106445 meters away.)"}
{"file_name": "images/scenario_682_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 4.9) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 90 is 4.5 meters away at (4.5, -0.2). A unknown object with ID 80 is 5.5 meters away at (-3.0, 4.6). A unknown object with ID 116 is 13.5 meters away at (12.3, -5.4). A unknown object with ID 57 is 14.6 meters away at (-10.9, 9.7). A vehicle with ID 125 is 17.0 meters away at (-0.9, -16.9). A unknown object with ID 63 is 17.1 meters away at (-7.0, -15.6). A unknown object with ID 89 is 17.9 meters away at (-14.4, -10.7). A unknown object with ID 100 is 20.8 meters away at (1.1, -20.8). A unknown object with ID 82 is 22.7 meters away at (-22.0, -5.9). A pedestrian with ID 42 is 23.5 meters away at (-0.3, -23.5).", "velocity_description": "The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [ 7.463485 -4.62786 ] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.1224741   0.67877257] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-93.68067932128906, 220.94540405273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 4.465391   -0.23394394], 4.47151517868042 meters away.)"}
{"file_name": "images/scenario_682_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.5) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A unknown object with ID 57 is 3.6 meters away at (3.6, 0.3). A unknown object with ID 52 is 6.8 meters away at (-4.2, 5.3). A unknown object with ID 80 is 12.5 meters away at (11.5, -4.9). A unknown object with ID 98 is 14.9 meters away at (-11.2, 9.9). A unknown object with ID 82 is 17.0 meters away at (-7.4, -15.3). A vehicle with ID 97 is 17.2 meters away at (-15.9, -6.8). A pedestrian with ID 39 is 17.9 meters away at (-10.4, 14.5). A unknown object with ID 66 is 18.4 meters away at (-15.3, -10.2). A unknown object with ID 89 is 20.2 meters away at (0.1, -20.2). A unknown object with ID 55 is 23.6 meters away at (-23.0, -5.2).", "velocity_description": "The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [ 6.8688126 -4.5907907] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.1335796 -0.777143 ] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-93.68067932128906, 220.94540405273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [3.6391678  0.25865555], 3.648348331451416 meters away.)"}
{"file_name": "images/scenario_682_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.4) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 98 is 2.7 meters away at (2.5, 1.0). A pedestrian with ID 39 is 6.9 meters away at (5.5, 4.1). A unknown object with ID 75 is 8.2 meters away at (-5.5, 6.2). A unknown object with ID 52 is 10.2 meters away at (9.5, -3.6). A vehicle with ID 72 is 12.7 meters away at (-2.2, -12.5). A unknown object with ID 55 is 16.9 meters away at (-9.2, -14.2). A unknown object with ID 84 is 17.3 meters away at (-13.2, 11.2). A unknown object with ID 66 is 19.2 meters away at (-1.5, -19.2). A unknown object with ID 45 is 19.3 meters away at (-17.0, -9.2). A unknown object with ID 57 is 19.4 meters away at (17.4, -8.7).", "velocity_description": "The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.1004977 -0.7540671] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 7.7386227 -4.8323526] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-120.88704    68.21531 ]\n [-123.17307    65.72484 ]\n [-122.741806   66.284134]\n [-120.36352    69.165306]]", "nav_goal": "(-93.68067932128906, 220.94540405273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [2.545498   0.97239304], 2.724905014038086 meters away.)"}
{"file_name": "images/scenario_683_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 4.8 meters away at (-4.3, -2.1). A pedestrian with ID 19 is 5.0 meters away at (-4.8, -1.5). A vehicle with ID 22 is 5.9 meters away at (5.8, -1.2). A vehicle with ID 17 is 6.8 meters away at (3.0, -6.1). A vehicle with ID 21 is 9.2 meters away at (-4.8, -7.9). A vehicle with ID 20 is 10.4 meters away at (0.3, -10.4). A vehicle with ID 24 is 14.2 meters away at (14.1, 1.2). A vehicle with ID 23 is 15.0 meters away at (-2.4, -14.8). A vehicle with ID 28 is 17.5 meters away at (-9.5, -14.7). A vehicle with ID 27 is 24.0 meters away at (23.6, 4.2).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6823768 -1.0709757] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.70617557 -1.066161  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.1656245  -0.26212665] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-234.71803283691406, 62.55521774291992)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.336302  -2.0895095], 4.813477039337158 meters away.)"}
{"file_name": "images/scenario_683_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.7) m/s. Its current heading (yaw) is -2.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 6.3 meters away at (3.5, -5.2). A vehicle with ID 22 is 6.3 meters away at (6.3, -0.4). A pedestrian with ID 18 is 6.3 meters away at (-5.3, -3.5). A pedestrian with ID 19 is 6.6 meters away at (-5.9, -3.0). A vehicle with ID 21 is 9.0 meters away at (-4.6, -7.7). A vehicle with ID 20 is 9.5 meters away at (0.9, -9.5). A vehicle with ID 23 is 14.0 meters away at (-1.9, -13.9). A vehicle with ID 24 is 14.9 meters away at (14.7, 2.2). A vehicle with ID 28 is 17.0 meters away at (-9.3, -14.3). A vehicle with ID 30 is 18.7 meters away at (9.7, 16.0).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7481513 -1.073857 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7598087 -1.0412878] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.23685522 -0.33427227] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.731758  -2.9287183] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-234.71803283691406, 62.55521774291992)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.4934351 -5.201502 ], 6.265757083892822 meters away.)"}
{"file_name": "images/scenario_683_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 5.7 meters away at (4.5, -3.5). A pedestrian with ID 18 is 7.2 meters away at (-5.8, -4.2). A pedestrian with ID 19 is 7.4 meters away at (-6.4, -3.6). A vehicle with ID 22 is 7.4 meters away at (7.3, 1.2). A vehicle with ID 21 is 7.8 meters away at (-4.1, -6.7). A vehicle with ID 20 is 8.1 meters away at (1.8, -7.9). A vehicle with ID 23 is 12.3 meters away at (-0.9, -12.3). A vehicle with ID 30 is 14.9 meters away at (7.8, 12.8). A vehicle with ID 24 is 16.0 meters away at (15.6, 3.7). A vehicle with ID 28 is 17.2 meters away at (-9.4, -14.4).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.747833  -1.2572709] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7821179 -1.2967709] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.45717734 -0.6930824 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.1809173 -1.9183935] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.7562671 -1.1155105] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-234.71803283691406, 62.55521774291992)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.47905  -3.546238], 5.7129411697387695 meters away.)"}
{"file_name": "images/scenario_683_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.3) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 5.7 meters away at (4.8, -3.0). A vehicle with ID 20 is 7.6 meters away at (2.2, -7.3). A vehicle with ID 22 is 7.9 meters away at (7.7, 1.9). A pedestrian with ID 18 is 9.1 meters away at (-6.9, -6.0). A pedestrian with ID 19 is 9.3 meters away at (-7.5, -5.6). A vehicle with ID 21 is 9.4 meters away at (-4.9, -8.0). A vehicle with ID 23 is 11.7 meters away at (-0.5, -11.7). A vehicle with ID 30 is 11.9 meters away at (6.2, 10.2). A unknown object with ID 15 is 16.1 meters away at (15.7, -3.6). A vehicle with ID 24 is 16.7 meters away at (16.1, 4.4).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6905694 -1.068819 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7198728 -1.1335337] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.8858102 -1.3869348] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.951137  -1.5714207] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-234.71803283691406, 62.55521774291992)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.8489056 -2.9760342], 5.6893463134765625 meters away.)"}
{"file_name": "images/scenario_684_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.9) m/s. Its current heading (yaw) is 0.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 3.7 meters away at (1.6, -3.3). A vehicle with ID 32 is 8.4 meters away at (-8.4, 0.0). A vehicle with ID 34 is 10.0 meters away at (-3.5, -9.3). A vehicle with ID 37 is 13.6 meters away at (-12.7, -4.9). A vehicle with ID 40 is 17.5 meters away at (-8.5, -15.3). A unknown object with ID 51 is 19.3 meters away at (2.4, 19.2). A vehicle with ID 42 is 19.6 meters away at (-16.9, -9.9). A unknown object with ID 50 is 20.4 meters away at (7.4, 19.1). A unknown object with ID 57 is 21.9 meters away at (-1.3, 21.9). A unknown object with ID 33 is 24.7 meters away at (24.6, 2.6).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.6106082 -3.3348305], 3.703397512435913 meters away.)"}
{"file_name": "images/scenario_684_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 1.4) m/s. Its current heading (yaw) is 0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 7.0 meters away at (-2.6, -6.5). A vehicle with ID 32 is 13.0 meters away at (-12.6, -3.2). A vehicle with ID 34 is 14.8 meters away at (-7.8, -12.6). A unknown object with ID 51 is 16.0 meters away at (-2.0, 15.9). A unknown object with ID 50 is 16.0 meters away at (2.9, 15.8). A vehicle with ID 37 is 18.8 meters away at (-16.9, -8.1). A unknown object with ID 57 is 19.4 meters away at (-5.7, 18.6). A vehicle with ID 46 is 19.6 meters away at (14.0, 13.7). A unknown object with ID 33 is 20.3 meters away at (20.3, -0.6). A unknown object with ID 36 is 21.2 meters away at (21.2, 0.6).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.6091657 -6.52814  ], 7.030245780944824 meters away.)"}
{"file_name": "images/scenario_684_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -2.8) m/s. Its current heading (yaw) is -0.50 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 10.9 meters away at (10.9, 0.2). A unknown object with ID 36 is 12.0 meters away at (11.9, 1.4). A vehicle with ID 29 is 13.2 meters away at (-11.9, -5.7). A vehicle with ID 46 is 15.2 meters away at (4.6, 14.5). A unknown object with ID 50 is 17.8 meters away at (-6.3, 16.6). A unknown object with ID 51 is 20.1 meters away at (-11.1, 16.8). A vehicle with ID 34 is 20.7 meters away at (-17.0, -11.7). A vehicle with ID 32 is 22.0 meters away at (-21.9, -2.3). A unknown object with ID 57 is 24.5 meters away at (-14.9, 19.5). A vehicle with ID 37 is 27.3 meters away at (-26.3, -7.2).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [10.9236145  0.2226429], 10.925883293151855 meters away.)"}
{"file_name": "images/scenario_684_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -4.7) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 8.3 meters away at (1.1, 8.2). A unknown object with ID 36 is 9.6 meters away at (2.0, 9.4). A unknown object with ID 9 is 16.5 meters away at (-0.0, -16.5). A unknown object with ID 2 is 17.4 meters away at (4.9, -16.7). A vehicle with ID 30 is 21.9 meters away at (20.5, -7.9). A vehicle with ID 29 is 22.0 meters away at (-21.9, 2.4). A vehicle with ID 46 is 23.0 meters away at (-5.4, 22.4). A vehicle with ID 24 is 26.7 meters away at (-16.0, -21.4). A vehicle with ID 25 is 28.0 meters away at (27.8, -2.6). A unknown object with ID 50 is 29.5 meters away at (-16.2, 24.7).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.0657845 8.240166 ], 8.30880355834961 meters away.)"}
{"file_name": "images/scenario_685_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -3.9) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 27 is 8.9 meters away at (-4.0, -7.9). A unknown object with ID 26 is 9.5 meters away at (-8.3, -4.5). A unknown object with ID 28 is 9.5 meters away at (-2.8, -9.1). A unknown object with ID 8 is 10.6 meters away at (-5.5, -9.1). A unknown object with ID 16 is 11.0 meters away at (-4.1, -10.2). A unknown object with ID 17 is 11.9 meters away at (-6.1, -10.2). A unknown object with ID 13 is 12.1 meters away at (-4.9, -11.1). A unknown object with ID 29 is 14.2 meters away at (-1.3, -14.1). A vehicle with ID 23 is 14.5 meters away at (5.2, -13.6). A vehicle with ID 25 is 19.4 meters away at (-17.1, 9.1).", "velocity_description": "The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-3.765278   4.0288334] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-4.0462565 -7.9073186], 8.882448196411133 meters away.)"}
{"file_name": "images/scenario_685_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -3.7) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 6.7 meters away at (-2.7, -6.1). A unknown object with ID 28 is 10.8 meters away at (-10.7, -1.6). A unknown object with ID 29 is 11.4 meters away at (-9.2, -6.7). A unknown object with ID 27 is 12.0 meters away at (-12.0, -0.5). A unknown object with ID 16 is 12.1 meters away at (-11.8, -2.7). A unknown object with ID 13 is 13.3 meters away at (-12.8, -3.6). A unknown object with ID 21 is 13.6 meters away at (-13.5, -1.7). A unknown object with ID 8 is 13.8 meters away at (-13.6, -2.2). A unknown object with ID 17 is 14.3 meters away at (-14.1, -2.8). A unknown object with ID 26 is 16.4 meters away at (-16.2, 2.9).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.71869   -6.1143208], 6.691501617431641 meters away.)"}
{"file_name": "images/scenario_685_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -3.4) m/s. Its current heading (yaw) is -0.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 9.6 meters away at (-9.6, 0.9). A vehicle with ID 5 is 10.3 meters away at (9.2, -4.5). A unknown object with ID 28 is 18.5 meters away at (-17.7, 5.4). A unknown object with ID 16 is 19.4 meters away at (-19.0, 4.2). A unknown object with ID 13 is 20.0 meters away at (-19.7, 3.5). A unknown object with ID 27 is 20.1 meters away at (-19.0, 6.6). A unknown object with ID 8 is 21.1 meters away at (-20.4, 5.4). A unknown object with ID 21 is 21.1 meters away at (-20.4, 5.4). A unknown object with ID 17 is 21.4 meters away at (-21.0, 4.3). A unknown object with ID 26 is 25.2 meters away at (-23.1, 10.0).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.601215   0.9495678], 9.64805793762207 meters away.)"}
{"file_name": "images/scenario_685_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -3.0) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 3.6 meters away at (3.1, 1.8). A vehicle with ID 4 is 17.4 meters away at (15.0, -8.7). A vehicle with ID 23 is 17.5 meters away at (-15.9, 7.4). A unknown object with ID 15 is 22.3 meters away at (12.4, -18.6). A pedestrian with ID 24 is 24.3 meters away at (19.8, -14.0). A vehicle with ID 2 is 25.7 meters away at (21.6, -13.9). A vehicle with ID 34 is 46.7 meters away at (27.6, -37.6). A unknown object with ID 18 is 50.4 meters away at (30.0, -40.5). A unknown object with ID 11 is 51.1 meters away at (28.1, -42.7). A pedestrian with ID 33 is 61.7 meters away at (-52.9, 31.7).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.06912354 -0.07770886] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-2.325616  -3.5540154] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 1.1478076 -0.7433227] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.0995064 1.8411331], 3.605095148086548 meters away.)"}
{"file_name": "images/scenario_686_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -7.1) m/s. Its current heading (yaw) is -1.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 22.3 meters away at (-9.7, 20.0). A vehicle with ID 27 is 43.4 meters away at (-17.5, 39.7).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(35.620933532714844, -261.4802551269531)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.676163 20.049318], 22.262147903442383 meters away.)"}
{"file_name": "images/scenario_686_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -7.1) m/s. Its current heading (yaw) is -1.18 ", "actor_description": " The most relevant actors are: A unknown object with ID 21 is 21.6 meters away at (5.8, -20.8). A pedestrian with ID 24 is 55.3 meters away at (51.2, 20.9). A vehicle with ID 27 is 58.3 meters away at (-22.4, 53.8).", "velocity_description": "The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.00589372 0.00225866] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(35.620933532714844, -261.4802551269531)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  5.8093033 -20.845081 ], 21.639442443847656 meters away.)"}
{"file_name": "images/scenario_686_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -7.0) m/s. Its current heading (yaw) is -1.16 ", "actor_description": " The most relevant actors are: A unknown object with ID 21 is 6.7 meters away at (0.1, -6.7). A unknown object with ID 10 is 50.1 meters away at (15.2, -47.8). A vehicle with ID 5 is 67.0 meters away at (21.7, -63.4). A vehicle with ID 27 is 73.3 meters away at (-28.2, 67.6). A vehicle with ID 3 is 77.0 meters away at (23.6, -73.3).", "velocity_description": "The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(35.620933532714844, -261.4802551269531)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.08105564 -6.7366905 ], 6.737177848815918 meters away.)"}
{"file_name": "images/scenario_686_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -6.5) m/s. Its current heading (yaw) is -1.08 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 24.7 meters away at (14.8, -19.8). A unknown object with ID 7 is 35.2 meters away at (10.1, -33.8). A unknown object with ID 11 is 35.2 meters away at (11.0, -33.5). A unknown object with ID 16 is 35.3 meters away at (9.6, -34.0). A unknown object with ID 10 is 35.4 meters away at (8.8, -34.3). A vehicle with ID 5 is 52.2 meters away at (15.1, -49.9). A vehicle with ID 3 is 62.3 meters away at (17.3, -59.8).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(35.620933532714844, -261.4802551269531)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 14.820642 -19.755318], 24.696640014648438 meters away.)"}
{"file_name": "images/scenario_687_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -0.5) m/s. Its current heading (yaw) is -3.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 25.8 meters away at (25.8, 0.2). A vehicle with ID 22 is 27.1 meters away at (26.9, -3.5). A unknown object with ID 23 is 60.5 meters away at (-60.3, -5.3).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.300482    0.41935462] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [25.806805    0.20804107], 25.807641983032227 meters away.)"}
{"file_name": "images/scenario_687_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -2.2) m/s. Its current heading (yaw) is -2.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 24.6 meters away at (24.5, 2.2). A unknown object with ID 14 is 33.8 meters away at (-21.0, -26.5). A vehicle with ID 22 is 36.8 meters away at (36.8, -1.5). A unknown object with ID 23 is 50.5 meters away at (-50.4, -2.9).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.718247   -0.24838611] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [24.536453   2.2222981], 24.636886596679688 meters away.)"}
{"file_name": "images/scenario_687_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -4.2) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 21.6 meters away at (19.9, 8.4). A vehicle with ID 22 is 43.6 meters away at (43.3, 4.8).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.2451735  -0.05121542] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [19.892097  8.356749], 21.576162338256836 meters away.)"}
{"file_name": "images/scenario_687_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -5.8) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 22.5 meters away at (13.9, 17.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6110477 -1.2852033] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [13.885229 17.687626], 22.4867000579834 meters away.)"}
{"file_name": "images/scenario_688_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.5) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 14.9 meters away at (-3.6, -14.4). A vehicle with ID 33 is 19.9 meters away at (-12.1, 15.8). A vehicle with ID 35 is 30.7 meters away at (-30.4, 3.8). A vehicle with ID 37 is 34.0 meters away at (-29.4, 17.1). A vehicle with ID 36 is 34.1 meters away at (-33.8, 4.4). A vehicle with ID 38 is 37.7 meters away at (-33.0, 18.2). A vehicle with ID 1 is 40.3 meters away at (-29.5, -27.5). A vehicle with ID 40 is 41.1 meters away at (-36.4, 19.0). A vehicle with ID 34 is 43.3 meters away at (34.3, -26.5). A unknown object with ID 39 is 55.9 meters away at (46.0, -31.7).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-0.4039128 -1.3082412] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(151.02369689941406, 105.44242858886719)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -3.6246896 -14.439287 ], 14.887289047241211 meters away.)"}
{"file_name": "images/scenario_688_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 15.0 meters away at (-2.7, -14.8). A vehicle with ID 33 is 18.8 meters away at (-11.5, 14.9). A vehicle with ID 35 is 29.7 meters away at (-29.5, 3.5). A vehicle with ID 36 is 33.2 meters away at (-32.9, 4.2). A vehicle with ID 37 is 33.2 meters away at (-28.5, 17.0). A vehicle with ID 38 is 36.8 meters away at (-32.1, 18.0). A vehicle with ID 1 is 39.9 meters away at (-28.6, -27.8). A vehicle with ID 40 is 40.2 meters away at (-35.5, 18.8). A vehicle with ID 3 is 69.1 meters away at (-63.1, 28.1). A vehicle with ID 8 is 70.6 meters away at (3.0, 70.5).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(151.02369689941406, 105.44242858886719)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -2.7299747 -14.765623 ], 15.015871047973633 meters away.)"}
{"file_name": "images/scenario_688_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 15.0 meters away at (-2.6, -14.7). A vehicle with ID 33 is 17.0 meters away at (-12.5, 11.6). A vehicle with ID 35 is 29.6 meters away at (-29.4, 3.5). A vehicle with ID 36 is 33.0 meters away at (-32.8, 4.1). A vehicle with ID 37 is 33.1 meters away at (-28.4, 16.9). A vehicle with ID 38 is 36.7 meters away at (-32.0, 18.0). A vehicle with ID 1 is 39.9 meters away at (-28.5, -27.8). A vehicle with ID 40 is 40.1 meters away at (-35.4, 18.8). A vehicle with ID 3 is 69.0 meters away at (-63.1, 28.0). A vehicle with ID 8 is 70.5 meters away at (3.1, 70.4).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-1.1098982 -3.7165782] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(151.02369689941406, 105.44242858886719)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -2.6397896 -14.725834 ], 14.9605712890625 meters away.)"}
{"file_name": "images/scenario_688_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.5) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 14.9 meters away at (-14.9, 0.4). A vehicle with ID 31 is 15.2 meters away at (-1.5, -15.2). A vehicle with ID 35 is 28.4 meters away at (-28.2, 3.2). A vehicle with ID 37 is 31.9 meters away at (-27.3, 16.6). A vehicle with ID 36 is 32.0 meters away at (-31.7, 3.9). A vehicle with ID 38 is 35.5 meters away at (-30.9, 17.6). A vehicle with ID 40 is 39.0 meters away at (-34.3, 18.6). A vehicle with ID 1 is 39.3 meters away at (-27.4, -28.2). A unknown object with ID 24 is 58.0 meters away at (48.0, -32.5). A vehicle with ID 8 is 70.2 meters away at (4.1, 70.0).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.262402 -6.946026] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(151.02369689941406, 105.44242858886719)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-14.8576355   0.3644898], 14.862105369567871 meters away.)"}
{"file_name": "images/scenario_689_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 5.6) m/s. Its current heading (yaw) is 1.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 9.4 meters away at (-3.1, 8.9). A cyclist with ID 71 is 10.8 meters away at (-0.1, -10.8). A vehicle with ID 76 is 12.0 meters away at (5.2, -10.8). A vehicle with ID 73 is 15.0 meters away at (4.5, -14.3). A vehicle with ID 74 is 15.8 meters away at (-1.4, 15.7). A vehicle with ID 82 is 15.8 meters away at (-13.2, -8.7). A vehicle with ID 78 is 22.4 meters away at (11.1, -19.4). A vehicle with ID 77 is 22.4 meters away at (11.1, -19.5). A vehicle with ID 85 is 25.9 meters away at (-25.5, -4.1). A vehicle with ID 80 is 28.9 meters away at (19.1, -21.7).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [-4.697490e-05 -1.184561e-02] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-3.6001282  2.5872812] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 5.6820307 -2.6314654] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 4.777273  -1.8286728] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [-1.4322069  1.205306 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.166839    9.61135  ]\n [ -9.540361   -0.5511796]\n [-10.186695    9.131091 ]\n [-12.65214    10.775514 ]\n [-11.515001    9.776188 ]]", "nav_goal": "(60.36083984375, 216.301025390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.1032443  8.874093 ], 9.401045799255371 meters away.)"}
{"file_name": "images/scenario_689_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 5.8) m/s. Its current heading (yaw) is 0.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 7.0 meters away at (-5.6, 4.1). A vehicle with ID 75 is 7.8 meters away at (-7.3, -2.7). A vehicle with ID 76 is 18.9 meters away at (-9.2, -16.6). A vehicle with ID 72 is 20.9 meters away at (7.1, 19.6). A cyclist with ID 71 is 22.5 meters away at (-5.4, -21.8). A vehicle with ID 37 is 25.1 meters away at (18.0, 17.5). A vehicle with ID 73 is 26.0 meters away at (0.1, -26.0). A vehicle with ID 70 is 26.3 meters away at (10.8, 23.9). A vehicle with ID 85 is 27.3 meters away at (-17.7, -20.7). A vehicle with ID 82 is 28.0 meters away at (-5.0, -27.5).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-6.282074   2.9005976] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [-1.0347073  0.6044453] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 7.18542  -3.270384] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 6.7879195 -4.563207 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.166839    9.61135  ]\n [ -9.540361   -0.5511796]\n [-10.186695    9.131091 ]\n [-12.65214    10.775514 ]\n [-11.515001    9.776188 ]]", "nav_goal": "(60.36083984375, 216.301025390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.6211586  4.0882187], 6.950608253479004 meters away.)"}
{"file_name": "images/scenario_689_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 7.7 meters away at (-2.1, 7.4). A vehicle with ID 37 is 10.2 meters away at (8.7, 5.3). A vehicle with ID 70 is 11.8 meters away at (1.5, 11.7). A vehicle with ID 36 is 16.3 meters away at (12.8, 10.0). A vehicle with ID 74 is 16.9 meters away at (-14.9, -8.1). A vehicle with ID 75 is 22.3 meters away at (-16.6, -14.9). A vehicle with ID 35 is 22.4 meters away at (16.8, 14.9). A vehicle with ID 67 is 22.7 meters away at (9.2, 20.7). A vehicle with ID 66 is 28.3 meters away at (12.9, 25.1). A vehicle with ID 68 is 34.6 meters away at (17.0, 30.1).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.166839    9.61135  ]\n [ -5.3942947   6.841547 ]\n [ -9.540361   -0.5511796]\n [-10.186695    9.131091 ]\n [-12.65214    10.775514 ]\n [-11.515001    9.776188 ]\n [ -7.7228327   4.4251065]]", "nav_goal": "(60.36083984375, 216.301025390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.1463308  7.413044 ], 7.717509746551514 meters away.)"}
{"file_name": "images/scenario_689_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 6.0) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 3.4 meters away at (2.6, -2.2). A vehicle with ID 37 is 6.8 meters away at (-1.4, -6.7). A vehicle with ID 35 is 7.0 meters away at (6.5, 2.6). A vehicle with ID 67 is 8.6 meters away at (-1.0, 8.5). A vehicle with ID 70 is 8.7 meters away at (-8.7, -0.4). A vehicle with ID 66 is 13.2 meters away at (2.6, 12.9). A vehicle with ID 72 is 13.2 meters away at (-12.4, -4.8). A vehicle with ID 68 is 19.1 meters away at (6.7, 17.8). A vehicle with ID 34 is 19.1 meters away at (14.8, 12.0). A vehicle with ID 69 is 25.0 meters away at (10.7, 22.6).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.166839    9.61135  ]\n [ -9.540361   -0.5511796]\n [-10.186695    9.131091 ]\n [-12.65214    10.775514 ]\n [-11.515001    9.776188 ]]", "nav_goal": "(60.36083984375, 216.301025390625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.5925484 -2.15316  ], 3.370074987411499 meters away.)"}
{"file_name": "images/scenario_690_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -2.9) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 7.8 meters away at (-4.7, -6.2). A unknown object with ID 20 is 17.5 meters away at (14.9, -9.2). A vehicle with ID 18 is 19.7 meters away at (-13.9, 14.0). A unknown object with ID 22 is 31.0 meters away at (12.9, -28.2). A unknown object with ID 23 is 32.3 meters away at (11.0, -30.4). A vehicle with ID 21 is 38.2 meters away at (-32.9, 19.6). A unknown object with ID 24 is 48.1 meters away at (-42.3, 23.0). A vehicle with ID 27 is 77.3 meters away at (-62.3, 45.8).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-3.3008082  2.5803235] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(3.4731225967407227, -23.986604690551758)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-4.728279 -6.20682 ], 7.802643299102783 meters away.)"}
{"file_name": "images/scenario_690_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -2.8) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 9.0 meters away at (8.2, -3.5). A unknown object with ID 19 is 11.4 meters away at (-11.4, -0.6). A vehicle with ID 18 is 28.5 meters away at (-20.6, 19.7). A vehicle with ID 21 is 47.0 meters away at (-39.7, 25.2). A unknown object with ID 24 is 56.8 meters away at (-49.0, 28.7).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(3.4731225967407227, -23.986604690551758)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 8.231524  -3.5331497], 8.957741737365723 meters away.)"}
{"file_name": "images/scenario_690_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -3.3) m/s. Its current heading (yaw) is -1.08 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 3.7 meters away at (2.8, 2.3). A unknown object with ID 15 is 22.6 meters away at (-21.7, -6.3). A vehicle with ID 18 is 36.5 meters away at (-26.3, 25.4). A vehicle with ID 21 is 54.8 meters away at (-45.4, 30.8).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(3.4731225967407227, -23.986604690551758)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [2.8173409 2.338375 ], 3.661339521408081 meters away.)"}
{"file_name": "images/scenario_690_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -3.5) m/s. Its current heading (yaw) is -1.67 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 9.5 meters away at (1.2, 9.4). A unknown object with ID 12 is 37.2 meters away at (14.0, -34.4). A vehicle with ID 18 is 42.8 meters away at (-28.0, 32.3). A vehicle with ID 21 is 60.3 meters away at (-47.1, 37.7).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(3.4731225967407227, -23.986604690551758)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [1.1903725 9.394856 ], 9.469968795776367 meters away.)"}
{"file_name": "images/scenario_691_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 4.2) m/s. Its current heading (yaw) is 0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 114 is 6.8 meters away at (0.7, -6.7). A pedestrian with ID 109 is 11.1 meters away at (-5.5, -9.6). A vehicle with ID 112 is 11.3 meters away at (-0.7, -11.2). A vehicle with ID 110 is 12.0 meters away at (-5.2, -10.8). A pedestrian with ID 113 is 15.7 meters away at (-2.6, -15.5). A vehicle with ID 116 is 15.7 meters away at (12.5, 9.6). A pedestrian with ID 111 is 17.6 meters away at (-5.8, -16.6). A vehicle with ID 123 is 20.6 meters away at (19.2, 7.6). A pedestrian with ID 125 is 25.1 meters away at (14.2, 20.6). A vehicle with ID 49 is 26.3 meters away at (21.7, 14.9).", "velocity_description": "The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 0.01113208 -0.02469581] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.1555806 0.6647715] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [5.6922317 3.4169855] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.08755303 -0.05419236] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [1.1323042 0.5381076] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [4.7961607 2.980746 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 77.621086  56.201122]\n [-45.223164 -21.454876]\n [-45.223164 -21.454872]\n [ 76.36544   57.52966 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.6883364 -6.7469788], 6.782000541687012 meters away.)"}
{"file_name": "images/scenario_691_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, 3.9) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 123 is 7.3 meters away at (7.2, -0.5). A vehicle with ID 116 is 13.2 meters away at (10.7, 7.8). A pedestrian with ID 125 is 14.3 meters away at (4.4, 13.6). A vehicle with ID 114 is 18.6 meters away at (-11.2, -14.8). A vehicle with ID 49 is 22.2 meters away at (18.5, 12.3). A vehicle with ID 112 is 23.1 meters away at (-12.5, -19.4). A pedestrian with ID 109 is 24.9 meters away at (-17.5, -17.7). A pedestrian with ID 113 is 25.2 meters away at (-12.1, -22.1). A vehicle with ID 110 is 25.5 meters away at (-17.2, -18.9). A vehicle with ID 127 is 34.4 meters away at (28.9, 18.7).", "velocity_description": "The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [4.4565425 2.803281 ] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [1.1038778 0.6513018] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [4.2360835 2.7579613] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-0.03655482  0.05591846] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.1199982 0.8367955] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [4.6395054 3.1698425] m/s.", "light_description": "There are active red lights at the following coordinates: [[92.668434 52.461838]\n [92.56045  52.38631 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.2391815  -0.48832798], 7.255633354187012 meters away.)"}
{"file_name": "images/scenario_691_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, 2.4) m/s. Its current heading (yaw) is 0.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 123 is 7.9 meters away at (-4.2, -6.7). A vehicle with ID 116 is 10.0 meters away at (7.4, 6.6). A pedestrian with ID 125 is 10.1 meters away at (-5.0, 8.7). A vehicle with ID 71 is 13.7 meters away at (9.6, -9.8). A vehicle with ID 74 is 17.0 meters away at (9.3, -14.3). A vehicle with ID 49 is 19.4 meters away at (15.6, 11.5). A vehicle with ID 114 is 30.8 meters away at (-22.5, -21.0). A pedestrian with ID 82 is 34.0 meters away at (-17.8, -29.0). A pedestrian with ID 113 is 34.1 meters away at (-21.0, -26.8). A vehicle with ID 112 is 35.0 meters away at (-23.9, -25.6).", "velocity_description": "The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [3.8946183 2.407915 ] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [0.98868346 0.7521429 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [3.86281  2.550251] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [1.0041159  0.89541143] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.175688  0.6793528] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[92.668434 52.461838]\n [92.56045  52.38631 ]\n [97.88916  56.74428 ]\n [95.660835 54.164906]\n [95.64309  53.840405]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.2218018 -6.709833 ], 7.927513599395752 meters away.)"}
{"file_name": "images/scenario_691_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, 3.4) m/s. Its current heading (yaw) is 0.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 116 is 5.7 meters away at (1.9, 5.4). A vehicle with ID 49 is 14.3 meters away at (9.9, 10.4). A vehicle with ID 71 is 15.9 meters away at (-3.1, -15.6). A pedestrian with ID 125 is 16.3 meters away at (-15.7, 4.2). A vehicle with ID 52 is 20.7 meters away at (-16.9, -12.1). A vehicle with ID 123 is 20.9 meters away at (-17.0, -12.2). A vehicle with ID 38 is 25.4 meters away at (18.1, 17.9). A unknown object with ID 67 is 36.5 meters away at (35.8, 7.0). A unknown object with ID 106 is 36.7 meters away at (36.1, 6.8). A pedestrian with ID 31 is 36.8 meters away at (33.1, 16.0).", "velocity_description": "The vehicle with ID 116 is traveling at a (x, y) velocity of [3.3425035 2.028495 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [3.7686846 2.3865519] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [1.0494916  0.41147935] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [3.5491889 3.1972868] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.00951347 -0.02546643] m/s.", "light_description": "There are active red lights at the following coordinates: [[92.668434 52.461838]\n [92.56045  52.38631 ]\n [97.88916  56.74428 ]\n [95.660835 54.164906]\n [95.64309  53.840405]\n [73.56764  62.347935]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [1.9360962 5.4077034], 5.743842124938965 meters away.)"}
{"file_name": "images/scenario_692_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -2.0) m/s. Its current heading (yaw) is -1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 5.6 meters away at (5.6, 0.7). A pedestrian with ID 6 is 7.0 meters away at (6.9, -0.9). A pedestrian with ID 7 is 7.3 meters away at (7.3, -0.2). A cyclist with ID 21 is 15.8 meters away at (-12.3, 9.9). A pedestrian with ID 1 is 28.2 meters away at (24.2, -14.4). A pedestrian with ID 22 is 34.7 meters away at (-30.3, 17.0). A pedestrian with ID 23 is 37.4 meters away at (-33.0, 17.6). A pedestrian with ID 26 is 37.6 meters away at (-35.7, -11.7). A pedestrian with ID 24 is 42.6 meters away at (-38.1, 19.1). A vehicle with ID 25 is 52.7 meters away at (-49.8, -17.2).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.5704741  -0.42469352] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.96269757 -0.5043966 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.0129474 -0.5208138] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.02195461 -0.01546032] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.02103163 -0.01251298] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.4115402  0.20725402] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.9286464   0.52344763] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.03929475 0.04639857] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.2776883   0.23816255] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.45996    -4.7917013]\n [-16.239809   -4.902833 ]\n [-16.342875   -4.5708146]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [5.5782585 0.6650243], 5.617759704589844 meters away.)"}
{"file_name": "images/scenario_692_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -2.2) m/s. Its current heading (yaw) is -1.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 5.9 meters away at (4.8, 3.5). A pedestrian with ID 6 is 7.0 meters away at (6.8, 1.8). A pedestrian with ID 7 is 7.5 meters away at (7.1, 2.5). A cyclist with ID 21 is 19.8 meters away at (-14.2, 13.9). A pedestrian with ID 1 is 24.7 meters away at (22.3, -10.5). A pedestrian with ID 22 is 37.3 meters away at (-30.2, 21.8). A pedestrian with ID 26 is 38.4 meters away at (-37.7, -7.7). A pedestrian with ID 23 is 43.3 meters away at (-37.0, 22.4). A unknown object with ID 13 is 47.7 meters away at (44.5, -17.0). A pedestrian with ID 24 is 48.7 meters away at (-42.4, 23.9).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.75497544 -0.81296134] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.81057703 -0.7204436 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.78015536 -0.7453082 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00258516  0.0064306 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.02661366 0.01304275] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [1.118465  0.5277303] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00249804 -0.00882658] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2136288  0.2017872] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.279953   0.5218826] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.45996    -4.7917013]\n [-16.239809   -4.902833 ]\n [-16.342875   -4.5708146]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [4.800273  3.4906697], 5.935266971588135 meters away.)"}
{"file_name": "images/scenario_692_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -2.5) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 6.9 meters away at (4.7, 5.0). A pedestrian with ID 18 is 7.6 meters away at (3.0, 7.0). A pedestrian with ID 7 is 7.7 meters away at (4.8, 6.0). A pedestrian with ID 1 is 19.4 meters away at (18.6, -5.6). A cyclist with ID 21 is 26.0 meters away at (-18.0, 18.8). A pedestrian with ID 26 is 41.6 meters away at (-41.5, -2.8). A pedestrian with ID 22 is 42.5 meters away at (-32.0, 27.9). A pedestrian with ID 15 is 43.5 meters away at (41.9, -11.9). A pedestrian with ID 23 is 51.1 meters away at (-43.1, 27.6). A vehicle with ID 25 is 55.9 meters away at (-55.3, -8.4).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.75084996 -0.8718028 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.9400157 -0.9761687] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.68267006 -0.83628374] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.03343805 -0.00684849] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.00201214 0.02338381] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.03534915 0.03867275] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.934964   0.88788074] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.11381388  0.05260929] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0985404   0.38201362] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.45996    -4.7917013]\n [-16.239809   -4.902833 ]\n [-16.342875   -4.5708146]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [4.7089224 5.0129595], 6.877769470214844 meters away.)"}
{"file_name": "images/scenario_692_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -1.7) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 7.5 meters away at (-0.2, 7.5). A pedestrian with ID 7 is 8.8 meters away at (-0.5, 8.7). A pedestrian with ID 18 is 9.3 meters away at (-1.3, 9.2). A pedestrian with ID 1 is 12.2 meters away at (12.2, -1.2). A cyclist with ID 21 is 33.7 meters away at (-24.4, 23.2). A unknown object with ID 4 is 35.2 meters away at (34.4, -7.5). A pedestrian with ID 26 is 47.8 meters away at (-47.7, 1.5). A pedestrian with ID 22 is 50.3 meters away at (-37.0, 34.2). A pedestrian with ID 23 is 61.2 meters away at (-51.8, 32.6). A vehicle with ID 25 is 61.8 meters away at (-61.6, -3.9).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.8359296 -0.8091427] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.7395768  -0.89138764] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 1.0417216 -1.1561426] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.01413102 0.00518524] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00166104 -0.00989636] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.03218007 -0.03260683] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.5132748 1.1916677] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2121187   0.30428565] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.45996    -4.7917013]\n [-16.239809   -4.902833 ]\n [-16.342875   -4.5708146]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-0.21794128  7.515129  ], 7.518288612365723 meters away.)"}
{"file_name": "images/scenario_693_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.7) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 8.8 meters away at (0.2, -8.8). A unknown object with ID 21 is 15.5 meters away at (-15.4, -1.7). A unknown object with ID 22 is 16.4 meters away at (-16.3, -2.0). A unknown object with ID 29 is 16.6 meters away at (5.7, -15.6). A unknown object with ID 31 is 17.2 meters away at (-17.0, 3.0). A vehicle with ID 19 is 17.8 meters away at (14.3, -10.6). A unknown object with ID 23 is 18.1 meters away at (-18.0, 1.9). A unknown object with ID 24 is 18.8 meters away at (-18.3, 4.3). A unknown object with ID 25 is 19.0 meters away at (-18.9, 1.1). A unknown object with ID 9 is 19.1 meters away at (-19.1, 0.9).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.16829014 -8.798921  ], 8.800529479980469 meters away.)"}
{"file_name": "images/scenario_693_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.4) m/s. Its current heading (yaw) is -0.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 7.9 meters away at (-0.9, -7.8). A unknown object with ID 29 is 15.3 meters away at (4.6, -14.6). A vehicle with ID 19 is 16.3 meters away at (13.2, -9.6). A unknown object with ID 21 is 16.5 meters away at (-16.5, -0.6). A unknown object with ID 22 is 17.4 meters away at (-17.4, -1.0). A unknown object with ID 31 is 18.5 meters away at (-18.1, 4.1). A unknown object with ID 23 is 19.3 meters away at (-19.1, 2.9). A unknown object with ID 24 is 20.1 meters away at (-19.4, 5.2). A unknown object with ID 25 is 20.1 meters away at (-20.0, 2.1). A unknown object with ID 9 is 20.3 meters away at (-20.2, 2.0).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.9169605 -7.8126154], 7.8662428855896 meters away.)"}
{"file_name": "images/scenario_693_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -1.7) m/s. Its current heading (yaw) is -0.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 6.5 meters away at (-2.8, -5.8). A unknown object with ID 29 is 12.9 meters away at (2.7, -12.6). A vehicle with ID 19 is 13.5 meters away at (11.2, -7.5). A vehicle with ID 32 is 15.6 meters away at (7.0, -14.0). A unknown object with ID 21 is 18.5 meters away at (-18.5, 1.4). A unknown object with ID 31 is 21.0 meters away at (-20.0, 6.1). A unknown object with ID 23 is 21.7 meters away at (-21.1, 5.1). A unknown object with ID 25 is 21.9 meters away at (-21.4, 4.8). A unknown object with ID 9 is 22.5 meters away at (-22.1, 4.1). A unknown object with ID 24 is 22.5 meters away at (-21.3, 7.3).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-2.5381877  2.065263 ] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.8423173 -5.8183193], 6.475461959838867 meters away.)"}
{"file_name": "images/scenario_693_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -2.7) m/s. Its current heading (yaw) is -0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 6.2 meters away at (-1.1, -6.1). A vehicle with ID 20 is 7.0 meters away at (-6.8, -1.4). A vehicle with ID 19 is 7.8 meters away at (7.2, -3.1). A cyclist with ID 11 is 25.4 meters away at (14.5, -20.9). A unknown object with ID 31 is 26.3 meters away at (-24.1, 10.6). A unknown object with ID 23 is 27.0 meters away at (-25.3, 9.4). A unknown object with ID 9 is 27.5 meters away at (-26.1, 8.6). A unknown object with ID 24 is 28.0 meters away at (-25.4, 11.8). A unknown object with ID 1 is 38.4 meters away at (31.1, -22.5). A unknown object with ID 8 is 51.4 meters away at (29.8, -41.8).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.2285404  1.035666 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.03651115  0.04621272] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.0817385 -6.1193304], 6.214206695556641 meters away.)"}
{"file_name": "images/scenario_694_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 3.4) m/s. Its current heading (yaw) is 1.50 ", "actor_description": " The most relevant actors are: A unknown object with ID 85 is 11.8 meters away at (-10.6, 5.3). A vehicle with ID 86 is 15.3 meters away at (-11.4, -10.2). A vehicle with ID 87 is 17.8 meters away at (-12.0, -13.1). A vehicle with ID 82 is 19.4 meters away at (17.8, 7.7). A vehicle with ID 80 is 24.1 meters away at (23.2, 6.7). A vehicle with ID 90 is 31.9 meters away at (-26.1, -18.5). A vehicle with ID 95 is 32.4 meters away at (-30.8, 10.0). A pedestrian with ID 89 is 34.9 meters away at (5.3, -34.5). A vehicle with ID 92 is 36.4 meters away at (-31.5, -18.2). A vehicle with ID 94 is 40.1 meters away at (-26.0, -30.5).", "velocity_description": "The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.01037349  0.02638477] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(248.53836059570312, 13.623442649841309)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-10.574295   5.314784], 11.834806442260742 meters away.)"}
{"file_name": "images/scenario_694_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 1.50 ", "actor_description": " The most relevant actors are: A unknown object with ID 85 is 11.1 meters away at (-10.9, 2.4). A vehicle with ID 86 is 17.5 meters away at (-11.7, -13.0). A vehicle with ID 82 is 18.2 meters away at (17.6, 4.7). A vehicle with ID 87 is 20.2 meters away at (-12.1, -16.1). A vehicle with ID 80 is 23.3 meters away at (23.0, 3.8). A vehicle with ID 36 is 24.0 meters away at (6.2, 23.2). A vehicle with ID 95 is 32.1 meters away at (-31.3, 7.1). A vehicle with ID 90 is 33.9 meters away at (-26.3, -21.4). A pedestrian with ID 89 is 37.7 meters away at (5.0, -37.4). A vehicle with ID 92 is 38.2 meters away at (-31.8, -21.1).", "velocity_description": "The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.01824065  0.00643297] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(248.53836059570312, 13.623442649841309)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-10.85132     2.4388514], 11.1220121383667 meters away.)"}
{"file_name": "images/scenario_694_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 1.6) m/s. Its current heading (yaw) is 1.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 85 is 11.0 meters away at (-11.0, 1.3). A vehicle with ID 82 is 17.8 meters away at (17.5, 3.6). A vehicle with ID 86 is 18.5 meters away at (-11.8, -14.2). A vehicle with ID 87 is 21.1 meters away at (-12.2, -17.2). A vehicle with ID 80 is 23.0 meters away at (22.9, 2.8). A vehicle with ID 36 is 23.2 meters away at (6.2, 22.4). A vehicle with ID 95 is 32.0 meters away at (-31.4, 5.9). A vehicle with ID 107 is 33.6 meters away at (0.3, -33.6). A vehicle with ID 90 is 34.8 meters away at (-26.4, -22.7). A pedestrian with ID 89 is 38.8 meters away at (4.9, -38.5).", "velocity_description": "The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [-0.03087639  5.8836193 ] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.00412108 -0.0955679 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(248.53836059570312, 13.623442649841309)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-10.957335    1.2829943], 11.03219223022461 meters away.)"}
{"file_name": "images/scenario_694_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 3.9) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 85 is 14.3 meters away at (-13.2, -5.5). A vehicle with ID 82 is 15.5 meters away at (15.2, -2.8). A vehicle with ID 36 is 16.2 meters away at (3.7, 15.7). A vehicle with ID 80 is 20.9 meters away at (20.6, -3.6). A vehicle with ID 86 is 25.2 meters away at (-13.9, -21.0). A vehicle with ID 87 is 28.0 meters away at (-14.3, -24.0). A vehicle with ID 107 is 28.4 meters away at (-2.0, -28.3). A vehicle with ID 81 is 31.6 meters away at (-12.6, 29.0). A vehicle with ID 95 is 33.8 meters away at (-33.8, -0.9). A vehicle with ID 99 is 38.3 meters away at (38.1, -4.1).", "velocity_description": "The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [-0.05765213  5.31545   ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [ 3.553014 -2.469172] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(248.53836059570312, 13.623442649841309)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-13.182402  -5.504197], 14.28537368774414 meters away.)"}
{"file_name": "images/scenario_695_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.5) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 3.2 meters away at (-2.7, 1.7). A vehicle with ID 77 is 7.3 meters away at (-0.7, 7.3). A vehicle with ID 78 is 13.7 meters away at (1.6, 13.6). A vehicle with ID 79 is 18.3 meters away at (10.6, 15.0). A vehicle with ID 23 is 18.9 meters away at (-2.4, -18.7). A vehicle with ID 80 is 20.0 meters away at (13.5, 14.8). A vehicle with ID 30 is 25.3 meters away at (14.1, -21.0). A vehicle with ID 81 is 28.0 meters away at (-26.1, -10.1). A vehicle with ID 45 is 28.3 meters away at (13.9, -24.6). A vehicle with ID 82 is 30.4 meters away at (-13.0, -27.5).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [3.5725095  0.10290665] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.190061   3.8471828] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(195.82763671875, 54.60380935668945)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.6851077  1.6696622], 3.1618943214416504 meters away.)"}
{"file_name": "images/scenario_695_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -2.9) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 5.7 meters away at (-1.2, 5.6). A vehicle with ID 77 is 11.3 meters away at (0.9, 11.2). A vehicle with ID 45 is 17.7 meters away at (9.1, -15.2). A vehicle with ID 78 is 17.9 meters away at (3.3, 17.6). A vehicle with ID 23 is 19.6 meters away at (6.6, -18.5). A unknown object with ID 59 is 20.4 meters away at (0.1, -20.4). A vehicle with ID 79 is 22.5 meters away at (12.1, 18.9). A vehicle with ID 30 is 23.1 meters away at (15.6, -17.0). A vehicle with ID 80 is 23.9 meters away at (15.0, 18.6). A vehicle with ID 81 is 25.3 meters away at (-24.5, -6.1).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-1.8788172  1.5526296] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 4.1009107 -3.205543 ] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(195.82763671875, 54.60380935668945)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.1595381  5.6143894], 5.732878684997559 meters away.)"}
{"file_name": "images/scenario_695_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -4.7) m/s. Its current heading (yaw) is -1.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 11.0 meters away at (8.7, -6.8). A vehicle with ID 75 is 13.0 meters away at (0.1, 13.0). A vehicle with ID 18 is 16.3 meters away at (-16.2, 1.3). A vehicle with ID 77 is 18.7 meters away at (2.1, 18.6). A vehicle with ID 76 is 19.2 meters away at (14.6, -12.5). A vehicle with ID 82 is 19.2 meters away at (-10.6, -16.1). A vehicle with ID 30 is 19.3 meters away at (16.6, -9.9). A vehicle with ID 38 is 21.1 meters away at (-8.2, -19.4). A vehicle with ID 81 is 23.6 meters away at (-23.5, 1.4). A pedestrian with ID 60 is 23.7 meters away at (-14.5, -18.8).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [-0.24815409  0.22149855] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.5690687 -1.4300058] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-1.1622454  0.9688226] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [1.8746585 5.4059258] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.43974146 -0.82531494] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(195.82763671875, 54.60380935668945)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 8.694682 -6.779682], 11.025497436523438 meters away.)"}
{"file_name": "images/scenario_695_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -4.4) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 4.4 meters away at (1.2, 4.3). A vehicle with ID 76 is 7.8 meters away at (7.6, -1.8). A vehicle with ID 30 is 10.6 meters away at (10.6, -0.2). A vehicle with ID 38 is 12.0 meters away at (-11.6, -2.9). A vehicle with ID 84 is 15.5 meters away at (2.6, -15.3). A vehicle with ID 21 is 16.9 meters away at (16.1, -5.1). A vehicle with ID 82 is 17.7 meters away at (-16.5, -6.6). A vehicle with ID 87 is 17.8 meters away at (4.9, -17.1). A vehicle with ID 18 is 19.2 meters away at (-17.1, 8.7). A pedestrian with ID 89 is 20.6 meters away at (-7.0, -19.4).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.0650938  1.6873227] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.98798496  0.8709928 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.71919453 1.7007498 ] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 2.1277468 -0.9010066] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.31187484 0.43221506] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(195.82763671875, 54.60380935668945)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.19469   4.2643337], 4.428524017333984 meters away.)"}
{"file_name": "images/scenario_696_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 4.3) m/s. Its current heading (yaw) is 2.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 19.9 meters away at (17.0, -10.4). A vehicle with ID 29 is 34.8 meters away at (31.9, -14.0). A vehicle with ID 30 is 54.5 meters away at (45.9, -29.4).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.496327   2.5112798] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-9.0805645 -8.7809   ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 29.29542  -18.673742]\n [ 29.29136  -18.679747]\n [ 30.252247 -17.61319 ]\n [ 29.502468 -18.813854]]", "nav_goal": "(-215.77207946777344, -63.85488510131836)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 16.970346 -10.384552], 19.895517349243164 meters away.)"}
{"file_name": "images/scenario_696_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 4.3) m/s. Its current heading (yaw) is 2.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 25.7 meters away at (22.9, -11.7). A vehicle with ID 29 is 51.3 meters away at (30.0, -41.6). A vehicle with ID 30 is 73.1 meters away at (62.5, -37.9).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.7842145  3.6252635] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ -9.226283 -10.273384] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 29.29542  -18.673742]\n [ 29.29136  -18.679747]\n [ 30.252247 -17.61319 ]\n [ 29.502468 -18.813854]]", "nav_goal": "(-215.77207946777344, -63.85488510131836)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 22.897818 -11.680433], 25.704912185668945 meters away.)"}
{"file_name": "images/scenario_696_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 6.0) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A unknown object with ID 27 is 30.5 meters away at (-7.7, -29.5). A vehicle with ID 1 is 30.6 meters away at (26.5, -15.3). A vehicle with ID 23 is 62.3 meters away at (-49.1, 38.4). A vehicle with ID 29 is 77.7 meters away at (27.8, -72.6). A vehicle with ID 28 is 80.7 meters away at (30.7, -74.6).", "velocity_description": "The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-6.883476   3.1668353] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 5.0685678 -4.5731463] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ -8.997786 -10.430889] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 9.596709 10.91919 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-215.77207946777344, -63.85488510131836)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -7.746479 -29.508425], 30.508277893066406 meters away.)"}
{"file_name": "images/scenario_696_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 5.8) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 27.8 meters away at (-22.9, 15.7). A vehicle with ID 1 is 32.9 meters away at (26.0, -20.2). A vehicle with ID 26 is 68.2 meters away at (-68.2, 0.4). A unknown object with ID 11 is 68.2 meters away at (-67.5, 9.7). A vehicle with ID 22 is 68.3 meters away at (-68.3, 0.3).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [ 6.9260116 -6.291183 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-7.56627   4.317692] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-215.77207946777344, -63.85488510131836)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-22.937317  15.65733 ], 27.771793365478516 meters away.)"}
{"file_name": "images/scenario_697_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 0.8) m/s. Its current heading (yaw) is 2.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 69 is 3.1 meters away at (-0.1, 3.1). A unknown object with ID 63 is 7.0 meters away at (-0.8, -6.9). A unknown object with ID 61 is 7.2 meters away at (1.8, -6.9). A unknown object with ID 65 is 7.8 meters away at (-3.2, -7.1). A vehicle with ID 59 is 10.1 meters away at (9.6, 3.2). A vehicle with ID 16 is 14.3 meters away at (-4.0, -13.7). A vehicle with ID 64 is 14.7 meters away at (14.6, 1.4). A vehicle with ID 17 is 17.2 meters away at (-4.1, -16.7). A vehicle with ID 62 is 18.1 meters away at (16.4, -7.8). A vehicle with ID 85 is 18.6 meters away at (-18.1, -4.4).", "velocity_description": "The vehicle with ID 69 is traveling at a (x, y) velocity of [-11.208712   3.846306] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.071701  -1.7541623] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 1.8233994 -5.263258 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(124.25077819824219, -152.47084045410156)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.06047678  3.0912676 ], 3.0918591022491455 meters away.)"}
{"file_name": "images/scenario_697_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -1.5) m/s. Its current heading (yaw) is -2.82 ", "actor_description": " The most relevant actors are: A unknown object with ID 65 is 8.5 meters away at (4.4, -7.2). A unknown object with ID 63 is 9.9 meters away at (6.8, -7.1). A unknown object with ID 61 is 11.8 meters away at (9.4, -7.1). A vehicle with ID 16 is 14.3 meters away at (3.5, -13.9). A vehicle with ID 17 is 17.2 meters away at (3.4, -16.9). A vehicle with ID 59 is 17.5 meters away at (17.3, 2.9). A vehicle with ID 69 is 18.9 meters away at (-15.6, 10.7). A vehicle with ID 18 is 19.3 meters away at (2.5, -19.2). A vehicle with ID 85 is 19.3 meters away at (-11.2, -15.8). A vehicle with ID 74 is 20.5 meters away at (6.6, 19.4).", "velocity_description": "The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-12.202497    3.8966243] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.9814564 -5.7167835] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(124.25077819824219, -152.47084045410156)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 4.3928223 -7.2437105], 8.471612930297852 meters away.)"}
{"file_name": "images/scenario_697_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -4.9) m/s. Its current heading (yaw) is -2.10 ", "actor_description": " The most relevant actors are: A unknown object with ID 65 is 12.0 meters away at (12.0, -0.5). A vehicle with ID 16 is 13.2 meters away at (11.2, -7.1). A vehicle with ID 58 is 13.6 meters away at (-7.9, -11.1). A unknown object with ID 63 is 14.5 meters away at (14.5, -0.3). A vehicle with ID 17 is 15.0 meters away at (11.1, -10.1). A vehicle with ID 18 is 16.1 meters away at (10.2, -12.4). A unknown object with ID 61 is 17.0 meters away at (17.0, -0.4). A vehicle with ID 12 is 18.7 meters away at (8.0, -17.0). A vehicle with ID 57 is 20.6 meters away at (-10.3, -17.9). A vehicle with ID 32 is 20.8 meters away at (7.3, -19.5).", "velocity_description": "The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(124.25077819824219, -152.47084045410156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [12.009587   -0.47972536], 12.0191650390625 meters away.)"}
{"file_name": "images/scenario_697_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -5.1) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 3.8 meters away at (-3.7, -0.8). A vehicle with ID 57 is 9.7 meters away at (-6.1, -7.5). A vehicle with ID 12 is 13.9 meters away at (12.2, -6.7). A vehicle with ID 18 is 14.4 meters away at (14.2, -2.1). A vehicle with ID 32 is 14.7 meters away at (11.5, -9.2). A vehicle with ID 17 is 15.2 meters away at (15.2, 0.2). A vehicle with ID 16 is 15.5 meters away at (15.2, 3.1). A unknown object with ID 65 is 18.9 meters away at (16.1, 9.9). A unknown object with ID 63 is 21.1 meters away at (18.6, 10.0). A vehicle with ID 85 is 23.1 meters away at (-7.4, -21.9).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-0.32440215 -4.844826  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(124.25077819824219, -152.47084045410156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.7471523  -0.79837894], 3.831260919570923 meters away.)"}
{"file_name": "images/scenario_698_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 1.7) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A unknown object with ID 67 is 6.0 meters away at (-0.1, -6.0). A unknown object with ID 17 is 6.5 meters away at (-2.7, -6.0). A unknown object with ID 72 is 7.9 meters away at (-5.1, -6.1). A vehicle with ID 64 is 11.3 meters away at (6.2, -9.4). A vehicle with ID 63 is 17.9 meters away at (13.3, -12.0). A vehicle with ID 36 is 19.3 meters away at (-7.2, -17.9). A vehicle with ID 75 is 21.0 meters away at (-2.8, 20.8). A pedestrian with ID 62 is 21.1 meters away at (0.2, 21.1). A vehicle with ID 14 is 21.9 meters away at (-8.5, -20.2). A vehicle with ID 66 is 23.9 meters away at (19.5, -13.8).", "velocity_description": "The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.36430028 -1.2238666 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(106.11640930175781, -146.22341918945312)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-0.10108376 -6.002432  ], 6.0032830238342285 meters away.)"}
{"file_name": "images/scenario_698_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -1.3) m/s. Its current heading (yaw) is -2.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 72 is 8.3 meters away at (4.3, -7.1). A unknown object with ID 17 is 9.7 meters away at (6.7, -7.1). A unknown object with ID 67 is 11.7 meters away at (9.3, -7.1). A vehicle with ID 64 is 18.9 meters away at (15.6, -10.6). A vehicle with ID 36 is 19.1 meters away at (2.1, -19.0). A pedestrian with ID 62 is 20.0 meters away at (9.4, 17.6). A unknown object with ID 40 is 20.4 meters away at (-20.0, -4.0). A vehicle with ID 65 is 20.7 meters away at (-14.6, -14.6). A unknown object with ID 77 is 20.9 meters away at (-1.0, 20.9). A vehicle with ID 75 is 20.9 meters away at (6.8, 19.8).", "velocity_description": "The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.12049587 -1.3006092 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(106.11640930175781, -146.22341918945312)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 4.297611 -7.136322], 8.330459594726562 meters away.)"}
{"file_name": "images/scenario_698_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -4.6) m/s. Its current heading (yaw) is -2.01 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 10.4 meters away at (-8.4, -6.2). A unknown object with ID 72 is 11.3 meters away at (11.3, -1.0). A vehicle with ID 65 is 11.4 meters away at (-7.6, -8.4). A unknown object with ID 40 is 13.2 meters away at (-13.0, 2.1). A unknown object with ID 17 is 13.8 meters away at (13.7, -0.9). A vehicle with ID 36 is 15.6 meters away at (9.0, -12.8). A unknown object with ID 28 is 15.9 meters away at (-15.6, 2.9). A unknown object with ID 67 is 16.3 meters away at (16.3, -1.0). A vehicle with ID 14 is 17.0 meters away at (7.9, -15.0). A unknown object with ID 44 is 17.8 meters away at (-17.4, 3.6).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(106.11640930175781, -146.22341918945312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.377409  -6.1867056], 10.414236068725586 meters away.)"}
{"file_name": "images/scenario_698_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -5.4) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 4.1 meters away at (-3.8, 1.6). A vehicle with ID 14 is 12.8 meters away at (11.7, -5.0). A vehicle with ID 36 is 13.1 meters away at (12.8, -2.7). A vehicle with ID 31 is 13.8 meters away at (9.8, -9.7). A unknown object with ID 72 is 17.6 meters away at (15.1, 9.1). A unknown object with ID 17 is 19.8 meters away at (17.5, 9.2). A vehicle with ID 11 is 20.1 meters away at (-10.2, -17.3). A unknown object with ID 12 is 20.6 meters away at (-14.3, -14.8). A unknown object with ID 67 is 22.1 meters away at (20.1, 9.2). A vehicle with ID 64 is 26.9 meters away at (26.3, 5.6).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(106.11640930175781, -146.22341918945312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.8188133  1.6197824], 4.148135662078857 meters away.)"}
{"file_name": "images/scenario_699_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -0.6) m/s. Its current heading (yaw) is -2.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 17.6 meters away at (17.3, -3.1). A vehicle with ID 6 is 30.0 meters away at (11.9, 27.5). A vehicle with ID 18 is 31.1 meters away at (-6.0, 30.5). A vehicle with ID 14 is 32.2 meters away at (-5.5, -31.8). A vehicle with ID 19 is 39.2 meters away at (37.9, 10.2). A unknown object with ID 10 is 55.0 meters away at (52.7, 15.7).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 2.8297606  -0.37096542] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [17.303364 -3.108389], 17.58034324645996 meters away.)"}
{"file_name": "images/scenario_699_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.1) m/s. Its current heading (yaw) is -2.77 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 15.7 meters away at (-8.4, 13.3). A vehicle with ID 15 is 18.4 meters away at (18.2, -2.7). A vehicle with ID 18 is 31.3 meters away at (-5.0, 30.9). A vehicle with ID 14 is 31.8 meters away at (-4.6, -31.5). A vehicle with ID 19 is 40.2 meters away at (38.8, 10.6). A unknown object with ID 4 is 54.0 meters away at (53.6, 7.1). A unknown object with ID 3 is 54.8 meters away at (54.4, 7.2).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-8.40201  13.321259], 15.749593734741211 meters away.)"}
{"file_name": "images/scenario_699_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.0) m/s. Its current heading (yaw) is -2.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 20.9 meters away at (20.9, -1.1). A vehicle with ID 14 is 29.8 meters away at (-2.0, -29.7). A vehicle with ID 18 is 32.7 meters away at (-2.3, 32.6). A vehicle with ID 19 is 43.2 meters away at (41.4, 12.2).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [20.861795  -1.0824854], 20.889860153198242 meters away.)"}
{"file_name": "images/scenario_699_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -3.9) m/s. Its current heading (yaw) is -1.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 23.6 meters away at (0.7, -23.6). A vehicle with ID 15 is 24.1 meters away at (23.5, 5.2). A vehicle with ID 18 is 38.7 meters away at (0.3, 38.7). A vehicle with ID 19 is 47.8 meters away at (44.2, 18.3). A vehicle with ID 1 is 76.2 meters away at (28.1, -70.8).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  0.72909164 -23.601852  ], 23.613109588623047 meters away.)"}
{"file_name": "images/scenario_700_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.4) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 17.3 meters away at (-13.6, -10.8). A unknown object with ID 27 is 17.5 meters away at (-14.1, -10.4). A unknown object with ID 9 is 17.6 meters away at (-14.2, -10.4). A unknown object with ID 28 is 17.7 meters away at (-14.8, -9.9). A vehicle with ID 29 is 17.8 meters away at (0.6, 17.8). A pedestrian with ID 16 is 18.2 meters away at (0.9, -18.2). A unknown object with ID 15 is 19.5 meters away at (-15.0, -12.5). A pedestrian with ID 21 is 19.6 meters away at (1.1, -19.6). A pedestrian with ID 24 is 20.1 meters away at (0.5, -20.1). A unknown object with ID 30 is 20.1 meters away at (-16.5, -11.5).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.00090036  0.00177962] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00928067  0.00776884] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00319533 -0.02883266] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-13.570875 -10.761994], 17.3201961517334 meters away.)"}
{"file_name": "images/scenario_700_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 17.5 meters away at (0.4, 17.5). A unknown object with ID 26 is 17.7 meters away at (-13.8, -11.1). A unknown object with ID 27 is 17.9 meters away at (-14.3, -10.6). A unknown object with ID 28 is 18.1 meters away at (-15.0, -10.1). A pedestrian with ID 16 is 18.4 meters away at (0.6, -18.4). A pedestrian with ID 21 is 19.8 meters away at (0.9, -19.8). A unknown object with ID 15 is 19.9 meters away at (-15.2, -12.8). A unknown object with ID 30 is 20.5 meters away at (-16.7, -11.8). A unknown object with ID 22 is 21.3 meters away at (-17.2, -12.6). A unknown object with ID 31 is 21.4 meters away at (-16.5, -13.6).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01919129  0.0025353 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01349362 -0.01813407] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.35757065 17.53319   ], 17.536836624145508 meters away.)"}
{"file_name": "images/scenario_700_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 17.4 meters away at (0.4, 17.4). A unknown object with ID 26 is 17.8 meters away at (-13.9, -11.1). A unknown object with ID 27 is 17.9 meters away at (-14.4, -10.6). A unknown object with ID 28 is 18.2 meters away at (-15.0, -10.2). A pedestrian with ID 16 is 18.5 meters away at (0.6, -18.5). A pedestrian with ID 21 is 19.8 meters away at (0.8, -19.8). A unknown object with ID 15 is 19.9 meters away at (-15.3, -12.8). A vehicle with ID 41 is 20.0 meters away at (-13.4, -14.9). A unknown object with ID 30 is 20.5 meters away at (-16.8, -11.9). A unknown object with ID 22 is 21.4 meters away at (-17.2, -12.6).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.00254303 -0.00355281] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00481462 0.00146947] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [4.3531766 4.6888685] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.35711908 17.446205  ], 17.449859619140625 meters away.)"}
{"file_name": "images/scenario_700_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 10.8 meters away at (-7.1, -8.1). A vehicle with ID 29 is 17.4 meters away at (0.3, 17.4). A unknown object with ID 26 is 17.8 meters away at (-13.8, -11.1). A unknown object with ID 27 is 17.9 meters away at (-14.4, -10.7). A unknown object with ID 28 is 18.2 meters away at (-15.0, -10.2). A pedestrian with ID 16 is 18.5 meters away at (0.6, -18.5). A pedestrian with ID 21 is 19.8 meters away at (0.8, -19.8). A unknown object with ID 30 is 20.5 meters away at (-16.8, -11.9). A unknown object with ID 22 is 21.4 meters away at (-17.2, -12.7). A unknown object with ID 31 is 21.4 meters away at (-16.5, -13.6).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [1.8117551 1.9558551] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00017823 0.00072175] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00105698  0.0013393 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-7.1035614 -8.107931 ], 10.779569625854492 meters away.)"}
{"file_name": "images/scenario_701_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 6.4) m/s. Its current heading (yaw) is 2.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 19.3 meters away at (2.9, -19.1). A vehicle with ID 24 is 24.2 meters away at (5.0, -23.7). A vehicle with ID 25 is 29.6 meters away at (7.5, -28.6). A vehicle with ID 26 is 35.6 meters away at (10.0, -34.2). A vehicle with ID 27 is 41.9 meters away at (12.3, -40.1). A vehicle with ID 28 is 48.5 meters away at (15.2, -46.0). A vehicle with ID 14 is 58.1 meters away at (18.6, -55.1).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.797772407531738, 152.10238647460938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  2.914354 -19.053589], 19.275184631347656 meters away.)"}
{"file_name": "images/scenario_701_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.1) m/s. Its current heading (yaw) is 1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 15.3 meters away at (-13.6, -7.1). A unknown object with ID 13 is 27.0 meters away at (-26.8, -3.1). A vehicle with ID 23 is 33.8 meters away at (10.5, -32.1). A vehicle with ID 24 is 38.8 meters away at (12.7, -36.7). A vehicle with ID 25 is 44.3 meters away at (15.1, -41.6). A vehicle with ID 26 is 50.3 meters away at (17.5, -47.1). A vehicle with ID 27 is 56.8 meters away at (19.9, -53.2). A vehicle with ID 28 is 63.2 meters away at (22.5, -59.1). A vehicle with ID 6 is 75.0 meters away at (-33.1, 67.3).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.75246495  1.0500072 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.797772407531738, 152.10238647460938)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-13.563629  -7.100546], 15.309793472290039 meters away.)"}
{"file_name": "images/scenario_701_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.6) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 7.4 meters away at (-2.7, -6.8). A vehicle with ID 23 is 49.3 meters away at (16.8, -46.4). A vehicle with ID 24 is 54.3 meters away at (19.1, -50.8). A vehicle with ID 6 is 59.3 meters away at (-26.7, 53.0). A vehicle with ID 25 is 59.9 meters away at (21.5, -55.9). A vehicle with ID 26 is 65.9 meters away at (23.8, -61.4). A vehicle with ID 4 is 66.4 meters away at (-29.5, 59.5). A vehicle with ID 27 is 72.4 meters away at (26.1, -67.5).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.797772407531738, 152.10238647460938)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.7345543 -6.831005 ], 7.358017444610596 meters away.)"}
{"file_name": "images/scenario_701_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 7.5) m/s. Its current heading (yaw) is 1.95 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 35.6 meters away at (-20.6, -29.0). A vehicle with ID 6 is 43.0 meters away at (-20.1, 38.1). A vehicle with ID 4 is 50.1 meters away at (-22.9, 44.6). A vehicle with ID 23 is 65.7 meters away at (23.5, -61.3). A vehicle with ID 3 is 67.2 meters away at (-29.8, 60.3). A vehicle with ID 24 is 70.7 meters away at (25.5, -66.0). A vehicle with ID 25 is 76.2 meters away at (28.1, -70.8).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.797772407531738, 152.10238647460938)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-20.570686 -29.009794], 35.56291961669922 meters away.)"}
{"file_name": "images/scenario_702_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -0.3) m/s. Its current heading (yaw) is -2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 11.2 meters away at (4.4, 10.3). A vehicle with ID 1 is 16.3 meters away at (0.3, -16.3). A vehicle with ID 15 is 18.6 meters away at (1.1, 18.6). A vehicle with ID 18 is 21.2 meters away at (11.1, 18.0). A vehicle with ID 30 is 21.4 meters away at (-8.9, -19.5). A vehicle with ID 26 is 25.4 meters away at (18.1, 17.8). A vehicle with ID 34 is 26.4 meters away at (-6.5, -25.5). A vehicle with ID 23 is 30.2 meters away at (-1.4, 30.2). A vehicle with ID 22 is 30.9 meters away at (-4.2, 30.6). A vehicle with ID 44 is 32.1 meters away at (-4.4, -31.8).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.306045532226562, 246.4238739013672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.4252954 10.326829 ], 11.235062599182129 meters away.)"}
{"file_name": "images/scenario_702_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 11.7 meters away at (5.0, 10.6). A vehicle with ID 1 is 16.1 meters away at (0.9, -16.1). A vehicle with ID 15 is 18.9 meters away at (1.7, 18.8). A vehicle with ID 30 is 21.0 meters away at (-8.3, -19.3). A vehicle with ID 18 is 21.6 meters away at (11.7, 18.2). A vehicle with ID 26 is 25.9 meters away at (18.6, 18.1). A vehicle with ID 34 is 26.0 meters away at (-5.9, -25.3). A vehicle with ID 23 is 30.4 meters away at (-0.9, 30.4). A vehicle with ID 22 is 31.1 meters away at (-3.6, 30.9). A vehicle with ID 44 is 31.9 meters away at (-3.8, -31.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.306045532226562, 246.4238739013672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.966737 10.56294 ], 11.672368049621582 meters away.)"}
{"file_name": "images/scenario_702_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -0.2) m/s. Its current heading (yaw) is -2.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 12.2 meters away at (5.7, 10.8). A vehicle with ID 16 is 14.4 meters away at (3.3, -14.0). A vehicle with ID 15 is 19.1 meters away at (2.3, 19.0). A vehicle with ID 30 is 20.5 meters away at (-7.5, -19.1). A vehicle with ID 18 is 22.2 meters away at (12.4, 18.4). A cyclist with ID 70 is 24.0 meters away at (23.8, 3.6). A vehicle with ID 34 is 25.6 meters away at (-5.1, -25.1). A vehicle with ID 26 is 26.6 meters away at (19.4, 18.3). A vehicle with ID 23 is 30.6 meters away at (-0.3, 30.6). A vehicle with ID 22 is 31.2 meters away at (-2.9, 31.1).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [-8.99337    -0.21958843] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.306045532226562, 246.4238739013672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.7085166 10.78672  ], 12.204117774963379 meters away.)"}
{"file_name": "images/scenario_702_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 0.3) m/s. Its current heading (yaw) is 3.00 ", "actor_description": " The most relevant actors are: A cyclist with ID 70 is 12.6 meters away at (12.5, 1.6). A vehicle with ID 14 is 14.1 meters away at (8.9, 11.0). A vehicle with ID 16 is 15.2 meters away at (6.5, -13.7). A vehicle with ID 30 is 19.4 meters away at (-4.2, -19.0). A vehicle with ID 15 is 19.9 meters away at (5.4, 19.2). A vehicle with ID 18 is 24.3 meters away at (15.5, 18.8). A vehicle with ID 34 is 25.1 meters away at (-1.7, -25.0). A vehicle with ID 26 is 29.1 meters away at (22.5, 18.5). A vehicle with ID 23 is 30.9 meters away at (2.8, 30.8). A vehicle with ID 22 is 31.2 meters away at (0.2, 31.2).", "velocity_description": "The cyclist with ID 70 is traveling at a (x, y) velocity of [-6.3030534 -1.5558988] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-8.306045532226562, 246.4238739013672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [12.46752    1.5725985], 12.566308975219727 meters away.)"}
{"file_name": "images/scenario_703_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 0.2) m/s. Its current heading (yaw) is 3.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 3.2 meters away at (2.0, 2.6). A unknown object with ID 32 is 6.7 meters away at (0.9, -6.6). A unknown object with ID 31 is 6.9 meters away at (-1.5, -6.8). A unknown object with ID 34 is 7.5 meters away at (3.5, -6.7). A vehicle with ID 39 is 10.1 meters away at (10.1, 0.1). A vehicle with ID 40 is 11.1 meters away at (6.3, -9.1). A vehicle with ID 76 is 13.0 meters away at (-6.6, 11.2). A vehicle with ID 46 is 13.1 meters away at (-11.2, 6.8). A vehicle with ID 35 is 13.7 meters away at (-2.0, -13.6). A vehicle with ID 37 is 16.3 meters away at (-2.7, -16.1).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-1.1345809  0.470679 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(132.40943908691406, -154.6610107421875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.9795161 2.5604124], 3.2363860607147217 meters away.)"}
{"file_name": "images/scenario_703_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -2.5) m/s. Its current heading (yaw) is -2.57 ", "actor_description": " The most relevant actors are: A unknown object with ID 31 is 7.7 meters away at (6.1, -4.7). A unknown object with ID 32 is 9.6 meters away at (8.5, -4.5). A vehicle with ID 33 is 10.4 meters away at (9.2, 4.8). A vehicle with ID 76 is 11.4 meters away at (0.7, 11.4). A unknown object with ID 34 is 12.1 meters away at (11.1, -4.6). A vehicle with ID 46 is 12.3 meters away at (-7.0, 10.2). A vehicle with ID 35 is 12.8 meters away at (5.7, -11.5). A pedestrian with ID 43 is 14.8 meters away at (-14.8, 1.2). A vehicle with ID 37 is 14.8 meters away at (5.1, -14.0). A vehicle with ID 40 is 15.6 meters away at (14.0, -7.0).", "velocity_description": "The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.6255451 -2.4196367] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.5227404   0.95782226] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.02102609 -0.01411606] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(132.40943908691406, -154.6610107421875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 6.0827003 -4.667983 ], 7.667418479919434 meters away.)"}
{"file_name": "images/scenario_703_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -2.6) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 43 is 10.4 meters away at (-8.0, 6.6). A vehicle with ID 76 is 10.7 meters away at (4.8, 9.6). A unknown object with ID 31 is 12.9 meters away at (12.9, 0.9). A vehicle with ID 35 is 14.0 meters away at (12.6, -6.0). A vehicle with ID 37 is 14.5 meters away at (11.9, -8.4). A vehicle with ID 38 is 15.1 meters away at (10.8, -10.6). A unknown object with ID 32 is 15.4 meters away at (15.4, 1.0). A vehicle with ID 3 is 16.2 meters away at (9.7, -13.0). A vehicle with ID 45 is 17.1 meters away at (-8.6, -14.8). A unknown object with ID 34 is 18.0 meters away at (18.0, 1.0).", "velocity_description": "The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00893553 -0.00503412] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-2.041644 -4.649222] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(132.40943908691406, -154.6610107421875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-7.981579  6.635867], 10.379803657531738 meters away.)"}
{"file_name": "images/scenario_703_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -2.3) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 76 is 6.6 meters away at (5.4, 3.8). A vehicle with ID 45 is 10.8 meters away at (-4.2, -10.0). A pedestrian with ID 43 is 12.2 meters away at (-3.4, 11.7). A vehicle with ID 38 is 16.4 meters away at (15.3, -5.9). A vehicle with ID 3 is 16.4 meters away at (14.2, -8.2). A vehicle with ID 37 is 16.8 meters away at (16.4, -3.6). A vehicle with ID 35 is 17.1 meters away at (17.0, -1.2). A unknown object with ID 2 is 18.2 meters away at (-10.6, -14.8). A vehicle with ID 4 is 18.3 meters away at (12.6, -13.2). A unknown object with ID 31 is 18.4 meters away at (17.5, 5.7).", "velocity_description": "The vehicle with ID 76 is traveling at a (x, y) velocity of [-2.1921422 -6.2741637] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00797064  0.03135047] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(132.40943908691406, -154.6610107421875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.4005375 3.8186293], 6.614206790924072 meters away.)"}
{"file_name": "images/scenario_704_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 2.0) m/s. Its current heading (yaw) is 0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 48.8 meters away at (-12.4, 47.1). A vehicle with ID 10 is 68.9 meters away at (-24.8, 64.2).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [ 4.5489664 -6.2157903] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 5.635858 -7.653279] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-155.95501708984375, 237.61997985839844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.443653  47.142506], 48.75715637207031 meters away.)"}
{"file_name": "images/scenario_704_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 4.1) m/s. Its current heading (yaw) is 0.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 32.8 meters away at (-11.0, 30.9). A vehicle with ID 10 is 49.6 meters away at (-20.9, 45.0). A vehicle with ID 8 is 59.9 meters away at (-29.1, 52.4).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [ 2.9386635 -4.0050564] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 4.042167 -5.475349] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.8688128 -3.4509916] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.2727065 22.446486 ]\n [ 8.902356  24.384499 ]]", "nav_goal": "(-155.95501708984375, 237.61997985839844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.999366  30.9338  ], 32.831172943115234 meters away.)"}
{"file_name": "images/scenario_704_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 6.5) m/s. Its current heading (yaw) is 1.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 9.5 meters away at (7.7, 5.6). A vehicle with ID 14 is 18.5 meters away at (-10.5, 15.2). A vehicle with ID 10 is 30.8 meters away at (-17.7, 25.2). A vehicle with ID 8 is 44.5 meters away at (-26.9, 35.5).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.42860055 -0.60442716] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.3556488 -3.4941254] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 1.7062342 -2.0274813] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.2727065 22.446486 ]\n [ 8.902356  24.384499 ]]", "nav_goal": "(-155.95501708984375, 237.61997985839844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [7.6539993 5.620987 ], 9.496273040771484 meters away.)"}
{"file_name": "images/scenario_704_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 7.2) m/s. Its current heading (yaw) is 2.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 4.8 meters away at (-4.6, 1.2). A vehicle with ID 10 is 10.9 meters away at (-8.6, 6.7). A unknown object with ID 15 is 12.6 meters away at (-8.1, -9.7). A vehicle with ID 8 is 27.8 meters away at (-19.5, 19.8). A unknown object with ID 12 is 53.7 meters away at (-28.4, 45.6). A vehicle with ID 17 is 68.1 meters away at (-44.0, 52.0).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 0.6435134 -0.7345548] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.3512154 -0.2879833] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 6.6807857 -7.9768715] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.2727065 22.446486 ]\n [ 8.902356  24.384499 ]]", "nav_goal": "(-155.95501708984375, 237.61997985839844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.607384   1.2284203], 4.768333435058594 meters away.)"}
{"file_name": "images/scenario_705_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 0.1) m/s. Its current heading (yaw) is 0.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 40.5 meters away at (40.0, 6.4). A vehicle with ID 16 is 45.0 meters away at (32.6, -31.1). A cyclist with ID 12 is 54.3 meters away at (-47.4, 26.6). A vehicle with ID 14 is 69.8 meters away at (40.5, -56.8).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ -0.34949073 -12.579786  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-2.7301018 12.979305 ] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [ 9.23837   -6.4709277] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-4.7267017 12.59032  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-39.003395080566406, 234.85545349121094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [40.036343   6.3508425], 40.536922454833984 meters away.)"}
{"file_name": "images/scenario_705_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 1.2) m/s. Its current heading (yaw) is 0.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 22.3 meters away at (21.7, -4.9). A vehicle with ID 14 is 42.2 meters away at (25.6, -33.6). A vehicle with ID 3 is 64.4 meters away at (27.5, -58.2).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.5216388 14.356053 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.5841064 12.3205   ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.3157735 11.896901 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-39.003395080566406, 234.85545349121094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [21.73276   -4.8542094], 22.268278121948242 meters away.)"}
{"file_name": "images/scenario_705_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 2.0) m/s. Its current heading (yaw) is 0.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 20.2 meters away at (16.4, -11.8). A vehicle with ID 16 is 26.3 meters away at (16.6, 20.4). A cyclist with ID 1 is 26.9 meters away at (-26.9, 0.2). A vehicle with ID 3 is 41.4 meters away at (12.8, -39.4). A unknown object with ID 4 is 46.6 meters away at (9.2, 45.7).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.97844154 12.895813  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.96688914 14.033377  ] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 7.340329  -4.2561655] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6463866  9.6873255] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-39.003395080566406, 234.85545349121094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 16.363848 -11.814825], 20.183300018310547 meters away.)"}
{"file_name": "images/scenario_705_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 2.5) m/s. Its current heading (yaw) is 0.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 14.9 meters away at (11.7, 9.3). A cyclist with ID 1 is 19.4 meters away at (-17.6, -8.1). A vehicle with ID 3 is 28.7 meters away at (-4.6, -28.3). A vehicle with ID 16 is 44.8 meters away at (14.7, 42.3).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.746632  13.1291685] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [6.49159    0.06301927] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-8.423038   6.7539344] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.5820262 12.727817 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-39.003395080566406, 234.85545349121094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.693134  9.26465 ], 14.918550491333008 meters away.)"}
{"file_name": "images/scenario_706_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -0.7) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 8.7 meters away at (-8.7, -0.2). A vehicle with ID 36 is 9.5 meters away at (-9.0, 3.0). A pedestrian with ID 35 is 12.8 meters away at (9.1, 9.0). A vehicle with ID 49 is 15.6 meters away at (-15.4, 2.2). A pedestrian with ID 41 is 16.2 meters away at (13.5, -8.9). A vehicle with ID 43 is 18.2 meters away at (2.2, -18.1). A unknown object with ID 53 is 19.6 meters away at (14.3, -13.3). A vehicle with ID 56 is 19.8 meters away at (13.3, 14.7). A unknown object with ID 54 is 19.9 meters away at (12.1, -15.8). A vehicle with ID 69 is 20.7 meters away at (16.2, 12.9).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.72190964 -0.28211728] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.53414345 -1.205433  ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.7769998 -1.5011374] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.1478947 -2.1067722] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(98.8301773071289, 57.20293426513672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.682867   -0.24132842], 8.686220169067383 meters away.)"}
{"file_name": "images/scenario_706_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -2.3) m/s. Its current heading (yaw) is -0.46 ", "actor_description": " The most relevant actors are: A pedestrian with ID 35 is 9.5 meters away at (1.2, 9.4). A pedestrian with ID 41 is 10.5 meters away at (5.5, -9.0). A unknown object with ID 53 is 12.9 meters away at (7.5, -10.5). A vehicle with ID 36 is 15.0 meters away at (-14.1, 5.2). A vehicle with ID 69 is 15.0 meters away at (7.9, 12.8). A vehicle with ID 45 is 15.7 meters away at (-15.4, 2.6). A vehicle with ID 43 is 15.9 meters away at (-4.5, -15.3). A pedestrian with ID 59 is 16.4 meters away at (16.1, 3.3). A vehicle with ID 37 is 17.4 meters away at (8.2, -15.3). A vehicle with ID 42 is 18.0 meters away at (17.8, -2.9).", "velocity_description": "The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.40955558 -1.2073971 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.38460895 -1.4738877 ] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 1.4023042 -0.5387152] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.48690552 -1.0932683 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.180442    0.87637323] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(98.8301773071289, 57.20293426513672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [1.2374887 9.416552 ], 9.497516632080078 meters away.)"}
{"file_name": "images/scenario_706_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -3.3) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A pedestrian with ID 41 is 7.4 meters away at (-3.7, -6.4). A vehicle with ID 37 is 9.7 meters away at (-0.1, -9.7). A vehicle with ID 42 is 9.9 meters away at (9.6, 2.7). A pedestrian with ID 59 is 11.7 meters away at (5.3, 10.5). A pedestrian with ID 35 is 14.7 meters away at (-7.7, 12.6). A vehicle with ID 43 is 16.0 meters away at (-12.7, -9.7). A vehicle with ID 69 is 16.8 meters away at (-1.2, 16.7). A unknown object with ID 47 is 17.3 meters away at (17.0, -3.3). A vehicle with ID 48 is 19.4 meters away at (7.2, -18.0). A unknown object with ID 51 is 20.1 meters away at (19.3, -5.6).", "velocity_description": "The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.64052445 -1.6118225 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.2825785   0.70525515] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.37111285 -1.2928648 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.48031768 -0.88315517] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(98.8301773071289, 57.20293426513672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-3.7325525 -6.3840427], 7.395130157470703 meters away.)"}
{"file_name": "images/scenario_706_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -2.2) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 6.6 meters away at (6.3, 2.1). A vehicle with ID 37 is 7.3 meters away at (-6.1, -4.1). A vehicle with ID 42 is 9.1 meters away at (3.5, 8.4). A unknown object with ID 47 is 11.0 meters away at (10.8, 2.3). A pedestrian with ID 41 is 11.6 meters away at (-11.0, -3.7). A vehicle with ID 48 is 12.3 meters away at (1.1, -12.2). A unknown object with ID 51 is 13.2 meters away at (13.2, 0.0). A unknown object with ID 10 is 15.1 meters away at (6.2, -13.7). A unknown object with ID 57 is 16.4 meters away at (16.3, -2.2). A vehicle with ID 58 is 16.8 meters away at (12.9, -10.8).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.1224413  3.477961 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.4598521 -1.3656423] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(98.8301773071289, 57.20293426513672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.2978153 2.1348667], 6.649822235107422 meters away.)"}
{"file_name": "images/scenario_707_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 1.8) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 3.5 meters away at (0.9, 3.4). A unknown object with ID 42 is 22.6 meters away at (18.2, -13.4). A unknown object with ID 43 is 24.4 meters away at (19.4, -14.8). A pedestrian with ID 37 is 27.2 meters away at (12.9, -23.9). A vehicle with ID 44 is 31.2 meters away at (26.8, -16.1). A vehicle with ID 46 is 33.7 meters away at (31.7, -11.3). A vehicle with ID 45 is 42.0 meters away at (-39.4, -14.7). A unknown object with ID 14 is 43.8 meters away at (0.7, -43.8). A unknown object with ID 40 is 45.5 meters away at (-26.3, 37.2). A unknown object with ID 48 is 47.0 meters away at (-1.5, -47.0).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.35801402  0.9943813 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-239.98521423339844, 76.6556625366211)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.88800573 3.3900595 ], 3.5044338703155518 meters away.)"}
{"file_name": "images/scenario_707_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.7) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 8.7 meters away at (8.4, -2.1). A pedestrian with ID 10 is 22.9 meters away at (-2.4, 22.8). A pedestrian with ID 19 is 26.1 meters away at (11.7, -23.3). A unknown object with ID 42 is 32.0 meters away at (25.9, -18.9). A pedestrian with ID 37 is 33.6 meters away at (19.6, -27.4). A unknown object with ID 43 is 33.9 meters away at (27.2, -20.2). A unknown object with ID 15 is 34.6 meters away at (-16.1, 30.7). A unknown object with ID 40 is 36.6 meters away at (-19.5, 31.0). A vehicle with ID 45 is 37.9 meters away at (-32.1, -20.1). A vehicle with ID 44 is 40.7 meters away at (34.7, -21.3).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.02797873 -0.0007514 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.04476442 -0.05196257] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.77634704  1.0173393 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-239.98521423339844, 76.6556625366211)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.402576  -2.1460843], 8.672310829162598 meters away.)"}
{"file_name": "images/scenario_707_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.7) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 19.5 meters away at (-17.0, 9.5). A vehicle with ID 41 is 20.9 meters away at (18.1, -10.6). A unknown object with ID 40 is 24.5 meters away at (-9.9, 22.3). A vehicle with ID 45 is 36.5 meters away at (-22.3, -28.9). A pedestrian with ID 19 is 38.2 meters away at (21.4, -31.7). A vehicle with ID 6 is 43.2 meters away at (-31.5, 29.5). A pedestrian with ID 37 is 43.7 meters away at (27.6, -33.9). A vehicle with ID 44 is 53.5 meters away at (44.6, -29.6). A vehicle with ID 3 is 54.2 meters away at (-41.2, 35.1). A vehicle with ID 46 is 55.3 meters away at (49.2, -25.3).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [ 6.0581393 -5.0553694] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.30694517  0.36625242] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.0234282  0.8576132] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-239.98521423339844, 76.6556625366211)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-17.024412   9.538104], 19.514251708984375 meters away.)"}
{"file_name": "images/scenario_707_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.8) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 12.5 meters away at (6.7, -10.5). A pedestrian with ID 35 is 18.4 meters away at (17.8, -4.5). A vehicle with ID 6 is 28.7 meters away at (-20.6, 20.0). A vehicle with ID 41 is 35.3 meters away at (29.0, -20.2). A vehicle with ID 3 is 39.6 meters away at (-30.2, 25.6). A vehicle with ID 45 is 40.2 meters away at (-11.1, -38.6). A vehicle with ID 8 is 50.1 meters away at (-47.3, -16.4). A pedestrian with ID 37 is 55.6 meters away at (36.3, -42.1). A vehicle with ID 25 is 56.2 meters away at (-31.2, -46.7). A vehicle with ID 44 is 67.8 meters away at (55.2, -39.4).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [ 6.7891183 -5.6990337] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.02560974  0.0043576 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.37055504  0.2751498 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.0672121  0.7991409] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-239.98521423339844, 76.6556625366211)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  6.7144756 -10.489658 ], 12.454602241516113 meters away.)"}
{"file_name": "images/scenario_708_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -5.6) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 14.5 meters away at (7.6, -12.4). A pedestrian with ID 39 is 22.3 meters away at (21.7, -5.2). A vehicle with ID 35 is 40.1 meters away at (-27.3, 29.3). A vehicle with ID 40 is 42.0 meters away at (-31.2, -28.1). A pedestrian with ID 28 is 43.2 meters away at (-32.9, -28.0). A pedestrian with ID 45 is 43.3 meters away at (29.3, -31.9). A vehicle with ID 37 is 46.5 meters away at (-33.0, 32.8). A unknown object with ID 10 is 47.9 meters away at (39.9, -26.4). A vehicle with ID 41 is 48.4 meters away at (-41.2, -25.4). A vehicle with ID 38 is 51.6 meters away at (-37.4, 35.6).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0896097  0.7319507] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.45196858  0.09624054] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.2263811   0.76226795] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [  7.5902166 -12.357542 ], 14.502421379089355 meters away.)"}
{"file_name": "images/scenario_708_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -6.0) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 5.7 meters away at (-5.7, -0.7). A pedestrian with ID 39 is 9.3 meters away at (5.8, 7.3). A pedestrian with ID 45 is 22.7 meters away at (13.7, -18.1). A unknown object with ID 10 is 30.4 meters away at (26.5, -14.8). A vehicle with ID 40 is 47.4 meters away at (-44.5, -16.3). A vehicle with ID 41 is 56.2 meters away at (-54.6, -13.5). A vehicle with ID 42 is 56.7 meters away at (-51.0, -24.8). A vehicle with ID 35 is 57.8 meters away at (-40.6, 41.1). A vehicle with ID 43 is 63.0 meters away at (-59.8, -19.8). A vehicle with ID 37 is 64.2 meters away at (-46.3, 44.4).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.2262291   0.36787543] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1548861  0.9060519] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-5.6925373 -0.7284069], 5.738950729370117 meters away.)"}
{"file_name": "images/scenario_708_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -6.2) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 4.8 meters away at (-2.5, -4.1). A unknown object with ID 10 is 13.1 meters away at (12.7, -2.9). A unknown object with ID 6 is 14.6 meters away at (14.1, -4.0). A unknown object with ID 36 is 22.5 meters away at (-19.4, 11.3). A pedestrian with ID 39 is 22.6 meters away at (-10.1, 20.2). A vehicle with ID 11 is 46.0 meters away at (4.0, -45.8). A vehicle with ID 40 is 58.3 meters away at (-58.2, -4.1). A vehicle with ID 41 is 68.3 meters away at (-68.3, -1.4). A vehicle with ID 1 is 69.1 meters away at (30.2, -62.1). A vehicle with ID 43 is 74.2 meters away at (-73.8, -8.1).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1229682  1.0093036] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0562891   0.49246007] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0.38817143 0.57355976] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-2.511074 -4.100052], 4.807901382446289 meters away.)"}
{"file_name": "images/scenario_708_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -6.2) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 8.6 meters away at (-0.4, 8.6). A unknown object with ID 10 is 9.9 meters away at (-1.7, 9.7). A pedestrian with ID 45 is 22.1 meters away at (-19.4, 10.6). A unknown object with ID 29 is 32.7 meters away at (-12.5, -30.2). A unknown object with ID 36 is 41.5 meters away at (-33.9, 23.9). A pedestrian with ID 39 is 42.8 meters away at (-27.0, 33.1). A vehicle with ID 1 is 51.8 meters away at (15.5, -49.4). A unknown object with ID 19 is 57.4 meters away at (-33.0, 47.0). A unknown object with ID 18 is 60.7 meters away at (-33.8, 50.4). A pedestrian with ID 12 is 64.4 meters away at (18.3, -61.8).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1404331  1.0628586] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.1586876  -0.21118228] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1317452  -0.92502403] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-0.37482452  8.550228  ], 8.558440208435059 meters away.)"}
{"file_name": "images/scenario_709_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 3.1 meters away at (1.5, 2.8). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.6 meters away at (-7.4, 4.3). A vehicle with ID 17 is 8.8 meters away at (8.3, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A unknown object with ID 14 is 15.8 meters away at (-12.6, 9.5). A unknown object with ID 28 is 18.1 meters away at (-14.7, 10.6). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 21.724352  -10.7356615]\n [ 19.999939   -5.632256 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.5246695 2.750573 ], 3.1448798179626465 meters away.)"}
{"file_name": "images/scenario_709_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 3.1 meters away at (1.5, 2.8). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.6 meters away at (-7.4, 4.3). A vehicle with ID 17 is 8.8 meters away at (8.3, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A unknown object with ID 14 is 15.8 meters away at (-12.6, 9.5). A unknown object with ID 28 is 18.1 meters away at (-14.6, 10.6). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 21.724352  -10.7356615]\n [ 19.999939   -5.632256 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.5237408 2.7521186], 3.1457817554473877 meters away.)"}
{"file_name": "images/scenario_709_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 3.1 meters away at (1.5, 2.7). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.6 meters away at (-7.4, 4.3). A vehicle with ID 17 is 8.7 meters away at (8.2, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A unknown object with ID 28 is 18.0 meters away at (-14.6, 10.5). A vehicle with ID 39 is 19.1 meters away at (-17.1, 8.4). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 1.6652141  -0.86042774] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 21.724352  -10.7356615]\n [ 19.999939   -5.632256 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.5356557 2.7491868], 3.149010419845581 meters away.)"}
{"file_name": "images/scenario_709_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 3.1 meters away at (1.5, 2.8). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.5 meters away at (-7.4, 4.2). A vehicle with ID 17 is 8.8 meters away at (8.3, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A vehicle with ID 39 is 16.5 meters away at (-14.8, 7.3). A unknown object with ID 28 is 18.1 meters away at (-14.7, 10.6). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 0.5525208 -0.2964624] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 21.724352  -10.7356615]\n [ 19.999939   -5.632256 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.52639   2.7501469], 3.145341634750366 meters away.)"}
{"file_name": "images/scenario_710_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 6.2 meters away at (-1.5, -6.0). A vehicle with ID 48 is 7.2 meters away at (-4.2, -5.8). A vehicle with ID 53 is 8.1 meters away at (0.6, -8.1). A pedestrian with ID 54 is 13.8 meters away at (0.1, 13.8). A vehicle with ID 55 is 14.4 meters away at (-3.0, -14.0). A vehicle with ID 56 is 15.1 meters away at (6.2, 13.7). A vehicle with ID 57 is 16.8 meters away at (-7.0, -15.3). A pedestrian with ID 58 is 18.3 meters away at (-14.8, -10.8). A unknown object with ID 59 is 20.6 meters away at (19.2, 7.5). A vehicle with ID 60 is 20.9 meters away at (-6.9, -19.7).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.5736258  0.47023737] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.5510814  -0.37767714] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.768536 -56.949368]\n [-38.996128 -55.74775 ]\n [-41.09007  -52.95684 ]\n [-38.425797 -56.124454]]", "nav_goal": "(-221.85694885253906, 65.70803833007812)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.5068408 -6.046987 ], 6.231903553009033 meters away.)"}
{"file_name": "images/scenario_710_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 1.7) m/s. Its current heading (yaw) is 1.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 8.0 meters away at (-2.5, -7.6). A vehicle with ID 48 is 9.1 meters away at (-5.3, -7.4). A vehicle with ID 53 is 9.6 meters away at (-0.4, -9.6). A pedestrian with ID 54 is 14.0 meters away at (1.6, 13.9). A vehicle with ID 56 is 14.2 meters away at (6.2, 12.8). A vehicle with ID 55 is 16.1 meters away at (-4.0, -15.6). A vehicle with ID 57 is 18.6 meters away at (-8.1, -16.7). A unknown object with ID 59 is 19.2 meters away at (18.3, 5.8). A unknown object with ID 62 is 19.3 meters away at (-1.2, 19.3). A pedestrian with ID 61 is 19.5 meters away at (-6.9, 18.2).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.266367   0.85204166] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0.3367323  0.25070927] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.11158831 -0.05987441] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.768536 -56.949368]\n [-38.996128 -55.74775 ]\n [-41.09007  -52.95684 ]\n [-38.425797 -56.124454]]", "nav_goal": "(-221.85694885253906, 65.70803833007812)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.5300255 -7.613739 ], 8.02309513092041 meters away.)"}
{"file_name": "images/scenario_710_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 3.1) m/s. Its current heading (yaw) is 1.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 10.1 meters away at (6.0, 8.1). A pedestrian with ID 54 is 11.1 meters away at (2.9, 10.7). A vehicle with ID 48 is 12.5 meters away at (-5.3, -11.3). A vehicle with ID 52 is 12.8 meters away at (-3.1, -12.5). A unknown object with ID 62 is 14.5 meters away at (-1.7, 14.4). A vehicle with ID 53 is 14.5 meters away at (-1.0, -14.5). A pedestrian with ID 61 is 15.1 meters away at (-6.4, 13.7). A vehicle with ID 67 is 17.5 meters away at (-3.1, 17.3). A unknown object with ID 59 is 17.8 meters away at (17.8, 0.9). A unknown object with ID 64 is 19.8 meters away at (19.8, -0.4).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.6947768  0.89812547] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.54027575 0.9218082 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.52301025 0.49742064] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.768536 -56.949368]\n [-38.996128 -55.74775 ]\n [-41.09007  -52.95684 ]\n [-38.425797 -56.124454]]", "nav_goal": "(-221.85694885253906, 65.70803833007812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.0426707 8.095324 ], 10.101887702941895 meters away.)"}
{"file_name": "images/scenario_710_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 3.4) m/s. Its current heading (yaw) is 2.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 62 is 7.8 meters away at (1.3, 7.7). A pedestrian with ID 61 is 8.6 meters away at (-2.1, 8.4). A vehicle with ID 56 is 9.3 meters away at (9.2, 1.5). A pedestrian with ID 54 is 9.7 meters away at (7.9, 5.7). A vehicle with ID 67 is 10.5 meters away at (-0.0, 10.5). A vehicle with ID 50 is 13.6 meters away at (-7.5, 11.4). A vehicle with ID 48 is 15.7 meters away at (-0.7, -15.7). A vehicle with ID 52 is 19.2 meters away at (-0.1, -19.2). A vehicle with ID 53 is 21.3 meters away at (2.0, -21.2). A unknown object with ID 59 is 21.6 meters away at (20.8, -5.8).", "velocity_description": "The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.44513616 0.7872713 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.0959386 0.755296 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [1.1472769 1.629529 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-221.85694885253906, 65.70803833007812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [1.2727611 7.674367 ], 7.779191970825195 meters away.)"}
{"file_name": "images/scenario_711_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 0.8) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 3.1 meters away at (-2.4, -2.0). A cyclist with ID 36 is 3.7 meters away at (3.3, 1.7). A vehicle with ID 38 is 9.0 meters away at (-5.7, 6.9). A pedestrian with ID 40 is 12.0 meters away at (-12.0, 0.7). A vehicle with ID 56 is 23.2 meters away at (-13.2, 19.1). A vehicle with ID 42 is 26.2 meters away at (-20.1, -16.9). A pedestrian with ID 47 is 27.8 meters away at (3.3, 27.6). A vehicle with ID 50 is 29.5 meters away at (-26.1, 13.7). A vehicle with ID 51 is 30.8 meters away at (-30.1, 6.6). A vehicle with ID 55 is 33.6 meters away at (-19.5, 27.4).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-3.1923392  1.928977 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.3771117 -1.3102218] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ -3.2636013 -11.826228 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ -1.4757189 -13.109903 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.02681418 0.00439637] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0.36004406 0.40607336] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.18415408 0.5435606 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.2051923 -3.5489032] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.32795    8.714944]\n [-39.35671   31.885279]\n [-19.693916   5.80353 ]\n [-16.734964  14.342579]\n [-17.470392  11.211952]\n [-38.44472   34.651817]]", "nav_goal": "(97.03825378417969, 246.3805389404297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.3913295 -2.0124333], 3.1254351139068604 meters away.)"}
{"file_name": "images/scenario_711_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.4) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 3.2 meters away at (-0.6, -3.1). A cyclist with ID 36 is 3.3 meters away at (0.6, 3.2). A vehicle with ID 38 is 6.9 meters away at (-3.9, 5.8). A pedestrian with ID 40 is 10.7 meters away at (-10.3, -3.0). A vehicle with ID 66 is 15.7 meters away at (-13.8, 7.4). A vehicle with ID 56 is 17.9 meters away at (-16.8, -6.1). A vehicle with ID 50 is 26.6 meters away at (-22.4, 14.3). A vehicle with ID 51 is 28.5 meters away at (-27.6, 7.2). A vehicle with ID 77 is 30.6 meters away at (-5.7, 30.1). A vehicle with ID 43 is 31.2 meters away at (-18.8, 24.8).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-1.54329    1.0571152] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.13853025 -1.178264  ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ -2.8648417 -11.761257 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ -2.071016 -12.301328] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [1.6307881 1.3948983] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.5534825 1.2489219] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-3.3742254 -9.499492 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.32795    8.714944]\n [-39.35671   31.885279]\n [-19.693916   5.80353 ]\n [-16.734964  14.342579]\n [-17.470392  11.211952]\n [-38.44472   34.651817]]", "nav_goal": "(97.03825378417969, 246.3805389404297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.57468176 -3.1309168 ], 3.1832215785980225 meters away.)"}
{"file_name": "images/scenario_711_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A cyclist with ID 36 is 3.2 meters away at (0.7, 3.1). A vehicle with ID 35 is 3.5 meters away at (-0.0, -3.5). A vehicle with ID 38 is 6.3 meters away at (-3.2, 5.4). A pedestrian with ID 40 is 10.3 meters away at (-8.6, -5.7). A vehicle with ID 77 is 15.6 meters away at (-11.0, 11.0). A pedestrian with ID 39 is 23.3 meters away at (11.3, 20.3). A vehicle with ID 50 is 23.6 meters away at (-16.9, 16.4). A vehicle with ID 66 is 24.4 meters away at (-17.8, -16.7). A vehicle with ID 68 is 26.1 meters away at (18.1, -18.9). A vehicle with ID 51 is 27.2 meters away at (-25.4, 9.9).", "velocity_description": "The cyclist with ID 36 is traveling at a (x, y) velocity of [0.00739224 0.00659371] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.57067245 -1.2853765 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-2.4830127 -9.238483 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.7733688  0.9362718] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [3.5132058 1.2059358] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ -1.9543262 -12.531198 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-6.2101917  1.1615661] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.91042656 1.6622474 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.32795    8.714944]\n [-39.35671   31.885279]\n [-19.693916   5.80353 ]\n [-38.44472   34.651817]]", "nav_goal": "(97.03825378417969, 246.3805389404297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [0.65462637 3.0861826 ], 3.154846668243408 meters away.)"}
{"file_name": "images/scenario_711_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A cyclist with ID 36 is 3.2 meters away at (0.8, 3.1). A vehicle with ID 35 is 3.5 meters away at (0.0, -3.5). A vehicle with ID 38 is 6.2 meters away at (-3.2, 5.3). A pedestrian with ID 40 is 11.1 meters away at (-7.4, -8.2). A vehicle with ID 77 is 16.3 meters away at (-15.0, -6.4). A vehicle with ID 50 is 17.5 meters away at (-5.8, 16.5). A vehicle with ID 68 is 19.5 meters away at (5.9, -18.6). A unknown object with ID 27 is 22.1 meters away at (20.0, 9.2). A pedestrian with ID 39 is 24.1 meters away at (9.7, 22.0). A vehicle with ID 19 is 24.9 meters away at (-20.6, 14.1).", "velocity_description": "The cyclist with ID 36 is traveling at a (x, y) velocity of [ 0.00433246 -0.00598502] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.59031856 -1.306936  ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-1.578522 -8.864699] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 6.431792  -1.9727929] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-5.9687085 -0.6951551] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.85928816  0.78885543] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.9024494 2.067562 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.32795    8.714944]\n [-39.35671   31.885279]\n [-19.693916   5.80353 ]\n [-16.734964  14.342579]\n [-17.470392  11.211952]\n [-38.44472   34.651817]]", "nav_goal": "(97.03825378417969, 246.3805389404297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [0.7601509 3.0753882], 3.1679396629333496 meters away.)"}
{"file_name": "images/scenario_712_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.1) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A cyclist with ID 26 is 7.7 meters away at (-5.4, 5.4). A unknown object with ID 46 is 17.4 meters away at (15.0, 8.9). A unknown object with ID 45 is 17.5 meters away at (14.5, 9.8). A unknown object with ID 49 is 17.7 meters away at (15.8, 8.0). A unknown object with ID 47 is 18.0 meters away at (13.9, 11.5). A unknown object with ID 50 is 18.5 meters away at (13.8, 12.3). A unknown object with ID 53 is 18.6 meters away at (17.2, 7.1). A pedestrian with ID 54 is 19.0 meters away at (16.2, 10.1). A unknown object with ID 61 is 20.3 meters away at (19.4, 6.0). A pedestrian with ID 33 is 20.4 meters away at (16.4, 12.1).", "velocity_description": "The cyclist with ID 26 is traveling at a (x, y) velocity of [-4.025107   1.5938569] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.08912796 0.05909095] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01365009 -0.00794728] m/s.", "light_description": "There are active red lights at the following coordinates: [[-7.4521093  3.141017 ]\n [-8.063428   1.6430464]]", "nav_goal": "(-275.71429443359375, 117.01309967041016)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-5.4428124  5.3833895], 7.655395984649658 meters away.)"}
{"file_name": "images/scenario_712_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 0.6) m/s. Its current heading (yaw) is 2.90 ", "actor_description": " The most relevant actors are: A cyclist with ID 26 is 19.6 meters away at (-16.0, 11.2). A unknown object with ID 45 is 19.9 meters away at (18.0, 8.4). A unknown object with ID 46 is 20.0 meters away at (18.5, 7.5). A unknown object with ID 47 is 20.1 meters away at (17.4, 10.1). A unknown object with ID 49 is 20.5 meters away at (19.3, 6.7). A unknown object with ID 50 is 20.5 meters away at (17.3, 11.0). A unknown object with ID 53 is 21.5 meters away at (20.7, 5.8). A pedestrian with ID 54 is 21.6 meters away at (19.7, 8.8). A pedestrian with ID 33 is 22.7 meters away at (20.0, 10.8). A pedestrian with ID 34 is 22.8 meters away at (20.5, 10.0).", "velocity_description": "The cyclist with ID 26 is traveling at a (x, y) velocity of [-8.696404  4.403536] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.03169    0.00655873] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00578257 -0.01099536] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.03287203 -0.04634535] m/s.", "light_description": "There are active red lights at the following coordinates: [[-7.4521093  3.141017 ]\n [-8.063428   1.6430464]]", "nav_goal": "(-275.71429443359375, 117.01309967041016)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-16.043427  11.17665 ], 19.552724838256836 meters away.)"}
{"file_name": "images/scenario_712_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A pedestrian with ID 41 is 16.5 meters away at (-16.5, 1.1). A vehicle with ID 82 is 20.4 meters away at (-9.5, 18.1). A unknown object with ID 45 is 23.6 meters away at (22.3, 7.9). A unknown object with ID 47 is 23.7 meters away at (21.7, 9.5). A unknown object with ID 46 is 23.8 meters away at (22.8, 7.0). A unknown object with ID 50 is 23.9 meters away at (21.6, 10.4). A unknown object with ID 49 is 24.4 meters away at (23.6, 6.1). A unknown object with ID 23 is 25.4 meters away at (23.2, 10.2). A pedestrian with ID 54 is 25.4 meters away at (24.0, 8.1). A unknown object with ID 53 is 25.6 meters away at (25.0, 5.2).", "velocity_description": "The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.0954704 -0.7509636] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 5.2168727 -2.4497166] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02261313 -0.00565471] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-275.71429443359375, 117.01309967041016)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-16.468807    1.0841783], 16.50445556640625 meters away.)"}
{"file_name": "images/scenario_712_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.0) m/s. Its current heading (yaw) is -3.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 41 is 12.4 meters away at (-12.4, -0.4). A vehicle with ID 82 is 13.4 meters away at (4.4, 12.7). A unknown object with ID 45 is 25.2 meters away at (23.9, 7.9). A unknown object with ID 47 is 25.2 meters away at (23.3, 9.6). A unknown object with ID 46 is 25.4 meters away at (24.4, 7.0). A unknown object with ID 50 is 25.5 meters away at (23.2, 10.5). A pedestrian with ID 68 is 26.0 meters away at (-0.4, 26.0). A unknown object with ID 49 is 26.0 meters away at (25.3, 6.2). A pedestrian with ID 54 is 27.0 meters away at (25.7, 8.2). A unknown object with ID 53 is 27.2 meters away at (26.7, 5.2).", "velocity_description": "The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.2532257  -0.84540564] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 6.3825316 -2.832484 ] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 1.2732625  -0.66302013] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01416433 -0.00219667] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.367321  18.767008]\n [-21.573708  21.732553]]", "nav_goal": "(-275.71429443359375, 117.01309967041016)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-12.415361    -0.38811398], 12.421426773071289 meters away.)"}
{"file_name": "images/scenario_713_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -2.1) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 12.1 meters away at (-9.6, -7.4). A vehicle with ID 56 is 14.5 meters away at (14.2, 3.0). A vehicle with ID 55 is 15.9 meters away at (-10.6, 11.8). A vehicle with ID 63 is 16.9 meters away at (16.2, -4.6). A pedestrian with ID 58 is 19.3 meters away at (17.9, 7.2). A vehicle with ID 12 is 19.9 meters away at (-17.5, -9.5). A vehicle with ID 51 is 21.4 meters away at (3.7, -21.1). A vehicle with ID 53 is 23.2 meters away at (2.0, -23.1). A unknown object with ID 57 is 23.4 meters away at (-23.0, -4.2). A vehicle with ID 9 is 23.7 meters away at (19.4, -13.5).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-0.94199544  5.978871  ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-4.2781706  3.39833  ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00894104 -0.01552646] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.014802  2.7161856] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.5994573 -5.2547817] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.155818  15.724692 ]\n [ 8.73648    9.743898 ]\n [ 5.7689815 17.437399 ]\n [11.319186  11.775874 ]\n [ 7.087187  16.088903 ]]", "nav_goal": "(217.2051544189453, 43.72038269042969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.611187  -7.3574915], 12.104032516479492 meters away.)"}
{"file_name": "images/scenario_713_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -4.2) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 7.9 meters away at (-1.0, 7.9). A vehicle with ID 56 is 10.4 meters away at (3.8, 9.7). A vehicle with ID 51 is 15.7 meters away at (-6.7, -14.2). A pedestrian with ID 58 is 15.8 meters away at (7.4, 14.0). A vehicle with ID 24 is 15.9 meters away at (15.0, -5.2). A vehicle with ID 53 is 18.5 meters away at (-8.3, -16.5). A vehicle with ID 12 is 23.6 meters away at (-23.4, 3.4). A vehicle with ID 25 is 23.9 meters away at (-12.2, -20.6). A vehicle with ID 9 is 28.3 meters away at (22.7, -17.0). A vehicle with ID 14 is 28.3 meters away at (0.5, -28.3).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [-2.4004734  2.0306773] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.00423748 0.00367496] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.277961   3.7531955] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.8527713 3.134193 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.717613  -5.1967025] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.155818  15.724692 ]\n [ 8.73648    9.743898 ]\n [ 5.7689815 17.437399 ]\n [11.319186  11.775874 ]\n [ 7.087187  16.088903 ]]", "nav_goal": "(217.2051544189453, 43.72038269042969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.98786354  7.869238  ], 7.93100118637085 meters away.)"}
{"file_name": "images/scenario_713_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -4.5) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 10.8 meters away at (-4.6, 9.8). A vehicle with ID 52 is 17.4 meters away at (17.1, -3.3). A pedestrian with ID 54 is 18.7 meters away at (18.6, -1.3). A vehicle with ID 51 is 19.6 meters away at (-18.8, -5.7). A vehicle with ID 56 is 20.1 meters away at (-8.5, 18.3). A vehicle with ID 53 is 22.1 meters away at (-20.6, -7.8). A vehicle with ID 14 is 22.9 meters away at (-11.6, -19.7). A pedestrian with ID 58 is 23.2 meters away at (-4.9, 22.6). A vehicle with ID 19 is 23.8 meters away at (20.6, -11.9). A vehicle with ID 23 is 24.2 meters away at (-22.0, -10.1).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [-2.6142979  2.169594 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.01433889 -0.00515674] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.02189248 -0.03893247] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.89797    4.9116607] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 98.060455 -79.499565]\n [100.313614 -76.86881 ]\n [  8.73648    9.743898]\n [ 11.319186  11.775874]]", "nav_goal": "(217.2051544189453, 43.72038269042969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.5905304  9.817069 ], 10.837334632873535 meters away.)"}
{"file_name": "images/scenario_713_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -4.5) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 5.2 meters away at (-0.8, 5.2). A vehicle with ID 52 is 7.7 meters away at (5.3, 5.6). A pedestrian with ID 54 is 10.2 meters away at (6.8, 7.6). A vehicle with ID 10 is 10.7 meters away at (10.7, 1.1). A vehicle with ID 14 is 25.7 meters away at (-23.3, -10.9). A vehicle with ID 24 is 29.1 meters away at (-19.7, 21.5). A vehicle with ID 17 is 30.2 meters away at (-26.3, -14.8). A vehicle with ID 9 is 30.6 meters away at (23.5, -19.6). A vehicle with ID 51 is 30.7 meters away at (-30.6, 3.2). A vehicle with ID 53 is 32.4 meters away at (-32.4, 1.0).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.777486   3.2338183] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.04426223 -0.00833658] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.1167263  0.9248298] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 5.4194965 -4.7074323] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[102.94073  -73.67473 ]\n [ 98.060455 -79.499565]\n [100.313614 -76.86881 ]\n [  8.73648    9.743898]\n [102.56375  -74.23597 ]\n [ 11.319186  11.775874]]", "nav_goal": "(217.2051544189453, 43.72038269042969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.8274803  5.161083 ], 5.226997375488281 meters away.)"}
{"file_name": "images/scenario_714_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.2) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A unknown object with ID 51 is 7.5 meters away at (-5.8, 4.7). A vehicle with ID 19 is 12.4 meters away at (8.8, 8.8). A vehicle with ID 60 is 13.8 meters away at (-5.3, 12.7). A pedestrian with ID 61 is 15.5 meters away at (3.2, 15.2). A vehicle with ID 56 is 15.9 meters away at (-7.7, 13.9). A vehicle with ID 54 is 17.9 meters away at (-16.3, 7.3). A vehicle with ID 52 is 18.1 meters away at (-18.1, 0.9). A vehicle with ID 59 is 22.5 meters away at (21.8, 5.6). A vehicle with ID 28 is 22.8 meters away at (18.7, -12.9). A vehicle with ID 57 is 22.9 meters away at (-22.5, 4.2).", "velocity_description": "The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [4.272176  1.9359581] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [1.0361742 1.0675057] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 5.194094 -3.350784] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[20.689737 30.103827]\n [10.830371 20.733566]\n [22.2704   24.123034]\n [19.302902 31.816534]\n [20.621107 30.468037]\n [12.882891 23.352316]\n [24.853106 26.155008]]", "nav_goal": "(217.65313720703125, 42.71126174926758)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-5.799214  4.733349], 7.485684394836426 meters away.)"}
{"file_name": "images/scenario_714_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 2.9) m/s. Its current heading (yaw) is 0.82 ", "actor_description": " The most relevant actors are: A unknown object with ID 51 is 11.1 meters away at (-11.0, -1.4). A pedestrian with ID 61 is 11.6 meters away at (-0.4, 11.6). A vehicle with ID 60 is 12.5 meters away at (-10.6, 6.6). A vehicle with ID 19 is 12.9 meters away at (12.7, 2.5). A vehicle with ID 56 is 15.1 meters away at (-12.9, 7.8). A vehicle with ID 68 is 18.9 meters away at (-5.2, 18.2). A vehicle with ID 53 is 20.8 meters away at (20.2, 4.6). A vehicle with ID 54 is 21.5 meters away at (-21.5, 1.1). A vehicle with ID 52 is 23.9 meters away at (-23.3, -5.3). A vehicle with ID 7 is 24.2 meters away at (15.4, -18.7).", "velocity_description": "The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.7928962 1.2965405] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.720437  -2.2077029] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[20.689737 30.103827]\n [10.830371 20.733566]\n [22.2704   24.123034]\n [19.302902 31.816534]\n [20.621107 30.468037]\n [12.882891 23.352316]\n [24.853106 26.155008]]", "nav_goal": "(217.65313720703125, 42.71126174926758)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-11.009134   -1.3635216], 11.09325122833252 meters away.)"}
{"file_name": "images/scenario_714_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 0.6) m/s. Its current heading (yaw) is 0.16 ", "actor_description": " The most relevant actors are: A pedestrian with ID 61 is 11.3 meters away at (-5.1, 10.1). A vehicle with ID 53 is 13.9 meters away at (13.9, 0.7). A vehicle with ID 60 is 17.0 meters away at (-16.8, 2.6). A unknown object with ID 51 is 18.1 meters away at (-17.3, -5.4). A vehicle with ID 68 is 18.2 meters away at (-11.6, 14.1). A vehicle with ID 19 is 18.6 meters away at (16.5, -8.6). A vehicle with ID 56 is 19.6 meters away at (-19.2, 3.9). A pedestrian with ID 30 is 23.6 meters away at (23.0, 5.6). A vehicle with ID 7 is 24.4 meters away at (9.2, -22.6). A vehicle with ID 65 is 24.6 meters away at (-16.7, 18.1).", "velocity_description": "The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.8051969 1.2978462] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.728123 -4.365287] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1044155   0.72410953] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[20.689737 30.103827]\n [10.830371 20.733566]\n [22.2704   24.123034]\n [19.302902 31.816534]\n [20.621107 30.468037]\n [12.882891 23.352316]\n [24.853106 26.155008]]", "nav_goal": "(217.65313720703125, 42.71126174926758)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-5.088645 10.090658], 11.30113697052002 meters away.)"}
{"file_name": "images/scenario_714_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -2.5) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 6.5 meters away at (6.0, 2.7). A pedestrian with ID 30 is 15.1 meters away at (12.2, 8.8). A pedestrian with ID 61 is 18.7 meters away at (-11.6, 14.6). A vehicle with ID 50 is 19.8 meters away at (19.5, -3.3). A vehicle with ID 7 is 20.6 meters away at (1.1, -20.6). A vehicle with ID 8 is 22.6 meters away at (-0.5, -22.6). A vehicle with ID 60 is 25.3 meters away at (-24.8, 4.7). A vehicle with ID 68 is 25.4 meters away at (-19.5, 16.3). A unknown object with ID 51 is 25.5 meters away at (-25.3, -3.3). A vehicle with ID 19 is 26.9 meters away at (21.3, -16.5).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.3353441   0.54189575] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.8840128 1.2593703] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 6.7881217 -5.424221 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[20.689737 30.103827]\n [10.830371 20.733566]\n [22.2704   24.123034]\n [19.302902 31.816534]\n [20.621107 30.468037]\n [12.882891 23.352316]\n [24.853106 26.155008]]", "nav_goal": "(217.65313720703125, 42.71126174926758)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.9570026 2.678339 ], 6.531414985656738 meters away.)"}
{"file_name": "images/scenario_715_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 3.5) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 63 is 7.6 meters away at (0.1, -7.6). A pedestrian with ID 65 is 10.2 meters away at (-7.8, -6.5). A pedestrian with ID 38 is 21.3 meters away at (6.8, 20.2). A vehicle with ID 2 is 24.1 meters away at (20.9, -11.9). A unknown object with ID 45 is 24.7 meters away at (-10.5, 22.3). A unknown object with ID 44 is 26.6 meters away at (-12.7, 23.4). A unknown object with ID 58 is 28.2 meters away at (-14.5, 24.2). A pedestrian with ID 71 is 28.8 meters away at (-11.5, 26.4). A pedestrian with ID 28 is 32.7 meters away at (-15.0, 29.1). A pedestrian with ID 50 is 36.9 meters away at (31.2, 19.7).", "velocity_description": "The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.08797862 -1.2890847 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.00475913 0.00576475] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-10.147682   4.296314] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.8960918 -1.2481475] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.55028653 -1.242242  ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.4590127  -0.02872368] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 0.06873894 -7.595662  ], 7.595973491668701 meters away.)"}
{"file_name": "images/scenario_715_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, 3.8) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 16.5 meters away at (6.8, 15.0). A unknown object with ID 44 is 16.7 meters away at (4.6, 16.0). A unknown object with ID 58 is 17.1 meters away at (2.8, 16.9). A pedestrian with ID 71 is 18.1 meters away at (7.2, 16.6). A pedestrian with ID 65 is 19.2 meters away at (10.5, -16.1). A pedestrian with ID 28 is 19.4 meters away at (3.1, 19.1). A vehicle with ID 2 is 19.9 meters away at (17.0, -10.2). A unknown object with ID 63 is 22.9 meters away at (17.4, -14.9). A cyclist with ID 51 is 27.3 meters away at (24.2, 12.6). A cyclist with ID 31 is 41.4 meters away at (-27.1, 31.3).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.6235259 -1.272527 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.79277873 -0.98887384] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.33115312 -1.3760334 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-10.788975    4.5917225] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 51 is traveling at a (x, y) velocity of [ 0.02856042 -0.01979176] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 4.705696  -1.9155202] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 6.7937603 14.995094 ], 16.462322235107422 meters away.)"}
{"file_name": "images/scenario_715_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 4.1) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 16.3 meters away at (13.7, -8.8). A cyclist with ID 31 is 19.3 meters away at (1.0, 19.3). A pedestrian with ID 28 is 24.1 meters away at (22.4, 8.8). A unknown object with ID 44 is 24.7 meters away at (23.3, 8.3). A unknown object with ID 45 is 26.4 meters away at (25.4, 7.2). A pedestrian with ID 71 is 27.6 meters away at (26.8, 6.4). A vehicle with ID 33 is 36.7 meters away at (-30.9, -19.7). A pedestrian with ID 65 is 39.8 meters away at (30.0, -26.2). A vehicle with ID 30 is 42.6 meters away at (-19.4, -37.9). A vehicle with ID 53 is 46.0 meters away at (-37.0, -27.3).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-11.363607    4.7767696] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 4.2855077 -1.9633875] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.20794985 -1.1688046 ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.0842583 -1.1793298] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.15802212 -1.0296469 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [13.73542  -8.758932], 16.290508270263672 meters away.)"}
{"file_name": "images/scenario_715_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 3.9) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 12.1 meters away at (9.8, -7.1). A unknown object with ID 40 is 16.2 meters away at (5.2, -15.3). A vehicle with ID 33 is 30.1 meters away at (-12.3, -27.5). A cyclist with ID 31 is 30.5 meters away at (29.3, 8.5). A pedestrian with ID 4 is 33.2 meters away at (-15.6, 29.3). A vehicle with ID 53 is 39.6 meters away at (-18.5, -35.0). A vehicle with ID 36 is 40.7 meters away at (-39.0, -11.8). A pedestrian with ID 28 is 41.5 meters away at (41.5, -1.4). A unknown object with ID 61 is 43.9 meters away at (42.2, 11.9). A vehicle with ID 54 is 44.2 meters away at (-21.5, -38.7).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-11.029505   4.634398] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 4.626187  -1.1508688] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.74143016 -0.3395233 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.30191684 -1.1667224 ] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.789841  -7.1339226], 12.113373756408691 meters away.)"}
{"file_name": "images/scenario_716_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.6) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 30.1 meters away at (-3.1, -30.0). A vehicle with ID 36 is 35.7 meters away at (-20.1, -29.5). A vehicle with ID 37 is 36.4 meters away at (-22.6, -28.5). A vehicle with ID 32 is 42.2 meters away at (-7.5, -41.6). A vehicle with ID 5 is 43.9 meters away at (-17.3, -40.3). A vehicle with ID 33 is 49.5 meters away at (-9.8, -48.5). A vehicle with ID 30 is 59.5 meters away at (-22.2, -55.2). A vehicle with ID 38 is 67.5 meters away at (47.7, 47.8). A vehicle with ID 2 is 74.4 meters away at (-26.7, -69.5).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.68334174 0.1181477 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(0.48736098408699036, -235.70831298828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -3.1233335 -29.97377  ], 30.136058807373047 meters away.)"}
{"file_name": "images/scenario_716_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -7.3) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 16.2 meters away at (1.6, -16.1). A vehicle with ID 36 is 21.9 meters away at (-15.4, -15.6). A vehicle with ID 37 is 23.0 meters away at (-17.8, -14.6). A vehicle with ID 21 is 26.7 meters away at (-23.3, -13.2). A vehicle with ID 32 is 27.7 meters away at (-2.7, -27.6). A vehicle with ID 9 is 28.2 meters away at (-25.5, -12.0). A vehicle with ID 5 is 29.3 meters away at (-12.5, -26.4). A vehicle with ID 7 is 30.2 meters away at (-28.1, -10.9). A vehicle with ID 28 is 34.2 meters away at (-32.8, -9.5). A vehicle with ID 33 is 34.9 meters away at (-5.0, -34.5).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(0.48736098408699036, -235.70831298828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  1.6279187 -16.09976  ], 16.181854248046875 meters away.)"}
{"file_name": "images/scenario_716_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.8) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 6.6 meters away at (6.2, -2.3). A vehicle with ID 36 is 10.9 meters away at (-10.8, -1.7). A vehicle with ID 37 is 13.2 meters away at (-13.2, -0.7). A vehicle with ID 32 is 13.9 meters away at (2.0, -13.7). A vehicle with ID 5 is 14.8 meters away at (-7.9, -12.5). A vehicle with ID 21 is 18.6 meters away at (-18.6, 0.8). A vehicle with ID 33 is 20.5 meters away at (-0.3, -20.5). A vehicle with ID 9 is 20.9 meters away at (-20.8, 1.9). A vehicle with ID 7 is 23.7 meters away at (-23.5, 2.9). A vehicle with ID 28 is 28.5 meters away at (-28.2, 4.4).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(0.48736098408699036, -235.70831298828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.227133  -2.3126945], 6.642720699310303 meters away.)"}
{"file_name": "images/scenario_716_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.4) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 3.6 meters away at (-3.6, 0.5). A vehicle with ID 32 is 6.3 meters away at (6.3, -0.6). A vehicle with ID 33 is 8.5 meters away at (4.0, -7.5). A vehicle with ID 36 is 13.0 meters away at (-6.5, 11.3). A vehicle with ID 31 is 15.0 meters away at (10.5, 10.6). A vehicle with ID 37 is 15.3 meters away at (-8.9, 12.4). A vehicle with ID 30 is 16.6 meters away at (-8.5, -14.2). A vehicle with ID 21 is 19.9 meters away at (-14.3, 13.8). A vehicle with ID 9 is 22.2 meters away at (-16.5, 14.9). A vehicle with ID 2 is 31.2 meters away at (-13.0, -28.3).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(0.48736098408699036, -235.70831298828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.5797138   0.46213531], 3.6094210147857666 meters away.)"}
{"file_name": "images/scenario_717_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 5.6) m/s. Its current heading (yaw) is 2.35 ", "actor_description": " The most relevant actors are: A pedestrian with ID 44 is 15.5 meters away at (14.4, -5.8). A vehicle with ID 43 is 16.9 meters away at (14.3, -9.0). A vehicle with ID 42 is 24.7 meters away at (-11.9, 21.6). A vehicle with ID 5 is 33.2 meters away at (23.1, -23.8). A unknown object with ID 36 is 40.1 meters away at (1.2, -40.1). A unknown object with ID 18 is 42.8 meters away at (-1.4, -42.8). A vehicle with ID 45 is 58.0 meters away at (-1.5, -58.0).", "velocity_description": "The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.9511202 -0.5039252] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-1.4989736  4.2686577] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [14.405411  -5.7685647], 15.51747989654541 meters away.)"}
{"file_name": "images/scenario_717_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.4) m/s. Its current heading (yaw) is 2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 10.4 meters away at (-0.7, 10.4). A vehicle with ID 43 is 32.2 meters away at (25.3, -20.0). A vehicle with ID 5 is 37.9 meters away at (27.2, -26.4). A vehicle with ID 1 is 63.1 meters away at (-44.6, 44.6). A vehicle with ID 45 is 69.8 meters away at (9.7, -69.2).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.1602993  4.8254323] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.6696472 10.376692 ], 10.398277282714844 meters away.)"}
{"file_name": "images/scenario_717_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.9) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 10.6 meters away at (10.6, 0.1). A vehicle with ID 33 is 27.5 meters away at (2.5, 27.3). A vehicle with ID 5 is 37.3 meters away at (26.9, -25.8). A vehicle with ID 43 is 47.1 meters away at (36.2, -30.2). A vehicle with ID 1 is 47.8 meters away at (-33.3, 34.2). A unknown object with ID 38 is 66.3 meters away at (31.1, -58.5). A vehicle with ID 6 is 66.6 meters away at (-52.3, 41.3).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.281022   6.1294494] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.0425363 -3.5277493] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.58584     0.09975433], 10.586310386657715 meters away.)"}
{"file_name": "images/scenario_717_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.2) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 40 is 6.0 meters away at (-2.0, 5.7). A unknown object with ID 2 is 7.6 meters away at (-3.3, 6.9). A vehicle with ID 42 is 23.3 meters away at (21.4, -9.1). A vehicle with ID 5 is 33.2 meters away at (24.7, -22.2). A vehicle with ID 1 is 33.6 meters away at (-22.6, 25.0). A vehicle with ID 6 is 41.0 meters away at (-32.9, 24.5). A unknown object with ID 27 is 41.4 meters away at (-35.5, 21.4). A vehicle with ID 43 is 61.4 meters away at (47.0, -39.4).", "velocity_description": "The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.79221    6.3911343] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.626587 -4.167578] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.9572601  5.683117 ], 6.010714054107666 meters away.)"}
{"file_name": "images/scenario_718_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.9) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 10.7 meters away at (-6.9, -8.1). A vehicle with ID 37 is 11.1 meters away at (11.1, -0.6). A pedestrian with ID 36 is 21.4 meters away at (-21.2, -2.7). A pedestrian with ID 15 is 23.5 meters away at (-15.1, 17.9). A vehicle with ID 39 is 25.3 meters away at (-14.5, -20.7). A vehicle with ID 40 is 31.6 meters away at (30.7, -7.3). A vehicle with ID 41 is 31.6 meters away at (-31.4, 3.7). A vehicle with ID 42 is 35.7 meters away at (26.4, -24.0). A vehicle with ID 43 is 36.1 meters away at (-35.7, 5.4). A vehicle with ID 44 is 38.4 meters away at (-33.8, 18.3).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.3695109 -0.6313612] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.58749264 1.4916934 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.6712858 1.2535121] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(174.3740234375, 54.60051345825195)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-6.949542  -8.1403675], 10.703351020812988 meters away.)"}
{"file_name": "images/scenario_718_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 3.4) m/s. Its current heading (yaw) is 2.09 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 13.4 meters away at (-0.1, -13.4). A pedestrian with ID 36 is 16.2 meters away at (-15.8, -3.6). A vehicle with ID 37 is 16.2 meters away at (15.5, -4.7). A pedestrian with ID 15 is 19.0 meters away at (-9.6, 16.4). A vehicle with ID 39 is 26.9 meters away at (-10.0, -25.0). A vehicle with ID 41 is 27.0 meters away at (-27.0, -0.7). A vehicle with ID 43 is 31.3 meters away at (-31.2, 1.0). A vehicle with ID 44 is 32.5 meters away at (-29.4, 14.0). A vehicle with ID 45 is 35.9 meters away at (-32.8, 14.5). A vehicle with ID 40 is 37.0 meters away at (35.2, -11.4).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.2832626  -0.46454537] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.46972355 1.7304863 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.51395273 1.3721504 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(174.3740234375, 54.60051345825195)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -0.12065125 -13.442306  ], 13.442846298217773 meters away.)"}
{"file_name": "images/scenario_718_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 6.5) m/s. Its current heading (yaw) is 1.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 11.2 meters away at (-7.2, 8.5). A pedestrian with ID 36 is 17.0 meters away at (-13.3, -10.6). A vehicle with ID 37 is 22.7 meters away at (16.7, -15.4). A pedestrian with ID 38 is 25.3 meters away at (3.5, -25.0). A vehicle with ID 41 is 28.0 meters away at (-25.7, -11.1). A vehicle with ID 44 is 28.2 meters away at (-27.9, 3.5). A vehicle with ID 43 is 31.4 meters away at (-29.9, -9.5). A vehicle with ID 39 is 36.6 meters away at (-8.9, -35.5). A vehicle with ID 35 is 43.3 meters away at (6.4, 42.8). A pedestrian with ID 13 is 54.0 meters away at (6.8, 53.6).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.56487745 1.2503972 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.45089674 1.6277665 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.1044585 -0.590376 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.8870161 1.9901539] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(174.3740234375, 54.60051345825195)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.2358613  8.510078 ], 11.17045783996582 meters away.)"}
{"file_name": "images/scenario_718_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.5) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 10.9 meters away at (-10.4, -3.3). A vehicle with ID 29 is 24.3 meters away at (23.1, 7.5). A pedestrian with ID 36 is 27.2 meters away at (-16.4, -21.7). A vehicle with ID 35 is 28.5 meters away at (2.3, 28.4). A vehicle with ID 16 is 28.7 meters away at (28.1, 5.7). A vehicle with ID 24 is 33.3 meters away at (33.1, 4.2). A pedestrian with ID 38 is 40.5 meters away at (1.9, -40.5). A pedestrian with ID 13 is 44.4 meters away at (4.4, 44.2). A vehicle with ID 1 is 49.5 meters away at (18.1, 46.0). A vehicle with ID 39 is 51.5 meters away at (-12.9, -49.9).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.45737138 1.3605019 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.5273292 1.6404616] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.3692231  -0.47936508] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.80073607 2.253052  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(174.3740234375, 54.60051345825195)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-10.427332   -3.2972279], 10.936222076416016 meters away.)"}
{"file_name": "images/scenario_719_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A cyclist with ID 16 is 3.0 meters away at (2.6, -1.4). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.4). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.0 meters away at (0.2, 10.0). A vehicle with ID 23 is 17.8 meters away at (-11.1, -13.9). A vehicle with ID 33 is 25.4 meters away at (3.9, 25.1). A pedestrian with ID 24 is 28.1 meters away at (6.4, 27.3). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A vehicle with ID 36 is 36.6 meters away at (23.0, -28.6). A unknown object with ID 34 is 51.5 meters away at (-51.2, 6.3).", "velocity_description": "The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.11248016 -2.2971895 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 4.125395  -3.2770183] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.247361  0.633637] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.5670474  1.2642211] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.707814   -22.857044  ]\n [  2.6974597  -13.601122  ]\n [ -0.54400074 -11.753649  ]\n [-15.777068   -22.809053  ]\n [ -3.6419795  -10.847614  ]\n [  4.666494   -13.34834   ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 2.6128707 -1.3944827], 2.9617013931274414 meters away.)"}
{"file_name": "images/scenario_719_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A cyclist with ID 16 is 4.9 meters away at (2.5, -4.3). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.4). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.1 meters away at (0.2, 10.1). A vehicle with ID 23 is 22.6 meters away at (-4.3, -22.2). A vehicle with ID 33 is 25.4 meters away at (3.9, 25.1). A vehicle with ID 36 is 32.8 meters away at (18.7, -27.0). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A unknown object with ID 38 is 52.6 meters away at (35.1, -39.2). A unknown object with ID 39 is 60.4 meters away at (41.0, -44.3).", "velocity_description": "The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.05036886 -0.5832887 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 2.2050295 -5.039087 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.1926087   0.38903132] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.707814   -22.857044  ]\n [  2.6974597  -13.601122  ]\n [ -0.54400074 -11.753649  ]\n [-15.777068   -22.809053  ]\n [ -3.6419795  -10.847614  ]\n [  4.666494   -13.34834   ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 2.4675362 -4.284005 ], 4.943828105926514 meters away.)"}
{"file_name": "images/scenario_719_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A cyclist with ID 16 is 5.1 meters away at (2.5, -4.4). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.5). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.0 meters away at (0.2, 10.0). A pedestrian with ID 19 is 21.9 meters away at (-20.8, 6.6). A vehicle with ID 33 is 25.5 meters away at (3.9, 25.2). A vehicle with ID 36 is 31.3 meters away at (16.9, -26.3). A vehicle with ID 23 is 33.4 meters away at (-3.1, -33.2). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A pedestrian with ID 12 is 40.4 meters away at (-38.8, 11.1).", "velocity_description": "The cyclist with ID 16 is traveling at a (x, y) velocity of [0.0121834  0.00892179] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.0853382  -0.33647147] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.7799168   0.61085117] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.8666136 -5.9719124] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.18495795 -1.3465618 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.707814   -22.857044  ]\n [  2.6974597  -13.601122  ]\n [ -0.54400074 -11.753649  ]\n [-15.777068   -22.809053  ]\n [ -3.6419795  -10.847614  ]\n [  4.666494   -13.34834   ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 2.463026 -4.422499], 5.0621137619018555 meters away.)"}
{"file_name": "images/scenario_719_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A cyclist with ID 16 is 5.1 meters away at (2.5, -4.4). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.5). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.1 meters away at (0.2, 10.1). A pedestrian with ID 19 is 19.7 meters away at (-18.8, 6.1). A vehicle with ID 33 is 25.5 meters away at (3.9, 25.2). A vehicle with ID 36 is 25.8 meters away at (9.8, -23.8). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A vehicle with ID 23 is 46.3 meters away at (-6.6, -45.8). A unknown object with ID 8 is 51.5 meters away at (-51.2, 6.3).", "velocity_description": "The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.01874764 -0.01456255] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.90705234 -0.24215677] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-4.9394855  1.8687271] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-2.3004513 -6.7766604] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.707814   -22.857044  ]\n [  2.6974597  -13.601122  ]\n [ -0.54400074 -11.753649  ]\n [-15.777068   -22.809053  ]\n [ -3.6419795  -10.847614  ]\n [  4.666494   -13.34834   ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 2.4717915 -4.425682 ], 5.0691633224487305 meters away.)"}
{"file_name": "images/scenario_720_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 6.0) m/s. Its current heading (yaw) is 2.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 125 is 5.7 meters away at (-5.4, -1.8). A pedestrian with ID 72 is 7.5 meters away at (7.4, 1.5). A pedestrian with ID 121 is 7.8 meters away at (7.0, 3.4). A vehicle with ID 117 is 8.3 meters away at (7.9, -2.6). A unknown object with ID 51 is 12.0 meters away at (12.0, 0.8). A unknown object with ID 82 is 12.5 meters away at (-12.3, -2.0). A unknown object with ID 122 is 12.9 meters away at (-1.2, -12.8). A pedestrian with ID 123 is 15.0 meters away at (-3.9, -14.5). A vehicle with ID 119 is 15.9 meters away at (1.8, -15.8). A vehicle with ID 13 is 20.4 meters away at (14.8, -14.1).", "velocity_description": "The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.1638877 -0.9356477] m/s.The pedestrian with ID 121 is traveling at a (x, y) velocity of [-1.0767876   0.87747663] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [ 0.57346874 -1.0635532 ] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-6.573231  6.175472] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 24.889809 -28.248531]\n [ 22.197903 -30.711342]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.3779793 -1.7626543], 5.659470558166504 meters away.)"}
{"file_name": "images/scenario_720_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 6.0) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 104 is 11.3 meters away at (-2.9, -10.9). A vehicle with ID 61 is 12.8 meters away at (-12.3, 3.5). A vehicle with ID 125 is 15.9 meters away at (7.8, -13.8). A unknown object with ID 37 is 16.8 meters away at (-16.4, 3.6). A pedestrian with ID 121 is 19.7 meters away at (18.6, -6.7). A unknown object with ID 86 is 20.5 meters away at (-19.4, 6.5). A vehicle with ID 13 is 20.8 meters away at (15.5, -13.9). A unknown object with ID 81 is 23.7 meters away at (21.8, -9.3). A unknown object with ID 36 is 24.3 meters away at (-22.4, 9.4). A vehicle with ID 67 is 25.1 meters away at (24.4, 5.8).", "velocity_description": "The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 5.363211  -5.4809427] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 121 is traveling at a (x, y) velocity of [-0.8453718   0.96053195] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-6.422656   5.9535856] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 24.889809 -28.248531]\n [ 22.197903 -30.711342]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -2.8707237 -10.921138 ], 11.292134284973145 meters away.)"}
{"file_name": "images/scenario_720_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 6.3) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A unknown object with ID 86 is 7.9 meters away at (-5.1, -6.0). A unknown object with ID 36 is 8.7 meters away at (-8.2, -3.1). A unknown object with ID 37 is 9.2 meters away at (-2.0, -9.0). A unknown object with ID 47 is 11.3 meters away at (-11.3, -0.2). A pedestrian with ID 29 is 14.0 meters away at (-2.7, 13.7). A unknown object with ID 53 is 14.6 meters away at (-14.4, 2.6). A pedestrian with ID 40 is 15.4 meters away at (-15.0, -3.7). A vehicle with ID 61 is 20.6 meters away at (10.8, -17.5). A unknown object with ID 44 is 20.9 meters away at (-12.6, 16.7). A vehicle with ID 13 is 22.2 meters away at (16.9, -14.5).", "velocity_description": "The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1692319  1.2290126] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.0347817 -1.0035672] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 3.318887  -3.1491392] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-6.7684045  6.0537467] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-5.1268845 -6.005989 ], 7.89663553237915 meters away.)"}
{"file_name": "images/scenario_720_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 6.7) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 9.1 meters away at (2.8, 8.6). A vehicle with ID 50 is 9.6 meters away at (3.1, -9.1). A pedestrian with ID 29 is 10.5 meters away at (10.0, 3.2). A unknown object with ID 53 is 10.6 meters away at (0.7, -10.6). A vehicle with ID 25 is 12.4 meters away at (-12.3, -1.2). A unknown object with ID 47 is 14.0 meters away at (3.9, -13.4). A pedestrian with ID 84 is 14.9 meters away at (-14.2, -4.3). A vehicle with ID 76 is 16.7 meters away at (-7.4, -14.9). A unknown object with ID 36 is 17.8 meters away at (7.1, -16.3). A pedestrian with ID 40 is 18.5 meters away at (2.2, -18.4).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.9245783 -1.219304 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 7.3624396 -7.0691123] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.2642192  1.0735309] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-1.0438361  0.9290389] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.90159714 -0.9612234 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [2.781437 8.641495], 9.078095436096191 meters away.)"}
{"file_name": "images/scenario_721_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.5) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A cyclist with ID 6 is 16.9 meters away at (13.7, -9.8). A vehicle with ID 26 is 19.1 meters away at (10.0, 16.3). A unknown object with ID 18 is 42.1 meters away at (35.8, -22.2). A vehicle with ID 24 is 71.1 meters away at (43.3, -56.3).", "velocity_description": "The cyclist with ID 6 is traveling at a (x, y) velocity of [-7.026708   7.7223024] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [5.8750095 3.9648957] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-7.1323028 12.662539 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [13.695702 -9.84179 ], 16.865144729614258 meters away.)"}
{"file_name": "images/scenario_721_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.9) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A cyclist with ID 6 is 13.9 meters away at (11.9, -7.2). A vehicle with ID 26 is 36.7 meters away at (32.0, 17.9). A unknown object with ID 15 is 37.3 meters away at (29.3, -23.1). A vehicle with ID 24 is 60.3 meters away at (45.7, -39.3).", "velocity_description": "The cyclist with ID 6 is traveling at a (x, y) velocity of [-7.882945   4.8312755] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [2.1189222 7.1884875] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.6872   14.217902] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [11.862131  -7.1999445], 13.876215934753418 meters away.)"}
{"file_name": "images/scenario_721_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 4.5) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A cyclist with ID 6 is 12.9 meters away at (10.6, -7.3). A vehicle with ID 24 is 56.5 meters away at (53.3, -18.9).", "velocity_description": "The cyclist with ID 6 is traveling at a (x, y) velocity of [-8.0112295  4.9732895] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.6074272 15.127777 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [10.620764  -7.3117847], 12.894293785095215 meters away.)"}
{"file_name": "images/scenario_721_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 4.1) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A cyclist with ID 6 is 10.2 meters away at (8.4, -5.9). A unknown object with ID 25 is 61.3 meters away at (-54.5, 28.0). A vehicle with ID 19 is 79.5 meters away at (66.8, -43.1).", "velocity_description": "The cyclist with ID 6 is traveling at a (x, y) velocity of [-7.2565284  4.5904765] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.2935805 13.739266 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 8.373631 -5.889311], 10.237268447875977 meters away.)"}
{"file_name": "images/scenario_722_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -5.7) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 23.9 meters away at (23.5, 3.9). A vehicle with ID 36 is 29.6 meters away at (28.1, 9.1). A vehicle with ID 37 is 35.8 meters away at (27.7, 22.8). A vehicle with ID 34 is 45.8 meters away at (-45.8, 2.5). A unknown object with ID 25 is 48.4 meters away at (-32.7, -35.6). A pedestrian with ID 21 is 62.2 meters away at (-57.1, 24.6). A pedestrian with ID 7 is 63.7 meters away at (51.2, -37.9). A vehicle with ID 38 is 69.8 meters away at (-67.3, 18.5). A vehicle with ID 40 is 73.9 meters away at (-51.5, 53.0).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-2.1777048  3.1506748] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.0285837  -0.02949996] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2210579   0.73829186] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-38.73216247558594, -211.31155395507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [23.540958   3.8655062], 23.856212615966797 meters away.)"}
{"file_name": "images/scenario_722_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -5.6) m/s. Its current heading (yaw) is -0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 18.4 meters away at (10.1, 15.3). A vehicle with ID 36 is 25.3 meters away at (14.8, 20.6). A pedestrian with ID 7 is 43.1 meters away at (35.1, -25.2). A vehicle with ID 34 is 64.3 meters away at (-60.4, 22.0). A unknown object with ID 17 is 65.9 meters away at (32.3, -57.5).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2854886  0.7528114] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [1.5389087 4.5600224] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-38.73216247558594, -211.31155395507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.098913 15.327849], 18.355680465698242 meters away.)"}
{"file_name": "images/scenario_722_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.4) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 22.1 meters away at (17.4, -13.6). A vehicle with ID 35 is 26.1 meters away at (-4.9, 25.6). A unknown object with ID 17 is 50.3 meters away at (17.2, -47.3). A vehicle with ID 24 is 56.3 meters away at (41.1, -38.5). A unknown object with ID 19 is 64.6 meters away at (61.7, -19.1). A vehicle with ID 3 is 67.1 meters away at (65.5, -14.6). A vehicle with ID 28 is 70.2 meters away at (-70.2, 2.8). A vehicle with ID 16 is 70.5 meters away at (61.3, -34.8). A vehicle with ID 34 is 80.5 meters away at (-69.7, 40.3).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2906433   0.68065315] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.5227394 -5.1258903] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-7.806584   1.3157727] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [3.5339015 3.7133718] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 99.095924 -56.009205]\n [101.01472  -57.393436]]", "nav_goal": "(-38.73216247558594, -211.31155395507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 17.414295 -13.617603], 22.106487274169922 meters away.)"}
{"file_name": "images/scenario_722_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.0) m/s. Its current heading (yaw) is -0.46 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 4.7 meters away at (-1.6, -4.4). A pedestrian with ID 11 is 28.3 meters away at (-20.2, -19.9). A unknown object with ID 17 is 39.2 meters away at (0.8, -39.2). A vehicle with ID 16 is 40.6 meters away at (28.5, -28.9). A vehicle with ID 24 is 44.9 meters away at (11.3, -43.5). A vehicle with ID 3 is 49.5 meters away at (49.1, -6.4). A cyclist with ID 5 is 57.7 meters away at (50.9, -27.2). A pedestrian with ID 4 is 61.6 meters away at (-9.7, -60.8).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2435304  0.5258691] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.4011836   0.05835568] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-8.056633 -4.270701] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.981782 -7.584952] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-3.664246   3.7609198] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [1.0809697 1.2044833] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 99.095924 -56.009205]\n [101.01472  -57.393436]]", "nav_goal": "(-38.73216247558594, -211.31155395507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-1.6239471 -4.406353 ], 4.696078300476074 meters away.)"}
{"file_name": "images/scenario_723_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 118 is 9.9 meters away at (-0.0, -9.9). A vehicle with ID 120 is 11.2 meters away at (-4.0, -10.4). A vehicle with ID 116 is 12.6 meters away at (7.0, -10.4). A pedestrian with ID 60 is 13.5 meters away at (-8.7, 10.4). A vehicle with ID 115 is 14.8 meters away at (10.9, -10.1). A vehicle with ID 113 is 17.3 meters away at (14.1, -10.0). A vehicle with ID 112 is 23.8 meters away at (21.1, -10.9). A unknown object with ID 65 is 25.8 meters away at (25.6, 2.7). A unknown object with ID 101 is 27.8 meters away at (27.6, 2.7). A vehicle with ID 114 is 27.9 meters away at (26.0, -10.1).", "velocity_description": "The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-255.37066650390625, 47.034305572509766)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.04904175e-04 -9.87332630e+00], 9.873326301574707 meters away.)"}
{"file_name": "images/scenario_723_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A pedestrian with ID 60 is 14.4 meters away at (9.9, 10.4). A vehicle with ID 120 is 18.0 meters away at (14.5, -10.6). A vehicle with ID 110 is 19.9 meters away at (-16.6, -11.0). A vehicle with ID 118 is 21.1 meters away at (18.6, -10.0). A unknown object with ID 89 is 23.1 meters away at (23.0, 2.8). A unknown object with ID 83 is 26.9 meters away at (26.8, 2.8). A vehicle with ID 116 is 27.7 meters away at (25.7, -10.4). A unknown object with ID 84 is 27.8 meters away at (27.7, 2.8). A unknown object with ID 37 is 28.9 meters away at (28.7, 2.8). A unknown object with ID 108 is 29.7 meters away at (29.6, 2.8).", "velocity_description": "The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.00250303  0.01922289] m/s.The vehicle with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-255.37066650390625, 47.034305572509766)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 9.930372 10.35986 ], 14.350574493408203 meters away.)"}
{"file_name": "images/scenario_723_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 110 is 11.3 meters away at (1.3, -11.2). A vehicle with ID 111 is 20.7 meters away at (-16.5, -12.4). A vehicle with ID 43 is 23.8 meters away at (-20.2, -12.5). A unknown object with ID 61 is 24.3 meters away at (24.2, 2.8). A unknown object with ID 107 is 26.2 meters away at (26.0, 2.8). A vehicle with ID 23 is 26.3 meters away at (-23.4, -11.9). A unknown object with ID 46 is 28.2 meters away at (28.0, 2.7). A vehicle with ID 22 is 29.9 meters away at (-27.5, -11.6). A vehicle with ID 20 is 33.9 meters away at (-31.6, -12.2). A vehicle with ID 120 is 34.3 meters away at (32.5, -10.7).", "velocity_description": "The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-255.37066650390625, 47.034305572509766)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  1.3452835 -11.169415 ], 11.250139236450195 meters away.)"}
{"file_name": "images/scenario_723_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 111 is 12.5 meters away at (1.0, -12.4). A vehicle with ID 43 is 12.8 meters away at (-2.8, -12.5). A vehicle with ID 23 is 13.3 meters away at (-6.0, -11.9). A vehicle with ID 22 is 15.4 meters away at (-10.0, -11.6). A vehicle with ID 20 is 18.7 meters away at (-14.1, -12.3). A unknown object with ID 55 is 19.6 meters away at (19.5, 2.8). A vehicle with ID 110 is 22.0 meters away at (18.9, -11.2). A vehicle with ID 99 is 25.1 meters away at (-22.0, -12.1). A vehicle with ID 103 is 26.3 meters away at (-24.9, 8.3). A vehicle with ID 19 is 27.8 meters away at (-25.2, -11.6).", "velocity_description": "The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-255.37066650390625, 47.034305572509766)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  0.9634552 -12.44692  ], 12.484152793884277 meters away.)"}
{"file_name": "images/scenario_724_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -3.5) m/s. Its current heading (yaw) is -0.92 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_724_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -5.0) m/s. Its current heading (yaw) is -1.05 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_724_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -5.0) m/s. Its current heading (yaw) is -0.85 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_724_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -5.4) m/s. Its current heading (yaw) is -0.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 29.9 meters away at (11.9, -27.4). A unknown object with ID 1 is 40.2 meters away at (20.0, -34.9). A unknown object with ID 2 is 42.9 meters away at (-7.0, 42.3).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 11.886759 -27.405952], 29.872751235961914 meters away.)"}
{"file_name": "images/scenario_725_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 7.0) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 14.6 meters away at (1.8, -14.4). A vehicle with ID 11 is 21.4 meters away at (4.4, -20.9). A vehicle with ID 12 is 28.8 meters away at (7.2, -27.9). A vehicle with ID 16 is 65.4 meters away at (21.1, -61.9). A pedestrian with ID 17 is 70.9 meters away at (29.9, -64.3). A pedestrian with ID 18 is 71.6 meters away at (29.4, -65.3). A vehicle with ID 19 is 78.5 meters away at (27.4, -73.6). A vehicle with ID 20 is 80.1 meters away at (30.9, -73.9).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.02133672 -0.01715423] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.09593015 0.02130184] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.10322905  0.4713659 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-78.92933654785156, -3.998708963394165)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  1.8265941 -14.44876  ], 14.563759803771973 meters away.)"}
{"file_name": "images/scenario_725_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.8) m/s. Its current heading (yaw) is 1.95 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 30.3 meters away at (7.9, -29.2). A vehicle with ID 11 is 37.2 meters away at (10.4, -35.7). A vehicle with ID 12 is 44.7 meters away at (13.3, -42.7).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-78.92933654785156, -3.998708963394165)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  7.9145145 -29.247793 ], 30.299718856811523 meters away.)"}
{"file_name": "images/scenario_725_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.9) m/s. Its current heading (yaw) is 1.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 47.0 meters away at (14.3, -44.8).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-78.92933654785156, -3.998708963394165)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 14.346487 -44.793236], 47.03462219238281 meters away.)"}
{"file_name": "images/scenario_725_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 8.1) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 64.2 meters away at (20.9, -60.7).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-78.92933654785156, -3.998708963394165)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 20.930798 -60.680027], 64.18850708007812 meters away.)"}
{"file_name": "images/scenario_726_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -7.8) m/s. Its current heading (yaw) is -1.78 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 14.3 meters away at (-11.1, -9.0). A unknown object with ID 19 is 18.3 meters away at (-11.7, -14.0). A unknown object with ID 16 is 26.2 meters away at (-5.0, 25.7). A pedestrian with ID 17 is 28.9 meters away at (-9.9, 27.2). A pedestrian with ID 5 is 52.9 meters away at (-3.7, -52.8).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00333107  0.06638758] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.0207163  -0.00678513] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-11.149336  -8.960421], 14.30373477935791 meters away.)"}
{"file_name": "images/scenario_726_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -5.2) m/s. Its current heading (yaw) is -1.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 9.6 meters away at (-9.5, -1.0). A unknown object with ID 18 is 9.8 meters away at (-8.9, 4.0). A pedestrian with ID 5 is 39.7 meters away at (-1.4, -39.7).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.01610612 -0.05678621] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.504082   -0.95425797], 9.551867485046387 meters away.)"}
{"file_name": "images/scenario_726_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -3.5) m/s. Its current heading (yaw) is -1.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 3.5 meters away at (3.0, -1.8). A unknown object with ID 19 is 11.1 meters away at (-8.4, 7.3). A unknown object with ID 18 is 14.6 meters away at (-7.8, 12.3). A pedestrian with ID 5 is 31.5 meters away at (-0.3, -31.5).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.0072541  0.002179 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.9865947 -1.7544403], 3.463785171508789 meters away.)"}
{"file_name": "images/scenario_726_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -5.0) m/s. Its current heading (yaw) is -1.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 12.1 meters away at (-4.3, 11.3). A unknown object with ID 19 is 17.2 meters away at (-7.3, 15.5). A unknown object with ID 18 is 21.6 meters away at (-6.7, 20.6). A pedestrian with ID 5 is 23.2 meters away at (0.8, -23.2). A unknown object with ID 9 is 37.8 meters away at (-1.6, 37.8).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.01437    0.01580773] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-4.3082   11.276089], 12.07107162475586 meters away.)"}
{"file_name": "images/scenario_727_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 4.2) m/s. Its current heading (yaw) is 2.67 ", "actor_description": " The most relevant actors are: A unknown object with ID 74 is 18.0 meters away at (0.7, 18.0). A unknown object with ID 75 is 20.8 meters away at (-4.6, 20.3). A unknown object with ID 78 is 21.2 meters away at (-6.2, 20.3). A unknown object with ID 51 is 22.1 meters away at (-3.9, 21.8). A pedestrian with ID 73 is 22.7 meters away at (14.1, 17.8). A unknown object with ID 79 is 23.2 meters away at (-5.5, 22.5). A pedestrian with ID 72 is 28.7 meters away at (26.4, 11.2). A unknown object with ID 69 is 33.7 meters away at (26.0, -21.5). A unknown object with ID 70 is 35.0 meters away at (27.8, -21.4). A pedestrian with ID 86 is 41.5 meters away at (-40.0, 10.9).", "velocity_description": "The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-2.8404374  1.0518984] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.3475562   0.53590214] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.01563646  0.00986694] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 44.745872   -4.279062 ]\n [ 44.862957   -4.058175 ]\n [ 33.95808   -15.615429 ]\n [ 37.274357  -16.8027   ]\n [ 44.966022   -4.3901935]\n [ 37.835815  -17.121468 ]\n [ 37.620052  -16.982801 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 0.71633816 18.002567  ], 18.016813278198242 meters away.)"}
{"file_name": "images/scenario_727_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 3.9) m/s. Its current heading (yaw) is 2.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 63 is 9.2 meters away at (-8.9, -2.1). A unknown object with ID 33 is 14.2 meters away at (-14.2, -0.8). A unknown object with ID 60 is 15.0 meters away at (8.9, 12.0). A unknown object with ID 78 is 16.0 meters away at (10.7, 11.9). A unknown object with ID 38 is 16.9 meters away at (9.3, 14.1). A unknown object with ID 75 is 17.2 meters away at (12.3, 12.0). A unknown object with ID 79 is 18.2 meters away at (11.5, 14.2). A unknown object with ID 51 is 18.8 meters away at (13.0, 13.5). A unknown object with ID 74 is 20.1 meters away at (17.6, 9.7). A pedestrian with ID 86 is 23.2 meters away at (-23.0, 2.5).", "velocity_description": "The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.0383932  -0.00932256] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.935703  -2.1074286], 9.180851936340332 meters away.)"}
{"file_name": "images/scenario_727_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.8) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A pedestrian with ID 86 is 7.9 meters away at (-5.9, -5.2). A pedestrian with ID 88 is 8.7 meters away at (-8.1, -3.2). A unknown object with ID 33 is 9.0 meters away at (3.0, -8.5). A unknown object with ID 63 is 12.8 meters away at (8.2, -9.8). A pedestrian with ID 24 is 37.3 meters away at (-36.2, 8.8). A pedestrian with ID 47 is 51.0 meters away at (-34.9, 37.2). A unknown object with ID 6 is 71.1 meters away at (-67.6, 22.3). A unknown object with ID 34 is 71.3 meters away at (-68.4, 20.1). A unknown object with ID 37 is 72.6 meters away at (-68.5, 24.0). A unknown object with ID 1 is 74.8 meters away at (-71.0, 23.7).", "velocity_description": "The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.01811565 -0.00458645] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.02519529 -0.02950484] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.4726408 0.8132551] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 1.1069535  -0.49810678] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.894081  -5.1944103], 7.8563408851623535 meters away.)"}
{"file_name": "images/scenario_727_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, 4.0) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A pedestrian with ID 88 is 14.6 meters away at (9.5, -11.1). A pedestrian with ID 86 is 17.7 meters away at (11.9, -13.1). A pedestrian with ID 24 is 18.1 meters away at (-18.0, 1.3). A pedestrian with ID 40 is 23.1 meters away at (-2.4, 23.0). A pedestrian with ID 39 is 23.9 meters away at (-2.5, 23.8). A unknown object with ID 33 is 26.4 meters away at (20.8, -16.4). A unknown object with ID 63 is 31.5 meters away at (26.0, -17.7). A pedestrian with ID 47 is 35.1 meters away at (-16.8, 30.8). A unknown object with ID 67 is 35.2 meters away at (-22.2, 27.3). A pedestrian with ID 49 is 41.3 meters away at (-14.0, 38.8).", "velocity_description": "The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.05814135 -0.03253426] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.00336276 -0.00821162] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00728476  0.00376133] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.045424    0.41432315] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.95360345  0.3161534 ] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.5770743  0.69495654] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.78563213 0.29592505] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  9.537491 -11.052179], 14.598438262939453 meters away.)"}
{"file_name": "images/scenario_728_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.3) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 86 is 8.8 meters away at (8.4, -2.6). A vehicle with ID 84 is 14.2 meters away at (12.8, -6.3). A vehicle with ID 87 is 20.1 meters away at (17.4, -10.0). A unknown object with ID 33 is 24.3 meters away at (-17.0, 17.3). A unknown object with ID 94 is 24.5 meters away at (-16.1, 18.5). A vehicle with ID 89 is 26.5 meters away at (22.3, -14.2). A vehicle with ID 90 is 33.6 meters away at (27.9, -18.7). A vehicle with ID 65 is 35.7 meters away at (-33.3, -12.7). A vehicle with ID 92 is 40.0 meters away at (18.7, -35.4). A vehicle with ID 91 is 40.0 meters away at (32.7, -23.0).", "velocity_description": "The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 0.6424889  -0.39212376] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-228.1730499267578, 45.49495315551758)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.445086  -2.5925493], 8.83406925201416 meters away.)"}
{"file_name": "images/scenario_728_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 3.7) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 11.9 meters away at (-7.5, 9.3). A unknown object with ID 94 is 12.4 meters away at (-6.6, 10.5). A unknown object with ID 47 is 14.7 meters away at (-7.7, 12.5). A vehicle with ID 86 is 20.8 meters away at (17.9, -10.5). A vehicle with ID 84 is 26.5 meters away at (22.3, -14.3). A unknown object with ID 46 is 29.2 meters away at (-15.2, 25.0). A vehicle with ID 65 is 31.4 meters away at (-23.5, -20.9). A vehicle with ID 87 is 32.5 meters away at (27.0, -18.0). A pedestrian with ID 85 is 37.9 meters away at (-31.3, 21.3). A vehicle with ID 89 is 38.9 meters away at (31.9, -22.2).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.0513936  -0.82123935] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-228.1730499267578, 45.49495315551758)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-7.4531956  9.338741 ], 11.94831371307373 meters away.)"}
{"file_name": "images/scenario_728_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 2.3) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 3.5 meters away at (-0.4, 3.5). A unknown object with ID 94 is 4.7 meters away at (0.5, 4.6). A unknown object with ID 47 is 6.5 meters away at (-0.7, 6.5). A unknown object with ID 46 is 20.7 meters away at (-8.0, 19.1). A pedestrian with ID 85 is 29.5 meters away at (-26.2, 13.4). A vehicle with ID 86 is 30.0 meters away at (25.1, -16.5). A unknown object with ID 83 is 31.0 meters away at (-21.2, 22.6). A vehicle with ID 65 is 31.4 meters away at (-16.3, -26.9). A vehicle with ID 26 is 33.0 meters away at (-33.0, 0.7). A pedestrian with ID 38 is 33.5 meters away at (-11.2, -31.6).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.0177233 -1.0035394] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.41230926 1.0738587 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-228.1730499267578, 45.49495315551758)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.35441017  3.4649487 ], 3.4830267429351807 meters away.)"}
{"file_name": "images/scenario_728_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.6) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 3.1 meters away at (3.0, 0.7). A unknown object with ID 94 is 4.4 meters away at (3.9, 1.8). A unknown object with ID 83 is 26.7 meters away at (-17.8, 19.8). A pedestrian with ID 85 is 26.7 meters away at (-25.2, 8.7). A vehicle with ID 26 is 29.7 meters away at (-29.6, -2.2). A unknown object with ID 77 is 30.6 meters away at (-28.2, 11.9). A unknown object with ID 57 is 30.6 meters away at (-20.9, 22.4). A vehicle with ID 65 is 32.4 meters away at (-12.9, -29.7). A pedestrian with ID 38 is 32.9 meters away at (-6.7, -32.2). A pedestrian with ID 69 is 33.2 meters away at (-5.9, -32.7).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.1248761  -0.97551125] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.61955786 1.0361187 ] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.66436666 1.065438  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-228.1730499267578, 45.49495315551758)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [2.9895191 0.6703968], 3.063765048980713 meters away.)"}
{"file_name": "images/scenario_729_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.9) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 6.8 meters away at (-1.4, 6.6). A vehicle with ID 46 is 11.1 meters away at (-8.5, 7.1). A vehicle with ID 53 is 12.5 meters away at (-6.1, 10.9). A vehicle with ID 56 is 19.7 meters away at (-15.1, 12.7). A vehicle with ID 63 is 21.8 meters away at (-18.4, -11.8). A vehicle with ID 65 is 24.4 meters away at (-19.9, -14.2). A vehicle with ID 62 is 27.2 meters away at (-21.9, -16.1). A vehicle with ID 77 is 28.1 meters away at (-11.1, -25.8). A vehicle with ID 51 is 29.0 meters away at (22.0, -18.9). A vehicle with ID 55 is 29.8 meters away at (25.1, -16.0).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-0.3833402   0.30189338] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.67946434  0.57782847] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-4.3761716  3.7789152] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.414492  22.44757 ]\n [-23.831785  24.479546]]", "nav_goal": "(27.828535079956055, 224.37718200683594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.3570523  6.6437216], 6.780901908874512 meters away.)"}
{"file_name": "images/scenario_729_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.3) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 5.9 meters away at (-0.5, 5.8). A vehicle with ID 46 is 10.8 meters away at (-8.3, 6.9). A vehicle with ID 53 is 11.3 meters away at (-5.2, 10.1). A vehicle with ID 51 is 20.9 meters away at (15.9, -13.7). A vehicle with ID 63 is 21.5 meters away at (-17.4, -12.7). A vehicle with ID 56 is 22.7 meters away at (-17.4, 14.6). A vehicle with ID 65 is 24.3 meters away at (-19.1, -14.9). A vehicle with ID 62 is 27.0 meters away at (-21.1, -16.9). A vehicle with ID 77 is 28.6 meters away at (-10.1, -26.7). A vehicle with ID 55 is 31.0 meters away at (26.1, -16.8).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-0.3526485   0.32230097] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.3286302  1.9570441] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-2.9654164  2.380851 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.802002  21.676853]\n [-37.85452   19.058104]\n [-23.831785  24.479546]]", "nav_goal": "(27.828535079956055, 224.37718200683594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.46492624  5.838212  ], 5.856695175170898 meters away.)"}
{"file_name": "images/scenario_729_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 1.1) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 4.6 meters away at (1.1, 4.5). A vehicle with ID 53 is 9.5 meters away at (-3.7, 8.8). A vehicle with ID 46 is 11.8 meters away at (-9.0, 7.6). A vehicle with ID 51 is 18.5 meters away at (14.1, -12.1). A vehicle with ID 63 is 21.2 meters away at (-16.0, -13.9). A vehicle with ID 65 is 23.9 meters away at (-17.5, -16.3). A vehicle with ID 62 is 26.8 meters away at (-19.7, -18.1). A vehicle with ID 28 is 28.9 meters away at (-27.1, 10.1). A vehicle with ID 77 is 29.3 meters away at (-8.7, -28.0). A vehicle with ID 56 is 31.9 meters away at (-24.6, 20.3).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.107111   1.9422512] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-1.3050095  1.1122211] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 9.399703 -8.074002] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-4.568516   3.6993039] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.995153  28.428364]\n [-29.38199   30.141071]\n [-28.063786  28.792574]]", "nav_goal": "(27.828535079956055, 224.37718200683594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.0603395 4.523204 ], 4.645825386047363 meters away.)"}
{"file_name": "images/scenario_729_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.4) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 5.2 meters away at (5.1, 1.1). A vehicle with ID 53 is 5.3 meters away at (0.3, 5.3). A vehicle with ID 36 is 7.0 meters away at (-1.3, -6.9). A vehicle with ID 28 is 10.2 meters away at (-4.4, -9.2). A vehicle with ID 46 is 15.6 meters away at (-11.9, 10.1). A vehicle with ID 51 is 20.6 meters away at (15.6, -13.5). A vehicle with ID 63 is 21.1 meters away at (-11.9, -17.4). A vehicle with ID 65 is 23.9 meters away at (-13.6, -19.7). A vehicle with ID 1 is 24.0 meters away at (-5.3, 23.4). A vehicle with ID 5 is 29.5 meters away at (-12.5, 26.7).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [11.577806 -9.907532] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 9.310005  -7.9446425] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.424352  3.859639] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-1.333223   1.1517456] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.3203094 -1.8641847] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.995153  28.428364]\n [-29.38199   30.141071]\n [-28.063786  28.792574]]", "nav_goal": "(27.828535079956055, 224.37718200683594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.050887  1.0970488], 5.16865348815918 meters away.)"}
{"file_name": "images/scenario_730_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.1) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A unknown object with ID 40 is 4.7 meters away at (-2.9, -3.7). A vehicle with ID 42 is 10.7 meters away at (-3.3, -10.2). A unknown object with ID 24 is 11.5 meters away at (8.6, 7.6). A unknown object with ID 53 is 18.4 meters away at (-9.6, -15.7). A cyclist with ID 64 is 18.8 meters away at (3.1, 18.6). A unknown object with ID 55 is 19.1 meters away at (-9.8, -16.4). A unknown object with ID 43 is 20.3 meters away at (-9.9, -17.7). A unknown object with ID 44 is 20.7 meters away at (-10.3, -17.9). A vehicle with ID 46 is 24.2 meters away at (3.1, -24.0). A pedestrian with ID 69 is 24.8 meters away at (4.0, 24.4).", "velocity_description": "The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.505846  1.3612853] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.17756057 1.2593203 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-115.56536865234375, 77.9960708618164)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.9454317 -3.7143128], 4.740431308746338 meters away.)"}
{"file_name": "images/scenario_730_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 10.0 meters away at (-3.1, -9.5). A unknown object with ID 43 is 19.7 meters away at (-9.9, -17.1). A pedestrian with ID 33 is 19.9 meters away at (4.3, 19.5). A unknown object with ID 44 is 20.1 meters away at (-10.2, -17.3). A cyclist with ID 64 is 22.6 meters away at (4.5, 22.1). A vehicle with ID 46 is 23.7 meters away at (3.3, -23.4). A pedestrian with ID 69 is 28.4 meters away at (4.9, 28.0). A pedestrian with ID 70 is 28.6 meters away at (5.5, 28.1). A vehicle with ID 50 is 33.4 meters away at (-2.6, -33.3). A vehicle with ID 52 is 34.3 meters away at (2.3, -34.2).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00504623  0.07277264] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.5851159 1.8245198] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.31214136 1.3630385 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.54277855 1.5188822 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-115.56536865234375, 77.9960708618164)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.0836554 -9.5413475], 10.027275085449219 meters away.)"}
{"file_name": "images/scenario_730_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 10.0 meters away at (-3.1, -9.5). A unknown object with ID 43 is 19.6 meters away at (-9.8, -17.0). A unknown object with ID 44 is 20.0 meters away at (-10.1, -17.2). A vehicle with ID 46 is 23.6 meters away at (3.4, -23.4). A cyclist with ID 64 is 26.6 meters away at (6.0, 26.0). A pedestrian with ID 70 is 31.8 meters away at (6.7, 31.1). A pedestrian with ID 69 is 31.9 meters away at (6.4, 31.2). A vehicle with ID 50 is 33.3 meters away at (-2.6, -33.2). A vehicle with ID 52 is 34.2 meters away at (2.3, -34.1). A vehicle with ID 54 is 35.3 meters away at (5.6, -34.8).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.72053653 1.9646429 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.61574274 1.3691597 ] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.5860239 1.45635  ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-115.56536865234375, 77.9960708618164)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.051305  -9.4807415], 9.959665298461914 meters away.)"}
{"file_name": "images/scenario_730_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 9.8 meters away at (-3.0, -9.4). A unknown object with ID 43 is 19.5 meters away at (-9.8, -16.8). A unknown object with ID 44 is 19.9 meters away at (-10.1, -17.2). A vehicle with ID 46 is 23.5 meters away at (3.3, -23.2). A unknown object with ID 1 is 25.9 meters away at (-11.9, -23.1). A vehicle with ID 6 is 29.4 meters away at (-18.5, -22.8). A cyclist with ID 64 is 30.9 meters away at (7.1, 30.0). A vehicle with ID 50 is 33.2 meters away at (-2.6, -33.1). A vehicle with ID 52 is 34.0 meters away at (2.2, -34.0). A pedestrian with ID 69 is 34.8 meters away at (8.5, 33.7).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.4448119 2.1850505] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.5790717 1.4694313] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.111307 36.348095]\n [15.626005 37.512257]\n [18.09145  35.867836]]", "nav_goal": "(-115.56536865234375, 77.9960708618164)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.0306005 -9.3636265], 9.841851234436035 meters away.)"}
{"file_name": "images/scenario_731_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 0.0) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 14.3 meters away at (-7.9, -11.9). A unknown object with ID 37 is 14.7 meters away at (-9.9, -10.9). A unknown object with ID 38 is 15.5 meters away at (-11.6, -10.3). A unknown object with ID 43 is 17.0 meters away at (-14.0, -9.5). A unknown object with ID 39 is 17.0 meters away at (-11.6, -12.4). A unknown object with ID 52 is 18.5 meters away at (-16.3, -8.9). A unknown object with ID 40 is 18.8 meters away at (-12.2, -14.3). A unknown object with ID 42 is 20.7 meters away at (-13.7, -15.5). A unknown object with ID 44 is 21.4 meters away at (-15.5, -14.8). A unknown object with ID 57 is 21.4 meters away at (-16.9, -13.2).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(48.33954620361328, -107.17285919189453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -7.9052424 -11.869506 ], 14.261066436767578 meters away.)"}
{"file_name": "images/scenario_731_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -1.2) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 18.1 meters away at (-14.1, -11.3). A unknown object with ID 37 is 19.2 meters away at (-16.2, -10.3). A unknown object with ID 38 is 20.4 meters away at (-17.8, -9.8). A unknown object with ID 39 is 21.4 meters away at (-17.9, -11.8). A unknown object with ID 43 is 22.2 meters away at (-20.3, -9.0). A unknown object with ID 40 is 22.9 meters away at (-18.4, -13.7). A unknown object with ID 13 is 23.0 meters away at (-18.5, -13.8). A unknown object with ID 52 is 24.0 meters away at (-22.5, -8.3). A unknown object with ID 42 is 24.9 meters away at (-19.9, -15.0). A unknown object with ID 44 is 25.9 meters away at (-21.7, -14.2).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(48.33954620361328, -107.17285919189453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-14.139039 -11.271106], 18.08176612854004 meters away.)"}
{"file_name": "images/scenario_731_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -3.4) m/s. Its current heading (yaw) is -1.26 ", "actor_description": " The most relevant actors are: A pedestrian with ID 31 is 15.1 meters away at (9.0, -12.1). A unknown object with ID 5 is 19.6 meters away at (-18.3, -6.8). A unknown object with ID 37 is 21.2 meters away at (-20.3, -5.9). A unknown object with ID 38 is 22.7 meters away at (-22.0, -5.3). A unknown object with ID 39 is 23.2 meters away at (-22.0, -7.3). A unknown object with ID 40 is 24.4 meters away at (-22.6, -9.1). A unknown object with ID 43 is 24.9 meters away at (-24.5, -4.5). A unknown object with ID 42 is 26.3 meters away at (-24.1, -10.5). A unknown object with ID 52 is 27.0 meters away at (-26.7, -3.8). A unknown object with ID 44 is 27.6 meters away at (-25.9, -9.7).", "velocity_description": "The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.23805259  0.06918532] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(48.33954620361328, -107.17285919189453)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  9.038553 -12.051952], 15.06469440460205 meters away.)"}
{"file_name": "images/scenario_731_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -4.4) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 31 is 10.3 meters away at (9.4, -4.1). A unknown object with ID 5 is 18.0 meters away at (-18.0, 1.2). A unknown object with ID 37 is 20.1 meters away at (-20.0, 2.1). A unknown object with ID 39 is 21.7 meters away at (-21.7, 0.7). A unknown object with ID 38 is 21.9 meters away at (-21.7, 2.8). A unknown object with ID 40 is 22.3 meters away at (-22.3, -1.1). A unknown object with ID 42 is 24.0 meters away at (-23.9, -2.4). A unknown object with ID 43 is 24.4 meters away at (-24.1, 3.5). A unknown object with ID 44 is 25.8 meters away at (-25.7, -1.5). A unknown object with ID 52 is 26.7 meters away at (-26.3, 4.2).", "velocity_description": "The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.0331758 -0.0199202] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(48.33954620361328, -107.17285919189453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 9.421093  -4.1359034], 10.288959503173828 meters away.)"}
{"file_name": "images/scenario_732_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 9.8) m/s. Its current heading (yaw) is 1.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 50.6 meters away at (13.5, -48.8).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-134.98484802246094, 267.47747802734375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 13.453144 -48.802242], 50.62258529663086 meters away.)"}
{"file_name": "images/scenario_732_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.3) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 72.3 meters away at (21.9, -68.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-134.98484802246094, 267.47747802734375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 21.92205 -68.90569], 72.3088607788086 meters away.)"}
{"file_name": "images/scenario_732_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 10.3) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-134.98484802246094, 267.47747802734375)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_732_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 10.2) m/s. Its current heading (yaw) is 1.97 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-134.98484802246094, 267.47747802734375)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_733_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, -7.6) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 21.3 meters away at (-9.4, 19.1). A unknown object with ID 25 is 42.1 meters away at (-10.5, -40.8). A vehicle with ID 14 is 42.5 meters away at (27.7, 32.2). A vehicle with ID 16 is 45.6 meters away at (32.9, 31.6). A cyclist with ID 49 is 47.7 meters away at (-47.1, -7.4). A pedestrian with ID 35 is 49.4 meters away at (4.2, 49.2). A pedestrian with ID 18 is 52.2 meters away at (7.7, 51.6). A pedestrian with ID 36 is 53.8 meters away at (9.4, 52.9). A unknown object with ID 37 is 56.1 meters away at (14.7, 54.2). A vehicle with ID 27 is 56.8 meters away at (-56.0, -9.7).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [12.281138 12.25861 ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-10.700722  -9.045017] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-8.469154  -6.9729795] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [ 1.9163182  -0.80503124] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.03376731 0.03472649] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.04914441 0.00865705] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 1.4359195  -0.34103838] m/s.", "light_description": "There are active red lights at the following coordinates: [[-63.79882  -26.498861]\n [-58.285606 -25.637428]\n [-63.864223 -26.78026 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.390901 19.124489], 21.30575180053711 meters away.)"}
{"file_name": "images/scenario_733_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, -8.1) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 24.5 meters away at (3.2, -24.3). A cyclist with ID 49 is 32.7 meters away at (-32.2, 5.4). A vehicle with ID 14 is 37.0 meters away at (21.6, 30.0). A vehicle with ID 27 is 41.8 meters away at (-41.3, 6.4). A vehicle with ID 33 is 42.6 meters away at (30.5, -29.7). A vehicle with ID 16 is 45.4 meters away at (30.6, 33.6). A vehicle with ID 17 is 54.0 meters away at (34.5, 41.5). A vehicle with ID 47 is 66.9 meters away at (30.8, 59.4). A pedestrian with ID 35 is 68.1 meters away at (18.2, 65.7). A pedestrian with ID 23 is 68.6 meters away at (19.0, 65.9).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-0.3085807 -2.0833569] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-9.536868 -9.587006] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-8.815752  4.616271] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-7.8819704 -7.4598103] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-10.79178  -9.65736] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [13.860029 11.724332] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00779683 -0.00199133] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01289205 -0.01699543] m/s.", "light_description": "There are active red lights at the following coordinates: [[-63.79882  -26.498861]\n [-58.285606 -25.637428]\n [-63.864223 -26.78026 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  3.2345905 -24.331596 ], 24.545656204223633 meters away.)"}
{"file_name": "images/scenario_733_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, -9.0) m/s. Its current heading (yaw) is -2.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 17.6 meters away at (16.2, -6.7). A vehicle with ID 33 is 28.4 meters away at (28.0, -4.2). A cyclist with ID 49 is 29.4 meters away at (-22.5, 18.9). A vehicle with ID 14 is 32.4 meters away at (16.4, 27.9). A vehicle with ID 27 is 37.0 meters away at (-28.3, 23.9). A vehicle with ID 16 is 45.6 meters away at (28.2, 35.9). A vehicle with ID 17 is 47.6 meters away at (26.8, 39.4). A vehicle with ID 29 is 53.6 meters away at (-45.3, -28.7).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-6.146959   3.0774724] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.9013271 -1.8904314] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ -8.791316 -10.194951] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-7.4090242 -8.0186405] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -9.940906 -10.364404] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 5.703957 12.000455] m/s.", "light_description": "There are active red lights at the following coordinates: [[-63.79882  -26.498861]\n [-58.285606 -25.637428]\n [-63.864223 -26.78026 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [16.205423  -6.7448997], 17.55304718017578 meters away.)"}
{"file_name": "images/scenario_733_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -9.9) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 25.0 meters away at (-21.1, 13.4). A vehicle with ID 14 is 28.3 meters away at (11.9, 25.7). A unknown object with ID 25 is 30.6 meters away at (28.2, 12.0). A vehicle with ID 33 is 36.4 meters away at (31.0, 19.1). A cyclist with ID 49 is 37.0 meters away at (-14.5, 34.1). A vehicle with ID 17 is 42.1 meters away at (20.1, 36.9). A vehicle with ID 30 is 45.5 meters away at (-36.2, -27.6). A vehicle with ID 16 is 45.7 meters away at (25.7, 37.8). A vehicle with ID 27 is 45.7 meters away at (-16.4, 42.7). A vehicle with ID 21 is 48.4 meters away at (-41.0, -25.6).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [ 6.5100465 11.340726 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ -7.6511526 -10.987719 ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.9627328  1.5343702] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.8087065 -1.7306422] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -8.607322 -11.121683] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 6.2809353 15.389164 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.948846  -8.9005575] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 4.2674584 12.127826 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-64.245865 -36.480713]\n [-63.79882  -26.498861]\n [-60.628933 -37.060673]\n [-33.5888   -40.247097]\n [-56.76185  -38.184483]\n [-58.285606 -25.637428]\n [-36.156494 -42.659843]\n [-63.864223 -26.78026 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-21.082016  13.429253], 24.99592399597168 meters away.)"}
{"file_name": "images/scenario_734_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -6.4) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 15.5 meters away at (14.6, 5.2). A unknown object with ID 11 is 20.5 meters away at (13.8, 15.2). A unknown object with ID 3 is 45.6 meters away at (14.8, 43.1).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [14.637511   5.2425337], 15.548018455505371 meters away.)"}
{"file_name": "images/scenario_734_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -6.6) m/s. Its current heading (yaw) is -2.18 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 36.0 meters away at (22.8, 27.9).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [22.755524 27.897797], 36.001399993896484 meters away.)"}
{"file_name": "images/scenario_734_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -7.8) m/s. Its current heading (yaw) is -2.02 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 52.5 meters away at (31.5, 41.9). A vehicle with ID 1 is 64.1 meters away at (-15.2, -62.3). A unknown object with ID 8 is 71.5 meters away at (-18.5, -69.1).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [31.525007 41.918896], 52.45016860961914 meters away.)"}
{"file_name": "images/scenario_734_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -8.5) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 33.2 meters away at (-6.5, -32.6). A unknown object with ID 10 is 33.3 meters away at (-6.8, -32.6). A vehicle with ID 1 is 47.0 meters away at (-8.4, -46.3). A unknown object with ID 8 is 54.4 meters away at (-11.5, -53.1).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -6.5309353 -32.566414 ], 33.214820861816406 meters away.)"}
{"file_name": "images/scenario_735_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.8) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 10.0 meters away at (0.9, -10.0). A unknown object with ID 18 is 16.2 meters away at (0.4, 16.2). A unknown object with ID 19 is 19.5 meters away at (-1.5, 19.5). A vehicle with ID 37 is 27.0 meters away at (-26.7, -3.7). A unknown object with ID 41 is 28.1 meters away at (-13.4, 24.7). A vehicle with ID 43 is 52.1 meters away at (-46.7, -23.0). A vehicle with ID 46 is 52.1 meters away at (-39.6, 33.9). A cyclist with ID 36 is 56.7 meters away at (43.9, -35.9). A vehicle with ID 45 is 57.1 meters away at (-50.2, -27.3). A vehicle with ID 49 is 57.4 meters away at (-44.2, 36.6).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-2.3641899 -2.8132799] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-6.3555055  5.391521 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-35.84815979003906, 29.832408905029297)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.90795994 -9.982255  ], 10.023463249206543 meters away.)"}
{"file_name": "images/scenario_735_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.3) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 21.1 meters away at (10.7, -18.1). A vehicle with ID 37 is 25.7 meters away at (-20.2, -15.9). A vehicle with ID 46 is 39.2 meters away at (-29.6, 25.8). A vehicle with ID 49 is 44.5 meters away at (-34.2, 28.5). A vehicle with ID 43 is 48.3 meters away at (-36.8, -31.2). A pedestrian with ID 47 is 48.8 meters away at (-45.3, -18.4). A cyclist with ID 36 is 53.5 meters away at (41.6, -33.6). A vehicle with ID 45 is 53.7 meters away at (-40.5, -35.4). A vehicle with ID 44 is 56.3 meters away at (-34.7, -44.3). A vehicle with ID 48 is 59.8 meters away at (-44.2, -40.3).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.4436854 -1.7655381] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.95488685 -0.7453081 ] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-5.8039865  5.0775895] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-35.84815979003906, 29.832408905029297)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 10.72727 -18.12642], 21.06279754638672 meters away.)"}
{"file_name": "images/scenario_735_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 4.8) m/s. Its current heading (yaw) is 2.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 21.7 meters away at (21.7, -1.0). A vehicle with ID 46 is 24.7 meters away at (-18.1, 16.8). A vehicle with ID 49 is 30.0 meters away at (-22.7, 19.6). A vehicle with ID 37 is 32.3 meters away at (-12.6, -29.7). A unknown object with ID 35 is 35.1 meters away at (22.2, -27.2). A pedestrian with ID 47 is 43.0 meters away at (-31.9, -28.8). A pedestrian with ID 32 is 43.8 meters away at (10.9, -42.5). A vehicle with ID 43 is 47.5 meters away at (-25.4, -40.1). A vehicle with ID 45 is 52.9 meters away at (-29.0, -44.2). A cyclist with ID 36 is 53.2 meters away at (41.7, -33.1).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-2.5988867 -3.1452856] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.8718467  -0.60778755] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00791269  0.01079345] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-5.524303  4.490788] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-35.84815979003906, 29.832408905029297)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [21.695728  -1.0286045], 21.720096588134766 meters away.)"}
{"file_name": "images/scenario_735_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 5.0) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 6.9 meters away at (6.8, -0.8). A vehicle with ID 46 is 8.4 meters away at (-4.3, 7.2). A vehicle with ID 49 is 13.3 meters away at (-8.8, 9.9). A unknown object with ID 22 is 37.2 meters away at (35.6, -10.8). A pedestrian with ID 47 is 43.0 meters away at (-16.5, -39.7). A vehicle with ID 37 is 48.1 meters away at (-5.6, -47.8). A vehicle with ID 43 is 51.1 meters away at (-11.6, -49.8). A vehicle with ID 45 is 55.9 meters away at (-15.3, -53.8). A cyclist with ID 36 is 56.4 meters away at (45.0, -33.9). A vehicle with ID 5 is 61.5 meters away at (-60.2, -12.3).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.74999356 -0.3006916 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-3.8915198 -4.6525517] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-5.141948   4.3769884] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-35.84815979003906, 29.832408905029297)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 6.8318176 -0.8203621], 6.880895614624023 meters away.)"}
{"file_name": "images/scenario_736_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.7) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 8.6 meters away at (4.0, 7.6). A vehicle with ID 7 is 10.6 meters away at (-5.8, -8.8). A vehicle with ID 11 is 16.7 meters away at (8.0, 14.7). A vehicle with ID 41 is 18.7 meters away at (-6.0, -17.7). A vehicle with ID 27 is 23.2 meters away at (-12.5, -19.5). A vehicle with ID 8 is 25.9 meters away at (13.2, 22.3). A vehicle with ID 40 is 38.9 meters away at (-20.6, -33.0). A pedestrian with ID 33 is 44.3 meters away at (-10.8, -42.9). A pedestrian with ID 34 is 45.0 meters away at (-11.9, -43.4). A pedestrian with ID 35 is 45.0 meters away at (-10.6, -43.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.915734  -1.5420269] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 6.882084 11.585086] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.8115257 -2.9976215] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.720919  -4.5277877] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.5447417 -1.0274122] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.5191226 -0.9989357] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.53687084 -0.98883265] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(179.97122192382812, -185.81210327148438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.0396857 7.5714493], 8.581719398498535 meters away.)"}
{"file_name": "images/scenario_736_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.6) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 11.9 meters away at (-6.5, -9.9). A vehicle with ID 3 is 12.5 meters away at (6.0, 10.9). A vehicle with ID 41 is 15.8 meters away at (11.1, 11.2). A vehicle with ID 11 is 21.0 meters away at (10.2, 18.4). A vehicle with ID 24 is 26.3 meters away at (-9.7, -24.5). A vehicle with ID 27 is 27.2 meters away at (-14.7, -22.9). A vehicle with ID 8 is 30.2 meters away at (15.4, 26.0). A pedestrian with ID 15 is 39.4 meters away at (15.2, 36.3). A pedestrian with ID 33 is 42.3 meters away at (-9.9, -41.1). A pedestrian with ID 34 is 42.9 meters away at (-10.9, -41.5).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.941868  -3.1414652] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.59429187 -0.99486154] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 7.9302344 13.412768 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [5.519653 9.2748  ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-2.471726  -3.9284084] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.63704574 -0.88127   ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.74147767 -1.0164711 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7257839 -1.018317 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(179.97122192382812, -185.81210327148438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.4901867 -9.929527 ], 11.862462997436523 meters away.)"}
{"file_name": "images/scenario_736_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -4.0) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 7.4 meters away at (6.8, 3.0). A vehicle with ID 7 is 12.8 meters away at (-7.0, -10.7). A vehicle with ID 3 is 14.5 meters away at (7.1, 12.6). A vehicle with ID 14 is 19.1 meters away at (-6.2, -18.0). A vehicle with ID 27 is 27.8 meters away at (-15.0, -23.4). A vehicle with ID 11 is 27.9 meters away at (13.8, 24.3). A pedestrian with ID 33 is 37.2 meters away at (-7.3, -36.5). A pedestrian with ID 34 is 37.6 meters away at (-8.3, -36.7). A vehicle with ID 8 is 38.0 meters away at (19.4, 32.6). A pedestrian with ID 35 is 38.0 meters away at (-6.8, -37.3).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.811924 11.418682] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.2486324 -3.6665156] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.258758  -3.7019598] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [5.5609007 9.204155 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.5324919 -2.6306827] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.7803176 -1.3227892] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.7364658 -1.1422803] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7622991 -1.0981568] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.6528545 -1.1816012] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(179.97122192382812, -185.81210327148438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.782757  2.9724164], 7.4054741859436035 meters away.)"}
{"file_name": "images/scenario_736_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.4) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 10.7 meters away at (-6.0, -8.8). A vehicle with ID 3 is 13.5 meters away at (6.4, 11.9). A vehicle with ID 14 is 14.9 meters away at (10.7, 10.3). A vehicle with ID 27 is 23.7 meters away at (-12.9, -19.8). A vehicle with ID 11 is 31.3 meters away at (15.4, 27.3). A pedestrian with ID 33 is 31.4 meters away at (-4.2, -31.1). A pedestrian with ID 34 is 31.7 meters away at (-5.3, -31.3). A pedestrian with ID 35 is 32.2 meters away at (-3.7, -32.0). A vehicle with ID 40 is 34.7 meters away at (-17.7, -29.9). A vehicle with ID 24 is 42.8 meters away at (25.4, 34.5).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.344721 -2.349864] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.7171633 -4.272463 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 6.5281286 10.795817 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.1971356 -2.1573243] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.99185   -3.3724775] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.6830367 -1.190156 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7226062 -1.1871867] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.69632936 -1.1526217 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.0545442 -3.8909748] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 7.155068 12.277927] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(179.97122192382812, -185.81210327148438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.0169487 -8.824953 ], 10.680986404418945 meters away.)"}
{"file_name": "images/scenario_737_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 9.7 meters away at (2.6, 9.3). A vehicle with ID 47 is 14.2 meters away at (-0.6, -14.2). A vehicle with ID 60 is 15.8 meters away at (10.7, -11.7). A vehicle with ID 67 is 18.0 meters away at (-14.6, 10.6). A vehicle with ID 46 is 19.2 meters away at (-4.3, -18.7). A pedestrian with ID 43 is 23.4 meters away at (17.2, -15.9). A vehicle with ID 50 is 24.5 meters away at (4.3, -24.1). A vehicle with ID 17 is 25.2 meters away at (22.1, -12.1). A vehicle with ID 45 is 25.4 meters away at (-8.5, -24.0). A vehicle with ID 18 is 30.7 meters away at (-12.1, -28.2).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01313238  0.00292959] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [2.8126354 3.7376304] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 3.6284158 -2.3929949] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.03749175 -0.02484025] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-14.545412063598633, -36.28202819824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [2.5527618 9.348964 ], 9.691218376159668 meters away.)"}
{"file_name": "images/scenario_737_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -1.2) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 10.3 meters away at (1.5, 10.1). A vehicle with ID 67 is 12.5 meters away at (-9.9, 7.5). A vehicle with ID 47 is 13.6 meters away at (-1.6, -13.5). A vehicle with ID 60 is 17.4 meters away at (17.4, -0.9). A vehicle with ID 46 is 18.8 meters away at (-5.4, -18.0). A vehicle with ID 50 is 23.6 meters away at (3.3, -23.4). A vehicle with ID 17 is 23.9 meters away at (21.1, -11.3). A vehicle with ID 45 is 25.1 meters away at (-9.5, -23.2). A vehicle with ID 18 is 30.5 meters away at (-13.0, -27.5). A vehicle with ID 49 is 33.7 meters away at (-4.9, -33.3).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.0125488   0.00543913] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 1.9983352 -1.489873 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [4.218131  5.2826757] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-14.545412063598633, -36.28202819824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 1.5132734 10.14016  ], 10.25245475769043 meters away.)"}
{"file_name": "images/scenario_737_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -3.7) m/s. Its current heading (yaw) is -1.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 10.3 meters away at (-5.5, -8.7). A vehicle with ID 67 is 14.7 meters away at (-10.8, 10.0). A pedestrian with ID 54 is 15.3 meters away at (-2.6, 15.0). A vehicle with ID 46 is 16.1 meters away at (-9.2, -13.2). A vehicle with ID 17 is 17.4 meters away at (16.4, -5.9). A vehicle with ID 50 is 18.6 meters away at (-0.5, -18.6). A vehicle with ID 45 is 22.8 meters away at (-13.2, -18.6). A vehicle with ID 60 is 24.5 meters away at (20.7, 13.1). A vehicle with ID 18 is 28.5 meters away at (-16.8, -23.0). A vehicle with ID 49 is 29.8 meters away at (-8.6, -28.5).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 1.8062772 -1.339613 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02169817 -0.0140393 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.61343277  0.34582648] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [2.6431417 3.28156  ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-14.545412063598633, -36.28202819824219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.4739513 -8.749079 ], 10.320393562316895 meters away.)"}
{"file_name": "images/scenario_737_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.7) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 5.3 meters away at (-5.1, -1.3). A vehicle with ID 46 is 10.6 meters away at (-8.9, -5.8). A vehicle with ID 50 is 11.0 meters away at (-0.3, -11.0). A vehicle with ID 17 is 14.1 meters away at (13.8, 3.0). A vehicle with ID 67 is 16.3 meters away at (-6.6, 14.9). A vehicle with ID 45 is 17.1 meters away at (-13.0, -11.1). A unknown object with ID 33 is 20.5 meters away at (-15.8, 13.2). A pedestrian with ID 54 is 22.5 meters away at (-2.3, 22.4). A vehicle with ID 18 is 22.6 meters away at (-16.5, -15.4). A vehicle with ID 49 is 22.6 meters away at (-8.4, -21.0).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.529648   0.5991639] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 1.490416   -0.95065963] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01738403  0.0172859 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-14.545412063598633, -36.28202819824219)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.147663  -1.2984943], 5.308909893035889 meters away.)"}
{"file_name": "images/scenario_738_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, -6.1) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 7.7 meters away at (2.8, -7.1). A vehicle with ID 28 is 10.4 meters away at (10.3, -1.8). A vehicle with ID 26 is 16.8 meters away at (16.4, 3.5). A vehicle with ID 25 is 19.4 meters away at (17.4, 8.6). A vehicle with ID 6 is 20.6 meters away at (-15.7, -13.3). A vehicle with ID 27 is 23.5 meters away at (22.2, 7.8). A unknown object with ID 29 is 30.8 meters away at (30.4, 4.5). A vehicle with ID 8 is 31.4 meters away at (22.3, 22.1). A vehicle with ID 31 is 46.4 meters away at (40.9, 21.9).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-8.742294 -7.067883] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.8985078 -7.0347023] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-5.6749253  1.3866704] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.481794   2.4995122]\n [18.243898   3.0103343]\n [16.142487   9.563594 ]\n [16.312206   9.431881 ]]", "nav_goal": "(-236.94158935546875, -185.7605438232422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.829586 -7.116418], 7.658326148986816 meters away.)"}
{"file_name": "images/scenario_738_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, -7.0) m/s. Its current heading (yaw) is -2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 20.2 meters away at (19.3, 5.9). A vehicle with ID 6 is 23.5 meters away at (-17.7, -15.5). A vehicle with ID 28 is 29.1 meters away at (26.8, 11.4). A vehicle with ID 8 is 36.4 meters away at (28.5, 22.6). A vehicle with ID 26 is 36.9 meters away at (32.9, 16.7). A vehicle with ID 25 is 40.2 meters away at (33.8, 21.8). A vehicle with ID 27 is 43.9 meters away at (38.6, 21.0). A vehicle with ID 31 is 55.2 meters away at (44.1, 33.2).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.560058  -7.8100533] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.745355 -5.920017] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-7.012484 -3.01876 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.481794   2.4995122]\n [18.243898   3.0103343]\n [16.142487   9.563594 ]\n [16.312206   9.431881 ]]", "nav_goal": "(-236.94158935546875, -185.7605438232422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [19.313257   5.9393005], 20.205869674682617 meters away.)"}
{"file_name": "images/scenario_738_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, -7.6) m/s. Its current heading (yaw) is -2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 25.6 meters away at (-19.5, -16.5). A vehicle with ID 8 is 40.4 meters away at (31.6, 25.2). A vehicle with ID 30 is 42.1 meters away at (36.8, 20.4). A vehicle with ID 28 is 51.3 meters away at (44.3, 25.9). A vehicle with ID 26 is 59.2 meters away at (50.4, 31.2). A vehicle with ID 25 is 62.8 meters away at (51.3, 36.2). A vehicle with ID 27 is 66.4 meters away at (56.1, 35.5).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.9014    -7.8566923] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-7.6630287 -6.2078795] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.481794   2.4995122]\n [18.243898   3.0103343]\n [16.142487   9.563594 ]\n [16.312206   9.431881 ]]", "nav_goal": "(-236.94158935546875, -185.7605438232422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-19.546474 -16.531872], 25.60014533996582 meters away.)"}
{"file_name": "images/scenario_738_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, -7.6) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 10.4 meters away at (10.4, -0.1). A vehicle with ID 6 is 27.3 meters away at (-21.3, -17.1). A vehicle with ID 8 is 43.7 meters away at (33.9, 27.5). A vehicle with ID 17 is 56.5 meters away at (-42.5, -37.2). A unknown object with ID 14 is 58.0 meters away at (51.9, 25.9). A unknown object with ID 20 is 63.9 meters away at (56.7, 29.6). A vehicle with ID 30 is 65.8 meters away at (55.3, 35.6).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-10.586877  -8.294341] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-8.344146 -6.842173] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [12.784232  9.69593 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-236.94158935546875, -185.7605438232422)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [10.411594   -0.10651779], 10.412138938903809 meters away.)"}
{"file_name": "images/scenario_739_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 8.1) m/s. Its current heading (yaw) is 1.94 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-136.2246551513672, 207.20077514648438)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_739_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 8.4) m/s. Its current heading (yaw) is 1.98 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-136.2246551513672, 207.20077514648438)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_739_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 8.1) m/s. Its current heading (yaw) is 1.97 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-136.2246551513672, 207.20077514648438)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_739_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 7.7) m/s. Its current heading (yaw) is 2.00 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 73.4 meters away at (33.1, -65.4).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-136.2246551513672, 207.20077514648438)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 33.149384 -65.448715], 73.36495208740234 meters away.)"}
{"file_name": "images/scenario_740_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 6.3) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 8.4 meters away at (0.0, -8.4). A vehicle with ID 71 is 9.0 meters away at (-3.0, 8.4). A vehicle with ID 74 is 23.3 meters away at (-20.8, -10.6). A vehicle with ID 27 is 25.9 meters away at (20.4, -15.9). A vehicle with ID 80 is 36.7 meters away at (-31.5, 19.0). A vehicle with ID 69 is 37.7 meters away at (28.2, -25.1). A vehicle with ID 72 is 47.0 meters away at (44.0, -16.4). A vehicle with ID 70 is 49.3 meters away at (44.8, -20.5). A pedestrian with ID 78 is 49.4 meters away at (-47.2, 14.6). A cyclist with ID 59 is 49.5 meters away at (-47.3, 14.6).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [10.466184 -8.741192] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-4.4744678  3.2385983] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [ 8.876078  -7.6117635] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 6.0108976 -1.5226147] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [6.368699 5.099632] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 1.131102  -1.0500579] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.0880632 -1.0784801] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.06032  -14.320893]\n [ 24.487936 -15.209846]\n [ 29.345404 -19.18245 ]\n [ 31.226427 -18.127615]]", "nav_goal": "(-65.03292083740234, 212.7239532470703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.03449059 -8.36125   ], 8.361321449279785 meters away.)"}
{"file_name": "images/scenario_740_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 6.4) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 10.5 meters away at (2.4, -10.2). A vehicle with ID 71 is 11.9 meters away at (11.3, -3.8). A vehicle with ID 64 is 21.9 meters away at (-19.9, 9.0). A vehicle with ID 74 is 23.8 meters away at (-6.4, -23.0). A cyclist with ID 59 is 30.5 meters away at (-30.5, -0.4). A vehicle with ID 27 is 32.6 meters away at (25.1, -20.8). A vehicle with ID 53 is 41.8 meters away at (-35.1, 22.7). A vehicle with ID 79 is 42.5 meters away at (-42.5, 1.0). A vehicle with ID 81 is 45.8 meters away at (-45.8, -2.9). A vehicle with ID 29 is 48.0 meters away at (-47.7, -4.9).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [10.444891 -8.798911] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 8.850045  -7.4522133] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.205135  -1.1678646] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.267603   4.2535896] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 9.661126 -7.801757] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-65.03292083740234, 212.7239532470703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  2.440113  -10.2240715], 10.511221885681152 meters away.)"}
{"file_name": "images/scenario_740_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 6.2) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 6.1 meters away at (0.1, -6.1). A vehicle with ID 55 is 16.3 meters away at (-16.3, 0.7). A cyclist with ID 59 is 20.2 meters away at (-13.3, -15.3). A vehicle with ID 64 is 23.1 meters away at (12.9, -19.1). A vehicle with ID 79 is 30.1 meters away at (-27.7, -11.6). A vehicle with ID 71 is 30.7 meters away at (26.0, -16.3). A pedestrian with ID 36 is 34.0 meters away at (13.1, -31.4). A vehicle with ID 81 is 34.7 meters away at (-31.1, -15.4). A vehicle with ID 43 is 35.3 meters away at (-35.2, 2.3). A vehicle with ID 74 is 36.4 meters away at (8.3, -35.5).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [11.18053 -8.5691 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 9.197819 -7.710847] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.3516086 -1.2048377] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 9.2573    -7.9186335] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.0096684  0.00742417] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  7.8599505 -20.335516 ]\n [-88.253746   62.860855 ]\n [ 10.113107  -17.704765 ]\n [-86.59674    60.61638  ]\n [-90.731766   64.796555 ]\n [-86.59123    59.580463 ]]", "nav_goal": "(-65.03292083740234, 212.7239532470703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.10047531 -6.0910854 ], 6.091914176940918 meters away.)"}
{"file_name": "images/scenario_740_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 6.3) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 16.8 meters away at (-16.7, 2.4). A vehicle with ID 43 is 22.9 meters away at (-20.5, -10.2). A vehicle with ID 58 is 25.5 meters away at (-22.4, -12.3). A vehicle with ID 79 is 27.4 meters away at (-13.0, -24.1). A cyclist with ID 59 is 30.3 meters away at (4.1, -30.1). A vehicle with ID 65 is 30.9 meters away at (-26.1, -16.5). A vehicle with ID 55 is 32.1 meters away at (16.8, -27.4). A vehicle with ID 81 is 32.3 meters away at (-16.4, -27.8). A vehicle with ID 60 is 33.3 meters away at (-27.6, -18.7). A vehicle with ID 29 is 35.0 meters away at (-18.1, -30.0).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.3182364 -4.223794 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.3286223 -1.0285214] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 9.051451  -7.6448417] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-88.253746  62.860855]\n [-86.59674   60.61638 ]\n [-90.731766  64.796555]\n [-86.59123   59.580463]]", "nav_goal": "(-65.03292083740234, 212.7239532470703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-16.66787     2.3791275], 16.836809158325195 meters away.)"}
{"file_name": "images/scenario_741_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 1.9) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A pedestrian with ID 67 is 9.4 meters away at (-4.6, -8.2). A vehicle with ID 75 is 10.1 meters away at (-3.8, -9.4). A pedestrian with ID 74 is 10.9 meters away at (-2.9, -10.5). A vehicle with ID 76 is 12.4 meters away at (-11.9, -3.5). A vehicle with ID 82 is 17.4 meters away at (-8.6, -15.1). A vehicle with ID 84 is 19.1 meters away at (-16.7, -9.2). A vehicle with ID 80 is 23.4 meters away at (-12.7, -19.6). A vehicle with ID 83 is 29.3 meters away at (-16.4, -24.3). A vehicle with ID 77 is 29.7 meters away at (29.6, 2.4). A vehicle with ID 85 is 31.7 meters away at (-25.1, -19.3).", "velocity_description": "The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.57639533 -0.8159838 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.02514456 0.00467864] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.9432   -57.29393 ]\n [-52.29136  -57.129093]\n [-53.428497 -56.12977 ]\n [-50.963055 -57.77419 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.62839  -8.194828], 9.411545753479004 meters away.)"}
{"file_name": "images/scenario_741_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.2) m/s. Its current heading (yaw) is 0.81 ", "actor_description": " The most relevant actors are: A pedestrian with ID 67 is 12.2 meters away at (-6.6, -10.3). A vehicle with ID 75 is 12.3 meters away at (-5.2, -11.1). A pedestrian with ID 74 is 12.8 meters away at (-4.1, -12.2). A vehicle with ID 76 is 14.1 meters away at (-13.2, -5.1). A vehicle with ID 82 is 19.5 meters away at (-10.0, -16.8). A vehicle with ID 84 is 21.1 meters away at (-18.0, -10.9). A vehicle with ID 80 is 25.6 meters away at (-14.1, -21.4). A vehicle with ID 77 is 28.3 meters away at (28.3, 0.8). A vehicle with ID 83 is 31.5 meters away at (-17.8, -26.0). A unknown object with ID 60 is 33.1 meters away at (14.4, 29.8).", "velocity_description": "The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.04085874 -0.03297196] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.01110066 -0.05872007] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.9432   -57.29393 ]\n [-52.29136  -57.129093]\n [-53.428497 -56.12977 ]\n [-50.963055 -57.77419 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ -6.6167436 -10.287613 ], 12.231773376464844 meters away.)"}
{"file_name": "images/scenario_741_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 2.2) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 67 is 14.7 meters away at (-7.8, -12.5). A vehicle with ID 75 is 15.1 meters away at (-7.1, -13.3). A pedestrian with ID 74 is 15.6 meters away at (-6.1, -14.4). A vehicle with ID 76 is 16.8 meters away at (-15.1, -7.3). A vehicle with ID 82 is 22.3 meters away at (-11.8, -18.9). A vehicle with ID 84 is 23.8 meters away at (-19.9, -13.0). A vehicle with ID 77 is 26.4 meters away at (26.4, -1.4). A vehicle with ID 80 is 28.4 meters away at (-15.9, -23.5). A unknown object with ID 60 is 30.3 meters away at (12.4, 27.6). A unknown object with ID 93 is 31.3 meters away at (22.6, 21.7).", "velocity_description": "The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.00820188 0.00656612] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [ 0.01963609 -0.02271501] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ -7.7864428 -12.511998 ], 14.736987113952637 meters away.)"}
{"file_name": "images/scenario_741_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.6) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 60 is 21.5 meters away at (6.5, 20.5). A unknown object with ID 93 is 22.2 meters away at (16.6, 14.7). A vehicle with ID 77 is 22.2 meters away at (20.5, -8.4). A vehicle with ID 16 is 22.4 meters away at (11.5, 19.2). A vehicle with ID 75 is 24.2 meters away at (-13.0, -20.4). A pedestrian with ID 74 is 24.4 meters away at (-12.0, -21.2). A vehicle with ID 76 is 25.4 meters away at (-21.0, -14.3). A pedestrian with ID 95 is 26.5 meters away at (26.2, 3.8). A pedestrian with ID 63 is 26.9 meters away at (19.1, 18.9). A pedestrian with ID 97 is 27.4 meters away at (27.0, 4.1).", "velocity_description": "The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-4.035147  -4.2855167] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.07585943 0.4033707 ] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [0.29548353 0.04296968] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.03031135 0.00017679] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [0.01896273 0.00103397] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 6.4700546 20.545956 ], 21.540611267089844 meters away.)"}
{"file_name": "images/scenario_742_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 0.0) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 9.7 meters away at (-1.1, -9.7). A vehicle with ID 51 is 10.0 meters away at (1.3, 9.9). A vehicle with ID 50 is 10.2 meters away at (1.6, -10.1). A vehicle with ID 58 is 10.5 meters away at (-3.8, -9.8). A vehicle with ID 59 is 10.7 meters away at (-4.0, 9.9). A vehicle with ID 57 is 10.7 meters away at (-1.3, 10.6). A vehicle with ID 5 is 10.8 meters away at (-10.8, 1.0). A vehicle with ID 48 is 11.0 meters away at (4.4, -10.1). A vehicle with ID 49 is 11.1 meters away at (4.0, 10.4). A vehicle with ID 60 is 11.7 meters away at (-6.7, -9.7).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.6845521  -0.00484168] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.0775454 -9.679003 ], 9.738799095153809 meters away.)"}
{"file_name": "images/scenario_742_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.0) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 9.7 meters away at (-9.6, 1.0). A vehicle with ID 51 is 9.8 meters away at (0.0, 9.8). A vehicle with ID 53 is 10.0 meters away at (-2.4, -9.7). A vehicle with ID 50 is 10.1 meters away at (0.4, -10.1). A vehicle with ID 48 is 10.6 meters away at (3.1, -10.1). A vehicle with ID 49 is 10.7 meters away at (2.8, 10.4). A vehicle with ID 57 is 10.9 meters away at (-2.6, 10.6). A vehicle with ID 58 is 11.0 meters away at (-5.1, -9.8). A vehicle with ID 59 is 11.2 meters away at (-5.3, 9.9). A vehicle with ID 43 is 11.6 meters away at (5.8, -10.0).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-9.639645   1.0023952], 9.691622734069824 meters away.)"}
{"file_name": "images/scenario_742_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 10.1 meters away at (-2.3, 9.9). A vehicle with ID 48 is 10.2 meters away at (0.9, -10.1). A vehicle with ID 50 is 10.3 meters away at (-1.9, -10.2). A vehicle with ID 49 is 10.4 meters away at (0.5, 10.4). A vehicle with ID 43 is 10.6 meters away at (3.5, -10.0). A vehicle with ID 46 is 10.7 meters away at (3.1, 10.3). A vehicle with ID 53 is 10.7 meters away at (-4.7, -9.7). A vehicle with ID 5 is 10.8 meters away at (-10.7, 1.0). A vehicle with ID 57 is 11.6 meters away at (-4.9, 10.5). A vehicle with ID 58 is 12.2 meters away at (-7.4, -9.8).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.1907036  -0.02358254] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.266509  9.862638], 10.119718551635742 meters away.)"}
{"file_name": "images/scenario_742_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 0.0) m/s. Its current heading (yaw) is 0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 10.3 meters away at (-1.5, -10.1). A vehicle with ID 46 is 10.4 meters away at (-1.8, 10.2). A vehicle with ID 41 is 10.7 meters away at (3.4, 10.1). A vehicle with ID 47 is 10.9 meters away at (0.8, 10.8). A vehicle with ID 48 is 11.0 meters away at (-4.1, -10.2). A vehicle with ID 49 is 11.3 meters away at (-4.5, 10.3). A vehicle with ID 5 is 11.7 meters away at (-11.7, 1.0). A vehicle with ID 51 is 12.2 meters away at (-7.3, 9.8). A vehicle with ID 50 is 12.3 meters away at (-6.9, -10.2). A vehicle with ID 53 is 13.8 meters away at (-9.7, -9.8).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 3.0652208  -0.01605343] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -1.5256414 -10.141882 ], 10.255990982055664 meters away.)"}
{"file_name": "images/scenario_743_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.4) m/s. Its current heading (yaw) is -1.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 12.0 meters away at (-11.7, 2.4). A vehicle with ID 43 is 12.7 meters away at (4.3, -12.0). A vehicle with ID 46 is 14.6 meters away at (-12.5, -7.4). A vehicle with ID 52 is 15.8 meters away at (-7.7, 13.8). A vehicle with ID 55 is 17.6 meters away at (-3.1, 17.3). A vehicle with ID 53 is 17.8 meters away at (-16.0, -7.7). A vehicle with ID 60 is 18.5 meters away at (-9.9, 15.6). A pedestrian with ID 86 is 19.6 meters away at (-16.7, 10.3). A vehicle with ID 50 is 22.0 meters away at (3.2, -21.7). A pedestrian with ID 56 is 23.4 meters away at (-18.6, 14.2).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [ 7.349206  -5.5962305] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 9.181198 -5.770495] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.98222286  1.0404571 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.6701127  1.0296311] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.9787599 -0.8562881] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.194288  -14.3239975]\n [-30.955267   -8.776229 ]\n [-33.786182   -5.201063 ]\n [-16.660372    4.492709 ]\n [-11.812056   -2.4560921]\n [ -8.997042   -5.863215 ]\n [-28.240593  -14.569672 ]\n [-14.161064    1.318455 ]\n [-24.449215  -15.207723 ]\n [-20.241116    8.087888 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.72096    2.434035], 11.971024513244629 meters away.)"}
{"file_name": "images/scenario_743_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 9.5 meters away at (4.5, -8.3). A vehicle with ID 78 is 12.5 meters away at (-12.1, 3.0). A vehicle with ID 46 is 14.5 meters away at (-12.6, -7.2). A vehicle with ID 52 is 16.1 meters away at (-7.8, 14.1). A vehicle with ID 53 is 17.7 meters away at (-16.0, -7.5). A vehicle with ID 55 is 17.8 meters away at (-3.1, 17.5). A vehicle with ID 60 is 18.7 meters away at (-10.0, 15.8). A vehicle with ID 50 is 19.5 meters away at (-0.2, -19.5). A pedestrian with ID 56 is 21.1 meters away at (-16.7, 12.8). A pedestrian with ID 86 is 22.7 meters away at (-18.9, 12.6).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [ 8.612031  -5.4322376] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 8.311394  -6.2245216] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.5643432   0.96845776] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.8950197 -0.8370027] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.1289048  1.0126715] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.194288  -14.3239975]\n [-30.955267   -8.776229 ]\n [-33.786182   -5.201063 ]\n [-11.812056   -2.4560921]\n [ -8.997042   -5.863215 ]\n [-28.240593  -14.569672 ]\n [-14.161064    1.318455 ]\n [-24.449215  -15.207723 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.542754 -8.306209], 9.467297554016113 meters away.)"}
{"file_name": "images/scenario_743_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 9.8 meters away at (4.7, -8.6). A vehicle with ID 101 is 13.7 meters away at (-13.3, 3.0). A vehicle with ID 46 is 14.5 meters away at (-12.6, -7.2). A vehicle with ID 52 is 16.1 meters away at (-7.8, 14.1). A vehicle with ID 53 is 17.7 meters away at (-16.0, -7.4). A vehicle with ID 55 is 17.8 meters away at (-3.2, 17.5). A vehicle with ID 50 is 17.9 meters away at (-3.3, -17.6). A pedestrian with ID 56 is 18.6 meters away at (-14.9, 11.1). A vehicle with ID 60 is 18.7 meters away at (-10.0, 15.9). A vehicle with ID 41 is 19.1 meters away at (0.8, 19.0).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [ 8.86607  -5.650783] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [ 8.868021 -6.898437] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.5375496   0.96314526] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 1.0241272  -0.77744395] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.9965672 -3.4615424] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.194288  -14.3239975]\n [-30.955267   -8.776229 ]\n [-33.786182   -5.201063 ]\n [-11.812056   -2.4560921]\n [ -8.997042   -5.863215 ]\n [-28.240593  -14.569672 ]\n [-14.161064    1.318455 ]\n [-11.109975  -10.75803  ]\n [-24.449215  -15.207723 ]\n [-11.845404  -13.888657 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.7293973 -8.559814 ], 9.779448509216309 meters away.)"}
{"file_name": "images/scenario_743_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 101 is 10.8 meters away at (5.0, -9.6). A vehicle with ID 46 is 14.5 meters away at (-12.6, -7.2). A vehicle with ID 41 is 14.5 meters away at (-0.5, 14.5). A pedestrian with ID 56 is 16.0 meters away at (-13.0, 9.4). A vehicle with ID 52 is 16.1 meters away at (-7.8, 14.1). A vehicle with ID 50 is 17.0 meters away at (-5.5, -16.1). A vehicle with ID 53 is 17.7 meters away at (-16.1, -7.4). A vehicle with ID 55 is 17.8 meters away at (-3.2, 17.6). A vehicle with ID 60 is 18.8 meters away at (-10.0, 15.9). A vehicle with ID 54 is 18.9 meters away at (-17.7, 6.6).", "velocity_description": "The vehicle with ID 101 is traveling at a (x, y) velocity of [ 9.498027  -5.9424977] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.38939297 -1.8165731 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.9953042  -0.78421265] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-0.84110165  0.5494848 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 8.808521  -7.3156557] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.194288  -14.3239975]\n [-30.955267   -8.776229 ]\n [-33.786182   -5.201063 ]\n [-16.660372    4.492709 ]\n [-11.812056   -2.4560921]\n [ -8.997042   -5.863215 ]\n [-28.240593  -14.569672 ]\n [-14.161064    1.318455 ]\n [-11.109975  -10.75803  ]\n [-24.449215  -15.207723 ]\n [-20.241116    8.087888 ]\n [-11.845404  -13.888657 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.9549246 -9.596485 ], 10.800176620483398 meters away.)"}
{"file_name": "images/scenario_744_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 6.9) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 3.3 meters away at (3.2, -0.5). A unknown object with ID 91 is 5.9 meters away at (-4.9, -3.3). A vehicle with ID 97 is 9.3 meters away at (0.2, 9.3). A unknown object with ID 74 is 17.0 meters away at (1.0, -16.9). A unknown object with ID 86 is 20.6 meters away at (7.6, -19.2). A unknown object with ID 77 is 23.1 meters away at (17.5, -15.1). A unknown object with ID 76 is 33.5 meters away at (-24.7, 22.7). A vehicle with ID 100 is 35.3 meters away at (35.3, 0.0). A vehicle with ID 12 is 39.6 meters away at (23.3, -32.0). A vehicle with ID 95 is 40.0 meters away at (33.2, -22.3).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.097768    0.10056853] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-7.1090107  8.292045 ] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-224.66748046875, 75.6850814819336)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.2318559 -0.4896679], 3.2687408924102783 meters away.)"}
{"file_name": "images/scenario_744_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 7.4) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 97 is 13.0 meters away at (11.7, -5.7). A unknown object with ID 52 is 13.8 meters away at (-12.2, 6.4). A unknown object with ID 76 is 15.0 meters away at (-12.9, 7.7). A unknown object with ID 67 is 16.4 meters away at (-13.9, 8.7). A unknown object with ID 19 is 18.4 meters away at (-15.2, 10.3). A unknown object with ID 91 is 19.6 meters away at (6.6, -18.4). A unknown object with ID 25 is 20.7 meters away at (-17.0, 11.7). A pedestrian with ID 54 is 21.7 meters away at (15.0, -15.7). A unknown object with ID 14 is 21.8 meters away at (-17.7, 12.8). A unknown object with ID 64 is 24.9 meters away at (-19.9, 14.8).", "velocity_description": "The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.03583199 -0.00819659] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-224.66748046875, 75.6850814819336)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.73228  -5.660345], 13.02635383605957 meters away.)"}
{"file_name": "images/scenario_744_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 6.8) m/s. Its current heading (yaw) is 2.32 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 5.0 meters away at (-3.1, -3.9). A unknown object with ID 14 is 5.7 meters away at (-5.5, -1.4). A unknown object with ID 76 is 6.3 meters away at (-1.0, -6.2). A unknown object with ID 50 is 7.1 meters away at (-7.1, 0.1). A unknown object with ID 52 is 7.4 meters away at (-0.1, -7.4). A unknown object with ID 64 is 8.4 meters away at (-8.3, 1.3). A unknown object with ID 31 is 10.0 meters away at (-9.7, 2.6). A unknown object with ID 85 is 11.6 meters away at (-11.0, 3.9). A unknown object with ID 43 is 13.4 meters away at (-12.3, 5.2). A unknown object with ID 21 is 15.1 meters away at (-13.7, 6.4).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-224.66748046875, 75.6850814819336)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-3.1388168 -3.8510666], 4.96818733215332 meters away.)"}
{"file_name": "images/scenario_744_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 6.5) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 53 is 5.7 meters away at (-1.8, -5.4). A unknown object with ID 21 is 6.7 meters away at (-0.3, -6.7). A unknown object with ID 43 is 8.0 meters away at (1.1, -7.9). A unknown object with ID 16 is 8.5 meters away at (-8.5, 0.6). A unknown object with ID 85 is 9.6 meters away at (2.6, -9.3). A unknown object with ID 31 is 11.1 meters away at (3.6, -10.5). A unknown object with ID 64 is 12.7 meters away at (5.1, -11.7). A unknown object with ID 50 is 14.6 meters away at (6.5, -13.0). A unknown object with ID 14 is 16.4 meters away at (8.0, -14.4). A unknown object with ID 71 is 17.2 meters away at (-15.8, 7.0).", "velocity_description": "The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-224.66748046875, 75.6850814819336)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.7843132 -5.435795 ], 5.721157073974609 meters away.)"}
{"file_name": "images/scenario_745_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.7) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 11.9 meters away at (-2.9, -11.5). A unknown object with ID 29 is 12.2 meters away at (-6.6, 10.2). A unknown object with ID 34 is 12.3 meters away at (-1.0, -12.3). A unknown object with ID 11 is 12.3 meters away at (-3.9, -11.7). A unknown object with ID 33 is 12.8 meters away at (-4.1, -12.1). A unknown object with ID 31 is 12.8 meters away at (-4.4, -12.0). A unknown object with ID 30 is 13.0 meters away at (-5.2, -11.9). A unknown object with ID 35 is 13.2 meters away at (1.0, -13.1). A unknown object with ID 12 is 13.9 meters away at (-0.5, -13.9). A unknown object with ID 36 is 14.7 meters away at (1.5, -14.7).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ -2.9396172 -11.533262 ], 11.901994705200195 meters away.)"}
{"file_name": "images/scenario_745_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -2.9) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 4.7 meters away at (2.8, -3.7). A unknown object with ID 41 is 5.4 meters away at (2.3, -4.9). A unknown object with ID 35 is 14.7 meters away at (-12.6, -7.5). A unknown object with ID 36 is 15.1 meters away at (-12.0, -9.2). A unknown object with ID 34 is 16.0 meters away at (-14.6, -6.6). A unknown object with ID 32 is 17.5 meters away at (-16.5, -5.9). A unknown object with ID 11 is 18.5 meters away at (-17.4, -6.2). A pedestrian with ID 8 is 49.1 meters away at (45.2, -19.1). A vehicle with ID 28 is 49.1 meters away at (39.1, -29.7). A vehicle with ID 43 is 49.9 meters away at (-48.2, 12.8).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.7995397   0.51082104] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ -4.6016097 -10.722767 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 2.8348713 -3.7334576], 4.687771320343018 meters away.)"}
{"file_name": "images/scenario_745_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -3.3) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 12.1 meters away at (-11.9, 2.3). A unknown object with ID 41 is 12.4 meters away at (-12.4, 1.1). A unknown object with ID 36 is 26.9 meters away at (-26.8, -3.2). A unknown object with ID 35 is 27.4 meters away at (-27.3, -1.5). A unknown object with ID 34 is 29.4 meters away at (-29.3, -0.6). A unknown object with ID 32 is 31.0 meters away at (-31.0, 0.1). A pedestrian with ID 8 is 31.2 meters away at (28.9, -11.8). A unknown object with ID 15 is 32.2 meters away at (-32.2, 0.4). A unknown object with ID 11 is 32.3 meters away at (-32.3, -0.2). A vehicle with ID 28 is 33.8 meters away at (24.3, -23.5).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.8525947  0.5659076] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-11.86285     2.2979546], 12.083369255065918 meters away.)"}
{"file_name": "images/scenario_745_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -4.3) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 12.6 meters away at (12.1, -3.4). A vehicle with ID 28 is 18.6 meters away at (9.2, -16.1). A pedestrian with ID 10 is 23.7 meters away at (-12.1, -20.4). A pedestrian with ID 19 is 26.0 meters away at (-3.0, -25.8). A unknown object with ID 39 is 28.7 meters away at (-27.0, 9.6). A unknown object with ID 41 is 28.8 meters away at (-27.5, 8.4). A vehicle with ID 4 is 30.2 meters away at (19.7, -22.9). A vehicle with ID 13 is 37.9 meters away at (28.9, -24.6). A unknown object with ID 36 is 42.1 meters away at (-41.9, 4.3). A unknown object with ID 35 is 43.0 meters away at (-42.6, 5.9).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.8137671   0.45582935] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.01231461 -0.02018837] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00217531 -0.00296629] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-9.963848  6.657965] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [12.117065  -3.3952503], 12.583759307861328 meters away.)"}
{"file_name": "images/scenario_746_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.4) m/s. Its current heading (yaw) is -0.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 18.8 meters away at (15.0, 11.3). A vehicle with ID 15 is 22.2 meters away at (21.6, -5.0). A pedestrian with ID 11 is 36.8 meters away at (31.6, -18.9). A pedestrian with ID 18 is 45.5 meters away at (38.8, -23.9). A vehicle with ID 16 is 51.8 meters away at (46.6, -22.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.4398809 -0.5337675] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.3123238   0.79402924] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.87250215 -0.00626063] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(63.88703155517578, -30.64850425720215)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [15.018373 11.292369], 18.790132522583008 meters away.)"}
{"file_name": "images/scenario_746_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -1.6) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 13.7 meters away at (7.8, 11.2). A vehicle with ID 15 is 15.5 meters away at (15.2, -2.9). A pedestrian with ID 11 is 27.9 meters away at (22.9, -15.8). A vehicle with ID 16 is 45.4 meters away at (40.5, -20.7).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.2254405 -2.1282022] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.2170528  0.4886688] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(63.88703155517578, -30.64850425720215)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.8177814 11.211527 ], 13.668066024780273 meters away.)"}
{"file_name": "images/scenario_746_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -2.2) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 5.3 meters away at (5.0, 1.6). A vehicle with ID 13 is 12.1 meters away at (-6.8, 10.0). A pedestrian with ID 11 is 15.4 meters away at (11.4, -10.5). A vehicle with ID 16 is 35.3 meters away at (31.1, -16.7).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.98062706  0.524182  ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-4.266727  -1.7069539] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0574198  0.6417926] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(63.88703155517578, -30.64850425720215)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.030466  1.5513897], 5.264256954193115 meters away.)"}
{"file_name": "images/scenario_746_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -1.8) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 5.2 meters away at (1.0, -5.1). A vehicle with ID 15 is 11.3 meters away at (-7.8, 8.3). A vehicle with ID 16 is 26.4 meters away at (23.2, -12.5). A pedestrian with ID 7 is 27.6 meters away at (21.4, -17.4). A vehicle with ID 13 is 29.7 meters away at (-26.5, 13.4). A pedestrian with ID 4 is 76.2 meters away at (74.8, -14.8).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0929488  0.5434839] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.571208   1.7828608] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.0655813 -0.6813989] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.63918495 -0.6050286 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(63.88703155517578, -30.64850425720215)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 0.9806423 -5.0934124], 5.186955451965332 meters away.)"}
{"file_name": "images/scenario_747_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -0.5) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A pedestrian with ID 78 is 7.7 meters away at (3.7, -6.7). A vehicle with ID 75 is 9.0 meters away at (-9.0, -0.4). A pedestrian with ID 77 is 9.3 meters away at (-8.6, -3.5). A vehicle with ID 76 is 10.3 meters away at (-6.3, 8.1). A unknown object with ID 80 is 16.3 meters away at (10.8, -12.2). A vehicle with ID 37 is 18.6 meters away at (2.1, -18.5). A pedestrian with ID 81 is 18.7 meters away at (14.0, -12.5). A vehicle with ID 38 is 19.6 meters away at (13.5, 14.2). A vehicle with ID 79 is 20.0 meters away at (-19.7, 3.4). A pedestrian with ID 84 is 21.1 meters away at (17.2, -12.2).", "velocity_description": "The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.721289  -0.9338639] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 1.0217197  -0.47267747] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.11832064 0.03358084] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.06076947  0.01102976] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(104.13533020019531, 54.204402923583984)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.7193723 -6.74723  ], 7.704468727111816 meters away.)"}
{"file_name": "images/scenario_747_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.2) m/s. Its current heading (yaw) is -0.28 ", "actor_description": " The most relevant actors are: A pedestrian with ID 78 is 7.4 meters away at (-3.0, -6.8). A unknown object with ID 80 is 11.4 meters away at (4.8, -10.4). A pedestrian with ID 77 is 12.4 meters away at (-12.1, -2.6). A pedestrian with ID 81 is 13.7 meters away at (8.6, -10.7). A unknown object with ID 33 is 14.7 meters away at (8.3, -12.1). A vehicle with ID 75 is 15.1 meters away at (-15.0, 1.5). A pedestrian with ID 84 is 15.3 meters away at (11.2, -10.4). A vehicle with ID 76 is 15.7 meters away at (-12.1, 10.0). A pedestrian with ID 85 is 16.3 meters away at (11.7, -11.3). A vehicle with ID 37 is 17.0 meters away at (-3.8, -16.6).", "velocity_description": "The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.32860246 -0.93753207] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 1.2116618  -0.36929163] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.06020356 0.01412045] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.02628594  0.03069106] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.23928861  0.06328172] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(104.13533020019531, 54.204402923583984)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-3.0296612 -6.751564 ], 7.4001665115356445 meters away.)"}
{"file_name": "images/scenario_747_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -3.6) m/s. Its current heading (yaw) is -0.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 84 is 5.8 meters away at (1.2, -5.7). A pedestrian with ID 81 is 6.2 meters away at (-1.1, -6.1). A pedestrian with ID 85 is 7.2 meters away at (1.6, -7.0). A pedestrian with ID 86 is 7.7 meters away at (2.8, -7.2). A unknown object with ID 80 is 7.8 meters away at (-5.2, -5.8). A vehicle with ID 74 is 7.9 meters away at (7.9, 0.7). A vehicle with ID 88 is 10.3 meters away at (2.5, -10.0). A vehicle with ID 73 is 12.5 meters away at (12.1, -2.9). A pedestrian with ID 89 is 12.7 meters away at (1.5, -12.6). A pedestrian with ID 78 is 14.3 meters away at (-13.7, -4.1).", "velocity_description": "The pedestrian with ID 84 is traveling at a (x, y) velocity of [0.01094346 0.00894687] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.03958395 0.00722289] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.00795976 -0.02081004] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [0.01468838 0.01278652] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.01286606 0.09544964] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.37999046 -1.0044593 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(104.13533020019531, 54.204402923583984)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 1.209858  -5.7062283], 5.833077907562256 meters away.)"}
{"file_name": "images/scenario_747_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -5.3) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 4.3 meters away at (-2.4, -3.5). A unknown object with ID 92 is 5.0 meters away at (3.9, 3.1). A vehicle with ID 73 is 6.3 meters away at (0.3, 6.3). A vehicle with ID 72 is 7.6 meters away at (7.6, 0.2). A unknown object with ID 21 is 8.4 meters away at (4.2, -7.3). A pedestrian with ID 86 is 9.3 meters away at (-9.1, 2.1). A vehicle with ID 88 is 9.5 meters away at (-9.5, -0.5). A vehicle with ID 74 is 10.6 meters away at (-3.9, 9.8). A pedestrian with ID 85 is 10.6 meters away at (-10.3, 2.5). A pedestrian with ID 89 is 11.1 meters away at (-10.6, -3.4).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.02151039 -0.00140623] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.05280474 0.01194307] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.01175931 -0.00307261] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(104.13533020019531, 54.204402923583984)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.4090328 -3.5381527], 4.280416488647461 meters away.)"}
{"file_name": "images/scenario_748_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.1) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 7.3 meters away at (5.4, 5.0). A pedestrian with ID 13 is 15.8 meters away at (-15.7, -1.0). A pedestrian with ID 14 is 15.9 meters away at (-15.6, -2.9). A pedestrian with ID 22 is 55.2 meters away at (-53.1, -15.0). A vehicle with ID 21 is 57.9 meters away at (9.9, 57.0). A pedestrian with ID 17 is 62.6 meters away at (15.6, 60.7). A vehicle with ID 9 is 64.8 meters away at (16.0, 62.8).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.1727262 -3.1822023] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00167857 -0.00551912] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.1993903  -0.50786793] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1302042   0.53085506] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.08195165  0.8769424 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.12882657 0.5008803 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-243.59158325195312, 123.2935562133789)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.380321  4.9982777], 7.343748092651367 meters away.)"}
{"file_name": "images/scenario_748_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 3.6 meters away at (3.6, 0.2). A pedestrian with ID 14 is 13.5 meters away at (-12.8, -4.2). A pedestrian with ID 13 is 15.3 meters away at (-15.3, -1.4). A vehicle with ID 2 is 49.1 meters away at (-48.7, 6.3). A pedestrian with ID 22 is 56.7 meters away at (-54.9, -14.2). A vehicle with ID 21 is 57.9 meters away at (10.0, 57.0). A pedestrian with ID 17 is 64.2 meters away at (15.3, 62.3). A vehicle with ID 9 is 66.0 meters away at (16.1, 64.0).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.55799127 -1.5967071 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.4261023  -0.66650826] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.7775852  -0.65077454] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [13.908443 -5.974101] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.9127109   0.41960377] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.13816006 0.89583   ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.22924839 0.6251486 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-243.59158325195312, 123.2935562133789)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.5893364 0.2129426], 3.5956473350524902 meters away.)"}
{"file_name": "images/scenario_748_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 3.3 meters away at (3.0, -1.3). A vehicle with ID 10 is 3.3 meters away at (3.0, -1.3). A pedestrian with ID 14 is 11.5 meters away at (-10.1, -5.5). A pedestrian with ID 13 is 13.5 meters away at (-13.2, -2.9). A vehicle with ID 2 is 21.2 meters away at (-20.4, -5.9). A vehicle with ID 21 is 57.8 meters away at (10.0, 57.0). A pedestrian with ID 22 is 58.4 meters away at (-56.8, -13.4). A pedestrian with ID 6 is 60.0 meters away at (20.6, 56.4). A pedestrian with ID 17 is 65.9 meters away at (15.3, 64.1). A unknown object with ID 5 is 69.2 meters away at (-69.1, -4.0).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.3003569 -0.6539583] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.1526289 -0.559524 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [14.454443  -6.2236714] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.9667884  0.3509881] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.31392244 0.8427554 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.2374759 0.8956637] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-243.59158325195312, 123.2935562133789)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 2.983898  -1.3270848], 3.265700578689575 meters away.)"}
{"file_name": "images/scenario_748_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 3.3 meters away at (3.0, -1.2). A vehicle with ID 10 is 3.3 meters away at (3.0, -1.4). A pedestrian with ID 14 is 10.1 meters away at (-7.4, -6.9). A pedestrian with ID 13 is 11.6 meters away at (-10.9, -3.9). A vehicle with ID 2 is 20.3 meters away at (9.0, -18.2). A vehicle with ID 21 is 57.9 meters away at (10.0, 57.0). A pedestrian with ID 22 is 60.1 meters away at (-58.7, -12.7). A unknown object with ID 8 is 60.1 meters away at (19.6, 56.8). A pedestrian with ID 17 is 67.8 meters away at (15.1, 66.1).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.4401076 -0.6146264] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.1752205 -0.5833537] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [14.973697  -6.2969584] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8608689   0.32150918] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.08966865  1.2224054 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-243.59158325195312, 123.2935562133789)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 3.0074787 -1.2492845], 3.2566301822662354 meters away.)"}
{"file_name": "images/scenario_749_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -7.1) m/s. Its current heading (yaw) is -1.35 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 28.7 meters away at (2.6, -28.5). A vehicle with ID 4 is 33.1 meters away at (-22.7, 24.1). A vehicle with ID 6 is 50.0 meters away at (-41.4, 27.9). A vehicle with ID 5 is 54.0 meters away at (-13.2, 52.4).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.0030311   0.01463068] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(78.33230590820312, -275.6035461425781)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  2.6122806 -28.543732 ], 28.66301918029785 meters away.)"}
{"file_name": "images/scenario_749_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -8.3) m/s. Its current heading (yaw) is -1.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 69.9 meters away at (-16.8, 67.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(78.33230590820312, -275.6035461425781)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-16.80986  67.88148], 69.93186950683594 meters away.)"}
{"file_name": "images/scenario_749_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -8.7) m/s. Its current heading (yaw) is -1.35 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(78.33230590820312, -275.6035461425781)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_749_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -8.6) m/s. Its current heading (yaw) is -1.33 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(78.33230590820312, -275.6035461425781)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_750_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.9) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 88 is 23.2 meters away at (-20.0, -11.7). A vehicle with ID 87 is 23.2 meters away at (-20.1, -11.7). A vehicle with ID 43 is 26.9 meters away at (-26.9, 1.2). A unknown object with ID 68 is 27.3 meters away at (3.3, -27.1). A vehicle with ID 93 is 28.0 meters away at (-4.2, -27.7). A vehicle with ID 89 is 29.7 meters away at (-28.2, -9.2). A pedestrian with ID 90 is 30.8 meters away at (-22.8, -20.7). A pedestrian with ID 70 is 31.9 meters away at (-25.2, -19.6). A pedestrian with ID 80 is 32.4 meters away at (-32.0, 4.7). A vehicle with ID 91 is 33.1 meters away at (-30.6, -12.6).", "velocity_description": "The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [2.4964285 3.4613152] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.7185768 -0.5421367] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.09372173 -0.03176456] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.75381327  0.306984  ] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.213362 -22.076628]\n [ -9.034478 -20.207024]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-20.027163 -11.716371], 23.202598571777344 meters away.)"}
{"file_name": "images/scenario_750_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.4) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 93 is 13.7 meters away at (7.0, -11.8). A vehicle with ID 87 is 16.2 meters away at (-16.2, -0.4). A vehicle with ID 88 is 16.2 meters away at (-16.2, -0.4). A unknown object with ID 68 is 17.3 meters away at (7.2, -15.7). A pedestrian with ID 90 is 21.6 meters away at (-18.8, -10.7). A vehicle with ID 97 is 22.0 meters away at (-3.1, -21.8). A pedestrian with ID 70 is 22.9 meters away at (-21.4, -8.2). A pedestrian with ID 28 is 23.2 meters away at (12.0, -19.9). A vehicle with ID 89 is 24.4 meters away at (-24.3, 2.1). A vehicle with ID 43 is 26.3 meters away at (-23.2, 12.4).", "velocity_description": "The vehicle with ID 93 is traveling at a (x, y) velocity of [4.7668977 0.7372842] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.32048416 -0.5291404 ] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [1.0129083 2.7817128] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.02244891  0.00470692] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.1515523   0.39989725] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.213362 -22.076628]\n [ -9.034478 -20.207024]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  6.9798555 -11.76029  ], 13.675628662109375 meters away.)"}
{"file_name": "images/scenario_750_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.3) m/s. Its current heading (yaw) is -1.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 97 is 4.3 meters away at (3.3, -2.7). A unknown object with ID 68 is 11.9 meters away at (11.8, -1.4). A vehicle with ID 101 is 12.7 meters away at (-0.4, -12.7). A pedestrian with ID 90 is 14.8 meters away at (-14.3, 3.7). A pedestrian with ID 28 is 14.9 meters away at (14.0, -5.0). A vehicle with ID 88 is 18.0 meters away at (-11.5, 13.8). A vehicle with ID 102 is 22.0 meters away at (-3.6, -21.7). A pedestrian with ID 34 is 22.8 meters away at (-21.5, 7.4). A vehicle with ID 93 is 23.7 meters away at (23.7, 0.8). A vehicle with ID 84 is 24.6 meters away at (-1.8, -24.6).", "velocity_description": "The vehicle with ID 97 is traveling at a (x, y) velocity of [0.88205427 2.7733886 ] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [1.0870553 2.779687 ] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.03643033 0.06097168] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.3099439   0.40652317] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [1.175212  3.2408762] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.08876302 -0.04932031] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [ 7.072171  -2.1923404] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.213362 -22.076628]\n [ -9.034478 -20.207024]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.3376603 -2.7337608], 4.314327716827393 meters away.)"}
{"file_name": "images/scenario_750_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.0) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 3.4 meters away at (3.2, -1.2). A vehicle with ID 101 is 9.9 meters away at (6.6, 7.4). A vehicle with ID 84 is 10.7 meters away at (2.9, -10.3). A pedestrian with ID 28 is 19.0 meters away at (16.1, 10.2). A unknown object with ID 68 is 21.0 meters away at (16.6, 12.9). A vehicle with ID 97 is 21.8 meters away at (8.5, 20.1). A vehicle with ID 46 is 22.4 meters away at (-15.9, -15.8). A vehicle with ID 103 is 24.9 meters away at (-4.9, -24.4). A vehicle with ID 85 is 25.8 meters away at (-22.4, -12.8). A vehicle with ID 88 is 28.9 meters away at (-6.8, 28.1).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [1.0423079 3.0252323] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [1.4349798 3.5614839] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.435611    0.52282965] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [-1.4167227  5.1491404] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.213362 -22.076628]\n [ -9.034478 -20.207024]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.2102108 -1.2042961], 3.428670644760132 meters away.)"}
{"file_name": "images/scenario_751_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 1.0) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 60 is 5.7 meters away at (5.5, -1.5). A unknown object with ID 61 is 6.4 meters away at (6.4, -0.4). A pedestrian with ID 64 is 10.9 meters away at (-2.2, 10.7). A pedestrian with ID 62 is 12.1 meters away at (-3.8, 11.5). A vehicle with ID 17 is 16.6 meters away at (-14.7, 7.8). A vehicle with ID 66 is 20.1 meters away at (-20.1, 0.5). A unknown object with ID 67 is 24.2 meters away at (-2.2, -24.1). A unknown object with ID 68 is 26.1 meters away at (-15.4, 21.1). A vehicle with ID 63 is 27.2 meters away at (-26.9, -3.6). A vehicle with ID 65 is 32.9 meters away at (-31.7, -8.9).", "velocity_description": "The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.8609234 -1.2146248] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.8618379 -1.058805 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.4541976  4.997953 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-1.7123145 -4.74753  ] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-262.0819396972656, 135.23638916015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 5.453785  -1.4964094], 5.655352592468262 meters away.)"}
{"file_name": "images/scenario_751_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 2.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 64 is 5.3 meters away at (2.8, 4.5). A pedestrian with ID 62 is 5.7 meters away at (1.5, 5.5). A unknown object with ID 60 is 11.2 meters away at (9.9, -5.3). A unknown object with ID 61 is 11.6 meters away at (10.8, -4.2). A unknown object with ID 45 is 18.7 meters away at (-1.2, 18.6). A unknown object with ID 68 is 20.5 meters away at (-10.9, 17.3). A unknown object with ID 35 is 22.0 meters away at (-21.0, 6.5). A vehicle with ID 17 is 22.4 meters away at (-17.1, 14.5). A vehicle with ID 63 is 23.7 meters away at (-22.6, -7.4). A vehicle with ID 66 is 26.6 meters away at (-22.7, -13.8).", "velocity_description": "The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.11321429 -1.2071543 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01621692 -1.1298785 ] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-5.1468697  5.273967 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-5.124354  -5.8717437] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-262.0819396972656, 135.23638916015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [2.7587614 4.5117984], 5.288392066955566 meters away.)"}
{"file_name": "images/scenario_751_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.1) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 62 is 9.7 meters away at (9.0, -3.6). A pedestrian with ID 64 is 10.9 meters away at (9.8, -4.6). A unknown object with ID 68 is 11.0 meters away at (-3.1, 10.6). A unknown object with ID 45 is 13.6 meters away at (6.6, 11.9). A unknown object with ID 55 is 17.2 meters away at (15.5, -7.5). A unknown object with ID 34 is 19.1 meters away at (-11.9, 15.0). A unknown object with ID 50 is 19.6 meters away at (17.4, -9.0). A vehicle with ID 63 is 20.4 meters away at (-14.8, -14.1). A unknown object with ID 60 is 21.4 meters away at (17.7, -12.1). A unknown object with ID 40 is 21.4 meters away at (-20.6, 5.7).", "velocity_description": "The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.48012832 -1.1486022 ] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.5808061 -1.2162222] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-262.0819396972656, 135.23638916015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 8.97032   -3.5992842], 9.665478706359863 meters away.)"}
{"file_name": "images/scenario_751_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 5.5) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 5.1 meters away at (-0.5, 5.1). A unknown object with ID 28 is 5.9 meters away at (2.3, 5.4). A unknown object with ID 68 is 8.2 meters away at (8.2, 0.7). A unknown object with ID 40 is 10.1 meters away at (-9.3, -4.2). A vehicle with ID 58 is 12.2 meters away at (-12.1, 1.3). A unknown object with ID 18 is 12.5 meters away at (-6.6, 10.6). A unknown object with ID 16 is 21.6 meters away at (-13.7, 16.7). A vehicle with ID 63 is 24.1 meters away at (-3.5, -23.9). A unknown object with ID 42 is 24.2 meters away at (-22.9, 7.9). A pedestrian with ID 62 is 24.3 meters away at (18.8, -15.4).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.8066784 -0.8603571] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-262.0819396972656, 135.23638916015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.5214443  5.1194954], 5.14598274230957 meters away.)"}
{"file_name": "images/scenario_752_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.1) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 9.0 meters away at (4.3, 7.9). A vehicle with ID 10 is 11.9 meters away at (-6.5, -10.0). A vehicle with ID 14 is 20.8 meters away at (-11.2, -17.6). A vehicle with ID 16 is 27.8 meters away at (13.6, 24.2). A vehicle with ID 19 is 30.4 meters away at (-15.8, -25.9). A vehicle with ID 21 is 58.0 meters away at (35.4, 45.9). A vehicle with ID 22 is 58.8 meters away at (-30.2, -50.5). A vehicle with ID 23 is 65.2 meters away at (39.2, 52.1). A vehicle with ID 1 is 66.6 meters away at (-3.7, -66.5). A vehicle with ID 24 is 70.1 meters away at (-34.7, -60.9).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.98476297 -1.5860488 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-2.744177  -4.7275205] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.23332025 -0.39611325] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.16291496 -0.27586216] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.8322239 -1.6163676] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.792713 -43.038387]\n [-24.517761 -43.823524]\n [-29.030092 -40.78605 ]]", "nav_goal": "(171.69970703125, -186.73281860351562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.2975626 7.9291935], 9.018933296203613 meters away.)"}
{"file_name": "images/scenario_752_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 8.5 meters away at (4.0, 7.5). A vehicle with ID 10 is 10.0 meters away at (-5.5, -8.4). A vehicle with ID 14 is 18.9 meters away at (-10.3, -15.9). A vehicle with ID 16 is 20.8 meters away at (10.1, 18.2). A vehicle with ID 19 is 28.5 meters away at (-14.9, -24.4). A vehicle with ID 22 is 59.3 meters away at (-30.4, -51.0). A vehicle with ID 21 is 59.8 meters away at (36.4, 47.4). A unknown object with ID 5 is 62.3 meters away at (-47.5, -40.2). A vehicle with ID 23 is 67.1 meters away at (40.3, 53.7). A vehicle with ID 24 is 71.4 meters away at (-35.2, -62.2).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.376697  -0.6154255] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-1.6668783 -2.774547 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.89712083 -1.4961606 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.46683663 -1.0404975 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.792713 -43.038387]\n [-24.517761 -43.823524]\n [-29.030092 -40.78605 ]]", "nav_goal": "(171.69970703125, -186.73281860351562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.016037  7.4850507], 8.494382858276367 meters away.)"}
{"file_name": "images/scenario_752_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 8.0 meters away at (3.8, 7.1). A vehicle with ID 10 is 9.1 meters away at (-5.0, -7.6). A vehicle with ID 16 is 17.6 meters away at (8.4, 15.4). A vehicle with ID 14 is 18.1 meters away at (-9.9, -15.2). A vehicle with ID 19 is 27.7 meters away at (-14.5, -23.6). A unknown object with ID 7 is 40.9 meters away at (-0.5, -40.9). A vehicle with ID 21 is 60.7 meters away at (36.9, 48.2). A unknown object with ID 4 is 60.9 meters away at (-55.1, -26.1). A vehicle with ID 22 is 62.0 meters away at (-31.6, -53.4). A vehicle with ID 23 is 67.9 meters away at (40.5, 54.5).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.2741283 -0.448432 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.67633516 -1.0704005 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.72472316 -1.3619481 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.792713 -43.038387]\n [-24.517761 -43.823524]\n [-29.030092 -40.78605 ]]", "nav_goal": "(171.69970703125, -186.73281860351562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.7710261 7.0717034], 8.014339447021484 meters away.)"}
{"file_name": "images/scenario_752_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 7.9 meters away at (3.7, 7.0). A vehicle with ID 10 is 8.9 meters away at (-4.9, -7.4). A vehicle with ID 16 is 16.2 meters away at (7.7, 14.3). A vehicle with ID 14 is 18.0 meters away at (-9.8, -15.1). A vehicle with ID 19 is 27.5 meters away at (-14.4, -23.4). A unknown object with ID 7 is 40.8 meters away at (-0.2, -40.8). A vehicle with ID 21 is 60.8 meters away at (36.9, 48.3). A unknown object with ID 18 is 61.4 meters away at (-47.1, -39.4). A vehicle with ID 22 is 63.6 meters away at (-32.4, -54.8). A vehicle with ID 23 is 68.1 meters away at (40.9, 54.5).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.792713 -43.038387]\n [-24.517761 -43.823524]\n [-29.030092 -40.78605 ]]", "nav_goal": "(171.69970703125, -186.73281860351562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.6964006 6.9933696], 7.910157680511475 meters away.)"}
{"file_name": "images/scenario_753_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 5.4 meters away at (0.3, 5.4). A vehicle with ID 70 is 7.1 meters away at (-6.2, -3.6). A vehicle with ID 22 is 9.6 meters away at (-7.2, 6.3). A vehicle with ID 64 is 14.8 meters away at (13.9, -5.3). A vehicle with ID 53 is 15.1 meters away at (-8.3, 12.6). A vehicle with ID 66 is 19.6 meters away at (-5.5, -18.8). A vehicle with ID 77 is 19.8 meters away at (-18.5, 7.3). A vehicle with ID 33 is 20.1 meters away at (-15.5, 12.7). A vehicle with ID 68 is 26.1 meters away at (22.8, -12.7). A vehicle with ID 69 is 26.5 meters away at (5.9, -25.8).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 8.938602 -7.151833] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.1595134   0.95258856] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 8.751865 -6.939353] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.7195792  2.4733367] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.779537  42.469627]\n [-48.15306   32.3071  ]\n [-48.799397  41.98937 ]\n [-51.26484   43.633793]\n [-54.612873  38.98276 ]\n [-50.1277    42.634468]]", "nav_goal": "(106.20054626464844, 221.36691284179688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.3401653 5.412791 ], 5.423469066619873 meters away.)"}
{"file_name": "images/scenario_753_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.2) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 4.4 meters away at (2.3, 3.8). A vehicle with ID 77 is 8.2 meters away at (0.4, -8.2). A vehicle with ID 53 is 12.7 meters away at (-6.3, 11.0). A vehicle with ID 22 is 12.7 meters away at (-9.6, 8.3). A vehicle with ID 64 is 17.3 meters away at (15.9, -6.9). A vehicle with ID 84 is 19.5 meters away at (-19.2, 3.8). A vehicle with ID 66 is 20.8 meters away at (-3.5, -20.5). A vehicle with ID 70 is 22.5 meters away at (12.8, -18.5). A vehicle with ID 33 is 27.4 meters away at (-21.1, 17.5). A vehicle with ID 69 is 28.6 meters away at (8.0, -27.4).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 8.130948 -6.436066] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.1651552  2.6958053] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 9.50569   -7.7185235] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 8.256704 -6.303032] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-4.2019453  3.5525641] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.779537  42.469627]\n [-48.15306   32.3071  ]\n [-48.799397  41.98937 ]\n [-51.26484   43.633793]\n [-54.612873  38.98276 ]\n [-50.1277    42.634468]]", "nav_goal": "(106.20054626464844, 221.36691284179688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.3193378 3.7929564], 4.4458794593811035 meters away.)"}
{"file_name": "images/scenario_753_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 3.5) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 6.4 meters away at (-0.7, 6.3). A vehicle with ID 56 is 8.0 meters away at (7.9, -0.9). A vehicle with ID 35 is 12.6 meters away at (-12.5, 1.7). A vehicle with ID 22 is 16.0 meters away at (-12.2, 10.4). A vehicle with ID 84 is 17.3 meters away at (5.4, -16.4). A vehicle with ID 52 is 23.8 meters away at (-15.4, 18.2). A vehicle with ID 64 is 24.4 meters away at (21.5, -11.6). A vehicle with ID 66 is 25.2 meters away at (2.2, -25.1). A vehicle with ID 54 is 29.8 meters away at (-20.2, 21.9). A vehicle with ID 30 is 31.8 meters away at (-26.6, 17.5).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 9.406397  -7.0528316] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.746271  4.087604] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 9.0722475 -7.172357 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.779537  42.469627]\n [-48.15306   32.3071  ]\n [-48.799397  41.98937 ]\n [-51.26484   43.633793]\n [-54.612873  38.98276 ]\n [-50.1277    42.634468]]", "nav_goal": "(106.20054626464844, 221.36691284179688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.70261526  6.3314714 ], 6.37033748626709 meters away.)"}
{"file_name": "images/scenario_753_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.2) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 6.8 meters away at (-3.9, -5.5). A vehicle with ID 53 is 8.6 meters away at (8.5, -1.2). A vehicle with ID 52 is 12.1 meters away at (-6.1, 10.5). A vehicle with ID 22 is 17.3 meters away at (-13.1, 11.3). A vehicle with ID 54 is 17.9 meters away at (-10.8, 14.2). A vehicle with ID 56 is 19.3 meters away at (17.3, -8.5). A vehicle with ID 30 is 19.8 meters away at (-17.2, 9.8). A pedestrian with ID 80 is 24.1 meters away at (-10.6, 21.7). A vehicle with ID 35 is 25.0 meters away at (14.9, -20.2). A vehicle with ID 3 is 28.2 meters away at (-24.0, 14.7).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [10.027631  -7.7851143] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.250033   4.6297207] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.0196513  0.10290049] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 8.505367  -6.4860406] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.779537  42.469627]\n [-48.15306   32.3071  ]\n [-48.799397  41.98937 ]\n [-51.26484   43.633793]\n [-54.612873  38.98276 ]\n [-50.1277    42.634468]]", "nav_goal": "(106.20054626464844, 221.36691284179688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.9469814 -5.536001 ], 6.79896879196167 meters away.)"}
{"file_name": "images/scenario_754_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 4.5) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 9.6 meters away at (-7.0, -6.6). A vehicle with ID 49 is 13.0 meters away at (0.2, -13.0). A vehicle with ID 57 is 14.2 meters away at (-14.2, -0.5). A vehicle with ID 50 is 16.5 meters away at (-1.3, -16.4). A vehicle with ID 58 is 39.4 meters away at (11.3, -37.8). A vehicle with ID 53 is 40.9 meters away at (31.1, -26.5). A vehicle with ID 56 is 42.5 meters away at (30.1, -30.0). A vehicle with ID 55 is 42.7 meters away at (28.0, -32.3). A vehicle with ID 64 is 46.5 meters away at (-6.0, -46.1). A vehicle with ID 54 is 46.9 meters away at (26.8, -38.5).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [ 1.560927  -1.3814796] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [5.184054  2.0774307] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 4.952937   -0.16015744] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 6.466337  -2.9992275] m/s.", "light_description": "There are active red lights at the following coordinates: [[  9.479498  -11.98079  ]\n [  6.017224  -17.246197 ]\n [ 11.607737   -9.361624 ]\n [ 14.71338    -7.4619675]]", "nav_goal": "(-104.92724609375, 205.88841247558594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.035411  -6.5949564], 9.643156051635742 meters away.)"}
{"file_name": "images/scenario_754_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 5.7) m/s. Its current heading (yaw) is 2.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 12.6 meters away at (1.9, -12.4). A vehicle with ID 52 is 19.1 meters away at (7.9, -17.4). A vehicle with ID 28 is 20.0 meters away at (-19.3, 5.3). A unknown object with ID 38 is 22.9 meters away at (-11.3, 20.0). A vehicle with ID 49 is 28.2 meters away at (15.1, -23.8). A vehicle with ID 50 is 30.6 meters away at (13.7, -27.3). A vehicle with ID 26 is 39.2 meters away at (-34.8, 18.2). A vehicle with ID 12 is 50.4 meters away at (-45.0, 22.6). A vehicle with ID 65 is 56.6 meters away at (-6.2, -56.3). A vehicle with ID 64 is 56.9 meters away at (18.2, -53.9).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 6.2930574 -5.3244796] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 8.011416 -6.858946] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 9.869069 -8.511244] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [4.620592  2.7427068] m/s.", "light_description": "There are active red lights at the following coordinates: [[  9.479498  -11.98079  ]\n [  6.017224  -17.246197 ]\n [ 11.607737   -9.361624 ]\n [ 14.71338    -7.4619675]]", "nav_goal": "(-104.92724609375, 205.88841247558594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  1.9285984 -12.42222  ], 12.571040153503418 meters away.)"}
{"file_name": "images/scenario_754_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 6.3) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 7.4 meters away at (-5.2, -5.3). A vehicle with ID 12 is 11.8 meters away at (-10.9, -4.6). A vehicle with ID 28 is 16.1 meters away at (6.5, -14.7). A vehicle with ID 57 is 30.4 meters away at (18.2, -24.4). A vehicle with ID 52 is 38.0 meters away at (24.1, -29.3). A vehicle with ID 8 is 46.2 meters away at (-29.5, 35.5). A vehicle with ID 49 is 47.3 meters away at (31.2, -35.6). A vehicle with ID 50 is 49.2 meters away at (29.8, -39.1). A vehicle with ID 11 is 54.7 meters away at (-46.0, 29.5). A vehicle with ID 46 is 67.5 meters away at (-42.8, -52.2).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [ 5.382274  -4.5675597] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 7.9838247 -6.7945857] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 3.4040668 -2.855539 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 8.665214  -7.3025723] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.868686   3.0644207] m/s.", "light_description": "There are active red lights at the following coordinates: [[  9.479498  -11.98079  ]\n [  6.017224  -17.246197 ]\n [ 11.607737   -9.361624 ]\n [ 14.71338    -7.4619675]]", "nav_goal": "(-104.92724609375, 205.88841247558594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.2314186 -5.2722816], 7.42729377746582 meters away.)"}
{"file_name": "images/scenario_754_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 7.2) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 14.1 meters away at (-13.9, 2.8). A unknown object with ID 35 is 21.1 meters away at (20.6, -4.8). A vehicle with ID 18 is 25.4 meters away at (-23.1, 10.7). A vehicle with ID 8 is 26.3 meters away at (-13.5, 22.6). A vehicle with ID 26 is 31.1 meters away at (18.7, -24.9). A vehicle with ID 12 is 35.5 meters away at (19.4, -29.8). A vehicle with ID 28 is 42.1 meters away at (27.5, -31.9). A cyclist with ID 13 is 48.3 meters away at (-40.3, 26.6). A vehicle with ID 20 is 49.1 meters away at (-48.0, 10.2). A vehicle with ID 57 is 50.7 meters away at (34.3, -37.4).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.395395 -6.174504] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 7.9507446 -6.680425 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.431942  -2.0327609] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.10957   -5.2354865] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.3524011 -1.1283883] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [ 9.111228 -7.990475] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-104.92724609375, 205.88841247558594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-13.861225   2.8041  ], 14.142013549804688 meters away.)"}
{"file_name": "images/scenario_755_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, -4.8) m/s. Its current heading (yaw) is -2.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 4.4 meters away at (0.6, -4.3). A unknown object with ID 12 is 6.3 meters away at (-6.2, -1.1). A vehicle with ID 30 is 7.5 meters away at (4.4, -6.1). A vehicle with ID 34 is 9.2 meters away at (-4.5, -8.1). A vehicle with ID 10 is 11.2 meters away at (8.4, -7.4). A vehicle with ID 35 is 12.6 meters away at (-3.2, -12.2). A vehicle with ID 36 is 15.3 meters away at (-9.7, -11.9). A unknown object with ID 31 is 15.6 meters away at (12.4, -9.5). A vehicle with ID 38 is 18.8 meters away at (-9.3, -16.4). A vehicle with ID 39 is 21.3 meters away at (-14.6, -15.5).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [6.239077  4.2973146] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.7256217  -8.062041  ]\n [ 0.48772663 -7.5512195 ]\n [18.977108   -5.704441  ]\n [26.361677   -9.971562  ]\n [-1.6136863  -0.99796   ]\n [-1.443966   -1.1296723 ]]", "nav_goal": "(-237.11883544921875, -182.73130798339844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.6326437 -4.3294754], 4.375453948974609 meters away.)"}
{"file_name": "images/scenario_755_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, -6.1) m/s. Its current heading (yaw) is -2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 4.4 meters away at (-0.1, -4.4). A vehicle with ID 36 is 4.9 meters away at (4.9, -0.8). A vehicle with ID 38 is 7.5 meters away at (5.3, -5.3). A vehicle with ID 40 is 10.2 meters away at (-0.8, -10.2). A vehicle with ID 34 is 10.4 meters away at (10.0, 2.9). A vehicle with ID 35 is 11.4 meters away at (11.3, -1.1). A vehicle with ID 6 is 13.5 meters away at (12.8, -4.3). A vehicle with ID 32 is 16.5 meters away at (15.1, 6.7). A vehicle with ID 41 is 17.3 meters away at (-7.8, -15.4). A vehicle with ID 30 is 19.5 meters away at (18.9, 4.9).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [4.496144  3.3621976] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.7256217  -8.062041  ]\n [ 0.48772663 -7.5512195 ]\n [18.977108   -5.704441  ]\n [18.977108   -5.704441  ]\n [-1.6136863  -0.99796   ]\n [-1.443966   -1.1296723 ]]", "nav_goal": "(-237.11883544921875, -182.73130798339844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.06978798 -4.4256916 ], 4.426241874694824 meters away.)"}
{"file_name": "images/scenario_755_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -6.6) m/s. Its current heading (yaw) is -2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 8.6 meters away at (8.0, -3.1). A pedestrian with ID 19 is 12.7 meters away at (-12.5, -2.6). A pedestrian with ID 11 is 12.9 meters away at (-12.5, -3.3). A pedestrian with ID 8 is 13.8 meters away at (-13.3, -4.0). A pedestrian with ID 13 is 14.1 meters away at (-13.8, -2.8). A vehicle with ID 40 is 15.1 meters away at (14.9, 2.3). A vehicle with ID 39 is 17.7 meters away at (15.8, 8.0). A vehicle with ID 38 is 22.2 meters away at (21.0, 7.2). A vehicle with ID 36 is 23.8 meters away at (20.7, 11.7). A vehicle with ID 35 is 29.4 meters away at (27.1, 11.4).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.35804415 -0.20615886] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.64636636 -0.3139257 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.6592062 -0.5004278] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00118313 -0.08828282] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.7256217  -8.062041  ]\n [ 0.48772663 -7.5512195 ]\n [18.977108   -5.704441  ]\n [18.977108   -5.704441  ]\n [-1.6136863  -0.99796   ]\n [-1.443966   -1.1296723 ]]", "nav_goal": "(-237.11883544921875, -182.73130798339844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.044277  -3.0744781], 8.611783027648926 meters away.)"}
{"file_name": "images/scenario_755_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, -6.8) m/s. Its current heading (yaw) is -2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 9.2 meters away at (2.8, 8.8). A pedestrian with ID 26 is 9.5 meters away at (1.2, 9.4). A pedestrian with ID 11 is 10.6 meters away at (3.3, 10.1). A pedestrian with ID 13 is 10.7 meters away at (2.3, 10.5). A pedestrian with ID 19 is 11.1 meters away at (3.7, 10.5). A cyclist with ID 18 is 12.9 meters away at (-12.1, -4.2). A vehicle with ID 41 is 26.2 meters away at (24.1, 10.2). A unknown object with ID 16 is 26.3 meters away at (-22.4, -13.7). A vehicle with ID 40 is 34.7 meters away at (31.0, 15.6). A vehicle with ID 3 is 38.0 meters away at (29.7, 23.7).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.14721166  0.00605083] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.0149156  -0.00137989] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.09206361 0.06765304] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.01677619 -0.03563315] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01614559 -0.03159194] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [3.65201  2.640098] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-8.670446 -6.90091 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.7256217  -8.062041  ]\n [ 0.48772663 -7.5512195 ]\n [-1.6136863  -0.99796   ]\n [-1.443966   -1.1296723 ]]", "nav_goal": "(-237.11883544921875, -182.73130798339844)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [2.7793884 8.806862 ], 9.235032081604004 meters away.)"}
{"file_name": "images/scenario_756_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -7.4) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 20.7 meters away at (7.6, 19.3). A pedestrian with ID 39 is 22.0 meters away at (-18.7, 11.6). A vehicle with ID 41 is 31.1 meters away at (-17.6, 25.6). A pedestrian with ID 38 is 31.8 meters away at (0.2, 31.8). A pedestrian with ID 49 is 36.3 meters away at (-11.6, -34.4). A vehicle with ID 40 is 42.2 meters away at (33.4, 25.8). A unknown object with ID 32 is 46.9 meters away at (9.5, 45.9). A pedestrian with ID 47 is 56.4 meters away at (13.3, 54.8). A pedestrian with ID 50 is 56.5 meters away at (-46.2, 32.5). A pedestrian with ID 51 is 59.6 meters away at (-50.4, 31.8).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.2086287 -5.2466006] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.00320445 0.0040866 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.8449824  0.69320273] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.3636784 -0.6126598] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.05364407 -0.03402068] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.01814013 0.04331139] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.2084723   0.17947885] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.147088   12.6021595]\n [-14.147308   12.605919 ]\n [-14.39138    12.481672 ]\n [-14.1435995  12.5363035]\n [ 17.097696   11.568212 ]\n [-14.141349   12.48301  ]\n [ 17.118036   12.287288 ]\n [ 17.098991   11.539484 ]\n [ 17.087896   11.8526945]\n [ 17.098991   11.539485 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.6076326 19.292524 ], 20.738311767578125 meters away.)"}
{"file_name": "images/scenario_756_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -7.9) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A pedestrian with ID 49 is 20.8 meters away at (-3.8, -20.4). A vehicle with ID 12 is 24.8 meters away at (9.2, 23.1). A pedestrian with ID 39 is 28.7 meters away at (-10.2, 26.8). A vehicle with ID 41 is 41.9 meters away at (-9.1, 40.9). A unknown object with ID 29 is 42.8 meters away at (-13.2, -40.8).", "velocity_description": "The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.3128338 -0.802621 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.816822  -6.5741363] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01879851 -0.01392767] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.147088   12.6021595]\n [-14.147308   12.605919 ]\n [-14.39138    12.481672 ]\n [-14.1435995  12.5363035]\n [-14.141349   12.48301  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ -3.8386345 -20.397713 ], 20.755765914916992 meters away.)"}
{"file_name": "images/scenario_756_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -7.9) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 49 is 7.3 meters away at (3.8, -6.2). A unknown object with ID 29 is 25.4 meters away at (-4.9, -25.0). A vehicle with ID 12 is 26.8 meters away at (9.8, 25.0). A vehicle with ID 23 is 56.8 meters away at (-0.3, 56.8). A pedestrian with ID 22 is 63.0 meters away at (-60.8, -16.6). A vehicle with ID 14 is 63.5 meters away at (-19.3, -60.5).", "velocity_description": "The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.40576747 -0.8426388 ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.8205462 -6.9912777] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.31390405 -0.50162077] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.147088   12.6021595]\n [-14.147308   12.605919 ]\n [-14.39138    12.481672 ]\n [-14.1435995  12.5363035]\n [-14.141349   12.48301  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 3.7801552 -6.2078247], 7.268195152282715 meters away.)"}
{"file_name": "images/scenario_756_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -8.1) m/s. Its current heading (yaw) is -2.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 49 is 13.8 meters away at (11.0, 8.3). A vehicle with ID 12 is 29.0 meters away at (10.2, 27.1). A vehicle with ID 14 is 45.7 meters away at (-11.3, -44.3). A pedestrian with ID 22 is 53.2 meters away at (-53.2, -1.2). A vehicle with ID 23 is 73.3 meters away at (7.7, 72.9).", "velocity_description": "The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.2744722 -0.8082203] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.7383432 -7.1035204] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.26226908 -0.26967052] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.147088   12.6021595]\n [-14.147308   12.605919 ]\n [-14.39138    12.481672 ]\n [-14.1435995  12.5363035]\n [-14.141349   12.48301  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [11.035074  8.336807], 13.830228805541992 meters away.)"}
{"file_name": "images/scenario_757_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -3.0) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 14.3 meters away at (-9.5, -10.7). A vehicle with ID 16 is 24.4 meters away at (-24.2, 2.9). A unknown object with ID 18 is 27.7 meters away at (24.2, 13.6). A unknown object with ID 19 is 29.9 meters away at (25.6, 15.5). A unknown object with ID 20 is 31.6 meters away at (26.5, 17.4). A unknown object with ID 21 is 33.5 meters away at (28.0, 18.5). A vehicle with ID 15 is 33.8 meters away at (-32.2, 10.1). A vehicle with ID 27 is 34.9 meters away at (-0.6, -34.9). A vehicle with ID 28 is 36.3 meters away at (-3.6, -36.1). A unknown object with ID 22 is 45.6 meters away at (19.7, 41.1).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.112559  -3.0310657] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.444525 -11.644681]\n [-20.252747 -35.386528]\n [-16.247652 -30.179783]\n [-18.360058 -32.829914]\n [-20.44216  -14.781799]]", "nav_goal": "(-193.16397094726562, 174.90029907226562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -9.502047  -10.7313795], 14.333575248718262 meters away.)"}
{"file_name": "images/scenario_757_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -3.4) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 15.9 meters away at (-13.7, -8.2). A vehicle with ID 16 is 21.4 meters away at (-19.3, 9.3). A vehicle with ID 27 is 28.8 meters away at (4.4, -28.5). A vehicle with ID 28 is 29.7 meters away at (1.4, -29.6). A vehicle with ID 15 is 31.7 meters away at (-27.2, 16.3). A unknown object with ID 18 is 35.3 meters away at (29.0, 20.2). A unknown object with ID 19 is 37.6 meters away at (30.4, 22.2). A unknown object with ID 20 is 39.4 meters away at (31.3, 23.9). A vehicle with ID 9 is 41.7 meters away at (15.7, -38.6). A vehicle with ID 17 is 52.6 meters away at (18.6, -49.2).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7012725 -0.7395734] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.1768274  1.1584737] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-5.251366   4.9294915] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.444525 -11.644681]\n [-20.252747 -35.386528]\n [-16.247652 -30.179783]\n [-18.360058 -32.829914]\n [-20.44216  -14.781799]]", "nav_goal": "(-193.16397094726562, 174.90029907226562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-13.673759  -8.166789], 15.926962852478027 meters away.)"}
{"file_name": "images/scenario_757_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -1.6) m/s. Its current heading (yaw) is -2.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 17.1 meters away at (-17.1, -1.2). A vehicle with ID 16 is 19.3 meters away at (-12.9, 14.4). A vehicle with ID 28 is 25.6 meters away at (8.1, -24.3). A vehicle with ID 27 is 25.6 meters away at (11.0, -23.1). A vehicle with ID 15 is 29.9 meters away at (-20.8, 21.4). A vehicle with ID 9 is 37.2 meters away at (20.1, -31.3). A vehicle with ID 17 is 39.3 meters away at (16.1, -35.9). A unknown object with ID 18 is 43.8 meters away at (35.6, 25.5). A unknown object with ID 19 is 45.9 meters away at (36.8, 27.5). A unknown object with ID 20 is 47.8 meters away at (37.7, 29.3).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.0376735  2.6344852] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.5515168   0.45537642] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-3.3365054  3.0132217] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.444525 -11.644681]\n [-20.252747 -35.386528]\n [-16.247652 -30.179783]\n [-18.360058 -32.829914]\n [-20.44216  -14.781799]]", "nav_goal": "(-193.16397094726562, 174.90029907226562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-17.050556   -1.2355461], 17.095264434814453 meters away.)"}
{"file_name": "images/scenario_757_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 0.9) m/s. Its current heading (yaw) is 2.95 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 15.9 meters away at (-3.9, 15.4). A vehicle with ID 3 is 18.5 meters away at (-17.3, 6.7). A vehicle with ID 15 is 25.3 meters away at (-11.8, 22.5). A vehicle with ID 28 is 28.8 meters away at (17.0, -23.3). A vehicle with ID 7 is 29.1 meters away at (17.1, -23.5). A vehicle with ID 27 is 29.9 meters away at (20.0, -22.1). A unknown object with ID 13 is 34.8 meters away at (27.4, 21.3). A vehicle with ID 17 is 35.0 meters away at (19.1, -29.4). A vehicle with ID 10 is 38.2 meters away at (15.9, -34.7). A vehicle with ID 9 is 41.7 meters away at (28.9, -30.2).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7546244  4.2507033] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.1787076  2.0409772] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.7585692  2.637823 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.444525 -11.644681]\n [-20.252747 -35.386528]\n [-16.247652 -30.179783]\n [-18.360058 -32.829914]\n [-20.44216  -14.781799]]", "nav_goal": "(-193.16397094726562, 174.90029907226562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.8629456 15.439909 ], 15.915814399719238 meters away.)"}
{"file_name": "images/scenario_758_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.6) m/s. Its current heading (yaw) is -1.78 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 30.4 meters away at (-30.3, 2.6). A vehicle with ID 7 is 31.3 meters away at (-31.2, 2.2). A vehicle with ID 8 is 41.3 meters away at (-40.3, 9.1). A unknown object with ID 3 is 63.6 meters away at (-54.8, 32.2).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.03674303 0.10203616] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-78.50495147705078, -83.24490356445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-30.302023    2.6421869], 30.4169979095459 meters away.)"}
{"file_name": "images/scenario_758_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -4.5) m/s. Its current heading (yaw) is -1.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 21.5 meters away at (4.9, -20.9). A pedestrian with ID 6 is 31.4 meters away at (-30.0, 9.4). A vehicle with ID 7 is 32.2 meters away at (-31.0, 8.9). A unknown object with ID 4 is 39.9 meters away at (30.4, -25.7). A vehicle with ID 8 is 43.1 meters away at (-40.1, 15.9).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.01189984  0.02559418] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-78.50495147705078, -83.24490356445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  4.909335 -20.903605], 21.472360610961914 meters away.)"}
{"file_name": "images/scenario_758_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -4.6) m/s. Its current heading (yaw) is -0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 11.4 meters away at (0.4, -11.3). A pedestrian with ID 6 is 39.5 meters away at (-34.8, 18.7). A vehicle with ID 7 is 40.2 meters away at (-35.8, 18.3). A vehicle with ID 8 is 51.6 meters away at (-45.0, 25.3).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00498894 -0.01882809] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-78.50495147705078, -83.24490356445312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  0.35729933 -11.347225  ], 11.352849960327148 meters away.)"}
{"file_name": "images/scenario_758_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -4.5) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 9.6 meters away at (-9.3, -2.4). A pedestrian with ID 6 is 52.5 meters away at (-44.6, 27.6). A vehicle with ID 7 is 53.1 meters away at (-45.6, 27.1). A vehicle with ID 8 is 64.5 meters away at (-54.8, 34.1). A pedestrian with ID 1 is 77.4 meters away at (40.6, -66.0).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00549909 -0.00279671] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.3393135 1.9117067] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-78.50495147705078, -83.24490356445312)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-9.298779 -2.371313], 9.59637451171875 meters away.)"}
{"file_name": "images/scenario_759_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 5.3) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 3.5 meters away at (3.0, 1.8). A vehicle with ID 39 is 7.4 meters away at (-3.0, 6.8). A vehicle with ID 41 is 12.6 meters away at (-7.8, 9.8). A unknown object with ID 37 is 32.7 meters away at (31.5, -8.9). A pedestrian with ID 40 is 38.9 meters away at (34.8, -17.4). A vehicle with ID 50 is 40.6 meters away at (-29.8, 27.5). A vehicle with ID 9 is 47.3 meters away at (36.4, -30.2). A pedestrian with ID 16 is 49.7 meters away at (0.1, -49.7). A vehicle with ID 46 is 50.4 meters away at (-17.1, -47.4). A pedestrian with ID 42 is 52.0 meters away at (1.5, -52.0).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.01988754 -0.01546451] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.3637733  5.6227865] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.06706138 -0.02972001] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.08427291 0.04260975] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [3.020072  1.7804098], 3.5058085918426514 meters away.)"}
{"file_name": "images/scenario_759_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 5.1) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 7.4 meters away at (7.4, -0.5). A vehicle with ID 39 is 12.8 meters away at (12.2, -3.6). A vehicle with ID 50 is 22.4 meters away at (-14.5, 17.0). A vehicle with ID 24 is 25.2 meters away at (-18.3, 17.3). A vehicle with ID 9 is 47.2 meters away at (37.8, -28.3). A unknown object with ID 37 is 50.7 meters away at (46.9, -19.3). A unknown object with ID 29 is 52.8 meters away at (47.7, -22.7). A vehicle with ID 38 is 53.4 meters away at (-49.9, -19.0). A vehicle with ID 46 is 57.9 meters away at (-1.6, -57.8). A vehicle with ID 6 is 62.8 meters away at (-61.5, -12.6).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.03249216  0.46716675] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.8191605  6.6467166] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.382204  -0.5367584], 7.401691913604736 meters away.)"}
{"file_name": "images/scenario_759_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 4.8) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 7.1 meters away at (0.8, 7.0). A vehicle with ID 24 is 8.5 meters away at (-2.3, 8.2). A vehicle with ID 41 is 25.0 meters away at (22.7, -10.4). A vehicle with ID 39 is 30.9 meters away at (27.8, -13.6). A vehicle with ID 9 is 44.4 meters away at (36.8, -24.8). A vehicle with ID 38 is 44.9 meters away at (-34.4, -28.9). A vehicle with ID 6 is 51.4 meters away at (-46.1, -22.6). A unknown object with ID 26 is 52.9 meters away at (-49.3, -19.3). A vehicle with ID 46 is 69.0 meters away at (13.9, -67.6).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-8.791026   6.5236506] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.8207054 7.040844 ], 7.088514804840088 meters away.)"}
{"file_name": "images/scenario_759_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.7) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 6.7 meters away at (6.7, 0.4). A unknown object with ID 15 is 8.1 meters away at (8.0, -0.9). A vehicle with ID 9 is 39.7 meters away at (33.2, -21.8). A unknown object with ID 2 is 41.7 meters away at (-32.0, 26.8). A vehicle with ID 41 is 42.5 meters away at (37.6, -19.9). A vehicle with ID 38 is 43.1 meters away at (-19.7, -38.4). A vehicle with ID 6 is 44.9 meters away at (-31.4, -32.1). A vehicle with ID 39 is 48.4 meters away at (42.5, -23.0). A vehicle with ID 1 is 60.7 meters away at (-51.9, 31.4). A pedestrian with ID 4 is 67.0 meters away at (-66.8, -5.5).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.260767   5.9261746] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.0154983  0.5376222] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [6.6568604 0.4120102], 6.669598579406738 meters away.)"}
{"file_name": "images/scenario_760_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -0.9) m/s. Its current heading (yaw) is -0.18 ", "actor_description": " The most relevant actors are: A pedestrian with ID 47 is 9.5 meters away at (1.8, 9.4). A pedestrian with ID 49 is 16.1 meters away at (0.8, 16.1). A pedestrian with ID 19 is 17.4 meters away at (17.0, -3.8). A pedestrian with ID 20 is 17.5 meters away at (17.3, -3.0). A pedestrian with ID 44 is 17.8 meters away at (-17.2, 4.6). A cyclist with ID 42 is 20.3 meters away at (-9.4, 18.0). A unknown object with ID 48 is 20.6 meters away at (-14.8, 14.3). A unknown object with ID 45 is 20.6 meters away at (-20.6, -0.6). A unknown object with ID 46 is 21.2 meters away at (-21.1, -1.8). A pedestrian with ID 59 is 21.2 meters away at (2.6, 21.0).", "velocity_description": "The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.4483013  1.5780578] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.06446042 1.2937654 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.94419205 -0.46420622] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.9984898  -0.48608246] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.66929907 -1.4599614 ] m/s.The cyclist with ID 42 is traveling at a (x, y) velocity of [2.3571112 6.291351 ] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.6608198 -1.1893221] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [1.8050375 9.3763485], 9.548511505126953 meters away.)"}
{"file_name": "images/scenario_760_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -2.6) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 8.1 meters away at (8.0, -0.9). A pedestrian with ID 20 is 8.4 meters away at (8.4, -0.2). A pedestrian with ID 47 is 19.0 meters away at (-9.9, 16.2). A pedestrian with ID 61 is 24.2 meters away at (-8.0, 22.9). A pedestrian with ID 59 is 24.3 meters away at (-8.7, 22.7). A pedestrian with ID 49 is 24.3 meters away at (-9.5, 22.4). A vehicle with ID 81 is 28.2 meters away at (-10.4, 26.2). A pedestrian with ID 44 is 29.7 meters away at (-29.2, 5.7). A unknown object with ID 52 is 30.5 meters away at (-24.9, -17.6). A unknown object with ID 54 is 30.9 meters away at (-23.7, -19.8).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.0030212 -0.3437545] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.9917842  -0.37502784] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.4573656  1.5494627] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.17287149 -1.0403042 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.13353665 -1.0560168 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.07712162 1.3106441 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-2.9452906 -7.2652836] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.6249603 -1.3753403] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 8.021858   -0.88002706], 8.069985389709473 meters away.)"}
{"file_name": "images/scenario_760_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, -3.0) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 5.1 meters away at (-3.2, 4.0). A pedestrian with ID 20 is 5.5 meters away at (-2.8, 4.8). A unknown object with ID 41 is 19.6 meters away at (17.0, -9.8). A pedestrian with ID 51 is 20.7 meters away at (20.1, -5.0). A pedestrian with ID 43 is 27.3 meters away at (26.3, -7.5). A pedestrian with ID 50 is 29.0 meters away at (27.6, -8.9). A pedestrian with ID 21 is 29.5 meters away at (28.4, -8.2). A pedestrian with ID 61 is 34.3 meters away at (-21.8, 26.4). A pedestrian with ID 47 is 34.3 meters away at (-23.6, 24.9). A vehicle with ID 81 is 34.3 meters away at (-29.8, 17.0).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.9829694  -0.37691644] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.9502809  -0.39658478] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.4380093  0.662279 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.08925826  0.03257237] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.086837    0.48606673] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.10791604 -0.02920309] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.26562357 -1.1546578 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.12363973  1.5056227 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-3.2072866 -7.677704 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-3.1676483  4.038965 ], 5.132956027984619 meters away.)"}
{"file_name": "images/scenario_760_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.8, -3.4) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 51 is 3.4 meters away at (2.4, 2.3). A unknown object with ID 41 is 4.1 meters away at (2.1, -3.5). A vehicle with ID 36 is 8.2 meters away at (2.4, -7.8). A pedestrian with ID 43 is 10.6 meters away at (10.5, -0.7). A pedestrian with ID 50 is 10.6 meters away at (10.5, -1.8). A pedestrian with ID 21 is 13.6 meters away at (13.5, -2.0). A pedestrian with ID 19 is 18.7 meters away at (-16.1, 9.4). A pedestrian with ID 20 is 18.7 meters away at (-15.8, 10.1). A pedestrian with ID 14 is 23.2 meters away at (22.3, -6.6). A pedestrian with ID 13 is 23.3 meters away at (22.5, -6.0).", "velocity_description": "The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.4218032   0.42849767] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-8.390176   3.6932786] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.4431472   0.36459312] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.98456556  0.47973529] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00117317 0.01450844] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.0356683  -0.45107457] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.0224211 -0.5152842] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0471841  0.5403903] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.0586696  0.5196785] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [2.4475288 2.3335714], 3.3817086219787598 meters away.)"}
{"file_name": "images/scenario_761_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 0.7) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 13.0 meters away at (-8.3, -10.0). A vehicle with ID 17 is 14.6 meters away at (-13.7, -5.1). A vehicle with ID 16 is 16.1 meters away at (5.4, -15.1). A vehicle with ID 18 is 23.6 meters away at (-10.6, -21.1). A vehicle with ID 20 is 28.6 meters away at (-11.4, -26.3). A cyclist with ID 19 is 29.4 meters away at (18.6, 22.7). A pedestrian with ID 21 is 32.2 meters away at (-22.7, -22.8). A pedestrian with ID 22 is 32.8 meters away at (-23.6, -22.7). A vehicle with ID 23 is 33.7 meters away at (-11.8, -31.6). A unknown object with ID 12 is 33.8 meters away at (30.7, -14.3).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0.82901925 2.3535905 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 3.7297835 -2.4091544] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.03967216 -0.02397966] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.01815835 -0.00882801] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.97718811035156, 44.38665771484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.321266  -9.9706135], 12.986785888671875 meters away.)"}
{"file_name": "images/scenario_761_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.2) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 9.6 meters away at (-7.8, -5.5). A vehicle with ID 15 is 13.4 meters away at (-3.6, -12.9). A vehicle with ID 16 is 20.8 meters away at (10.1, -18.1). A vehicle with ID 18 is 24.8 meters away at (-5.9, -24.1). A vehicle with ID 20 is 30.0 meters away at (-6.7, -29.2). A pedestrian with ID 21 is 31.5 meters away at (-17.9, -25.9). A pedestrian with ID 22 is 31.9 meters away at (-18.9, -25.7). A cyclist with ID 19 is 34.2 meters away at (31.2, 14.0). A vehicle with ID 23 is 35.3 meters away at (-7.0, -34.5). A vehicle with ID 25 is 39.0 meters away at (27.8, 27.4).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0.54840755 0.9369082 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00591983 -0.00360128] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.01045343  0.00122537] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 4.130457 -3.308124] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.97718811035156, 44.38665771484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.8244085 -5.5052843], 9.567106246948242 meters away.)"}
{"file_name": "images/scenario_761_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 3.6) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 10.3 meters away at (3.3, -9.7). A vehicle with ID 15 is 19.8 meters away at (6.2, -18.8). A vehicle with ID 18 is 30.2 meters away at (3.9, -29.9). A vehicle with ID 16 is 31.3 meters away at (20.1, -23.9). A pedestrian with ID 21 is 32.7 meters away at (-7.7, -31.8). A pedestrian with ID 22 is 33.2 meters away at (-9.2, -31.9). A vehicle with ID 20 is 35.2 meters away at (3.1, -35.1). A vehicle with ID 23 is 40.5 meters away at (2.8, -40.4). A vehicle with ID 25 is 43.4 meters away at (37.7, 21.5). A cyclist with ID 19 is 50.5 meters away at (50.5, 0.9).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0.98805684 0.9203884 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.06757662 -0.10106958] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.45535207 -0.23964708] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 5.209156  -3.7844694] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.97718811035156, 44.38665771484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.2596712 -9.735932 ], 10.26712417602539 meters away.)"}
{"file_name": "images/scenario_761_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 4.4) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 26.2 meters away at (20.5, -16.4). A vehicle with ID 15 is 33.5 meters away at (20.2, -26.7). A vehicle with ID 18 is 41.9 meters away at (17.9, -37.9). A vehicle with ID 20 is 46.4 meters away at (17.1, -43.1). A vehicle with ID 16 is 46.7 meters away at (34.1, -32.0). A vehicle with ID 23 is 51.2 meters away at (16.7, -48.4). A vehicle with ID 25 is 53.3 meters away at (51.6, 13.5). A pedestrian with ID 2 is 58.4 meters away at (-43.3, 39.2). A vehicle with ID 4 is 66.3 meters away at (66.2, 4.6). A cyclist with ID 19 is 78.1 meters away at (76.7, -14.5).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [2.338927   0.12709099] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.99244726 1.0001415 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 6.4739156 -3.1371548] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.97718811035156, 44.38665771484375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 20.452368 -16.356676], 26.18855094909668 meters away.)"}
{"file_name": "images/scenario_762_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -8.5) m/s. Its current heading (yaw) is -1.63 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 10.9 meters away at (-8.7, -6.7). A vehicle with ID 7 is 23.4 meters away at (2.9, -23.2). A vehicle with ID 8 is 49.2 meters away at (3.6, -49.1). A vehicle with ID 1 is 54.8 meters away at (16.2, -52.4). A pedestrian with ID 3 is 54.9 meters away at (21.0, -50.7).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.1995708 0.8362116] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.671192 -6.678087], 10.944698333740234 meters away.)"}
{"file_name": "images/scenario_762_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -9.3) m/s. Its current heading (yaw) is -1.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 6.4 meters away at (3.7, -5.2). A unknown object with ID 9 is 13.7 meters away at (-7.8, 11.3). A vehicle with ID 8 is 31.4 meters away at (4.4, -31.1). A vehicle with ID 1 is 38.3 meters away at (17.0, -34.3).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.736138  -5.2248917], 6.4232563972473145 meters away.)"}
{"file_name": "images/scenario_762_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -9.2) m/s. Its current heading (yaw) is -1.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 13.2 meters away at (4.1, -12.6). A vehicle with ID 7 is 13.6 meters away at (3.4, 13.1). A vehicle with ID 1 is 23.0 meters away at (16.7, -15.8). A unknown object with ID 9 is 31.0 meters away at (-8.1, 29.9).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  4.0949364 -12.600357 ], 13.249056816101074 meters away.)"}
{"file_name": "images/scenario_762_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -8.2) m/s. Its current heading (yaw) is -1.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 5.7 meters away at (2.8, 5.0). A vehicle with ID 1 is 15.6 meters away at (15.5, 1.7). A vehicle with ID 7 is 30.9 meters away at (2.1, 30.8).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.8227608 4.9990234], 5.74092435836792 meters away.)"}
{"file_name": "images/scenario_763_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.6) m/s. Its current heading (yaw) is -2.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 48.3 meters away at (-11.0, 47.0). A cyclist with ID 12 is 66.8 meters away at (-8.3, -66.2). A vehicle with ID 18 is 68.7 meters away at (-8.0, -68.2).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [-2.1106992 -4.7802634] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.41828415 -5.023832  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-142.4649658203125, -127.45443725585938)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-11.039067  47.00004 ], 48.279029846191406 meters away.)"}
{"file_name": "images/scenario_763_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.4) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 50.8 meters away at (-8.8, 50.0).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-142.4649658203125, -127.45443725585938)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.770838 50.012054], 50.77531814575195 meters away.)"}
{"file_name": "images/scenario_763_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -0.6) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 52.6 meters away at (-6.5, 52.2).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-142.4649658203125, -127.45443725585938)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.4700136 52.220856 ], 52.62013626098633 meters away.)"}
{"file_name": "images/scenario_763_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 53.0 meters away at (-6.1, 52.6).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-142.4649658203125, -127.45443725585938)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.0512576 52.622482 ], 52.969268798828125 meters away.)"}
{"file_name": "images/scenario_764_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.2) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 20.6 meters away at (17.8, -10.4). A vehicle with ID 59 is 26.5 meters away at (22.6, -14.0). A unknown object with ID 61 is 27.2 meters away at (-19.2, 19.3). A vehicle with ID 41 is 36.4 meters away at (-8.2, -35.4). A pedestrian with ID 22 is 52.4 meters away at (-44.6, 27.6). A pedestrian with ID 23 is 53.0 meters away at (-45.5, 27.3). A vehicle with ID 57 is 55.1 meters away at (-40.0, 37.9). A pedestrian with ID 60 is 55.7 meters away at (-54.1, -13.2). A unknown object with ID 33 is 60.5 meters away at (19.4, -57.3). A unknown object with ID 32 is 62.3 meters away at (16.6, -60.1).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.7251977   0.76265305] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.779718    0.75967175] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.82126015 0.8314311 ] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-207.23326110839844, -83.33251190185547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 17.782106 -10.403994], 20.602096557617188 meters away.)"}
{"file_name": "images/scenario_764_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.2) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 61 is 11.4 meters away at (-6.9, 9.1). A unknown object with ID 50 is 13.2 meters away at (-8.1, 10.4). A vehicle with ID 56 is 24.9 meters away at (24.6, -3.6). A vehicle with ID 58 is 36.3 meters away at (30.1, -20.4). A pedestrian with ID 22 is 39.0 meters away at (-34.2, 18.8). A vehicle with ID 57 is 39.2 meters away at (-27.7, 27.7). A pedestrian with ID 23 is 39.5 meters away at (-35.0, 18.3). A vehicle with ID 59 is 42.5 meters away at (35.0, -24.1). A vehicle with ID 37 is 44.5 meters away at (-36.4, 25.6). A pedestrian with ID 60 is 45.7 meters away at (-40.2, -21.8).", "velocity_description": "The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8809645  0.7735747] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8426861   0.73312414] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 6.6775494 -5.6093335] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.64846176 0.92241853] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-207.23326110839844, -83.33251190185547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-6.929329  9.088079], 11.428420066833496 meters away.)"}
{"file_name": "images/scenario_764_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.0) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 50 is 3.9 meters away at (3.8, 0.5). A unknown object with ID 61 is 5.2 meters away at (5.2, -0.7). A vehicle with ID 37 is 10.3 meters away at (-9.7, 3.3). A vehicle with ID 57 is 23.7 meters away at (-15.7, 17.8). A pedestrian with ID 22 is 26.1 meters away at (-24.0, 10.3). A pedestrian with ID 23 is 26.6 meters away at (-24.8, 9.8). A pedestrian with ID 60 is 40.5 meters away at (-27.5, -29.6). A vehicle with ID 58 is 51.9 meters away at (42.0, -30.4). A unknown object with ID 31 is 55.9 meters away at (-39.7, 39.4). A vehicle with ID 59 is 58.1 meters away at (46.8, -34.4).", "velocity_description": "The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 8.162576 -6.484017] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.78500044  0.9323185 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.77709097  0.98240757] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.11591385 1.1753004 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-207.23326110839844, -83.33251190185547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [3.8283234 0.4696045], 3.857018232345581 meters away.)"}
{"file_name": "images/scenario_764_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.5) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 9.7 meters away at (-4.5, 8.6). A pedestrian with ID 22 is 14.8 meters away at (-14.6, 2.5). A pedestrian with ID 23 is 15.5 meters away at (-15.4, 2.1). A unknown object with ID 50 is 17.4 meters away at (15.0, -8.8). A unknown object with ID 61 is 19.2 meters away at (16.3, -10.0). A vehicle with ID 37 is 27.5 meters away at (18.9, -20.0). A unknown object with ID 43 is 35.8 meters away at (-18.2, 30.9). A unknown object with ID 35 is 39.8 meters away at (-1.7, -39.7). A pedestrian with ID 60 is 41.0 meters away at (-17.5, -37.1). A unknown object with ID 55 is 43.0 meters away at (-3.5, -42.9).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8057001   0.88247937] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.7875724  0.8973588] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 9.287824 -7.17349 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.79814667  0.9370679 ] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-207.23326110839844, -83.33251190185547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.4779396  8.557705 ], 9.658480644226074 meters away.)"}
{"file_name": "images/scenario_765_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 3.5) m/s. Its current heading (yaw) is 1.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 30.0 meters away at (9.9, -28.4). A unknown object with ID 40 is 40.4 meters away at (23.4, -32.9). A unknown object with ID 39 is 40.4 meters away at (23.3, -33.0). A unknown object with ID 42 is 41.6 meters away at (7.6, -41.0). A unknown object with ID 43 is 41.9 meters away at (7.7, -41.2). A unknown object with ID 46 is 42.3 meters away at (27.3, -32.3). A unknown object with ID 44 is 42.4 meters away at (23.5, -35.4). A vehicle with ID 35 is 49.9 meters away at (13.7, 48.0). A vehicle with ID 36 is 52.3 meters away at (14.9, 50.1). A pedestrian with ID 48 is 54.2 meters away at (24.7, 48.2).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [1.3599194 5.3865027] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.96636873 1.0891759 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-20.88408851623535, 170.6969451904297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  9.918099 -28.359453], 30.04375648498535 meters away.)"}
{"file_name": "images/scenario_765_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 3.3) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 31.7 meters away at (17.8, -26.2). A vehicle with ID 35 is 43.9 meters away at (15.3, 41.1). A vehicle with ID 36 is 46.3 meters away at (16.5, 43.2). A unknown object with ID 40 is 46.9 meters away at (24.8, -39.8). A vehicle with ID 37 is 48.6 meters away at (18.5, 44.9). A unknown object with ID 42 is 48.7 meters away at (9.3, -47.8). A unknown object with ID 31 is 49.7 meters away at (9.4, -48.8). A vehicle with ID 1 is 51.4 meters away at (9.3, 50.6). A pedestrian with ID 48 is 51.9 meters away at (28.2, 43.5). A vehicle with ID 38 is 55.0 meters away at (22.6, 50.2).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [4.7869473 3.3055549] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.9170454 1.1652325] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-20.88408851623535, 170.6969451904297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 17.768528 -26.200226], 31.657106399536133 meters away.)"}
{"file_name": "images/scenario_765_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 4.6) m/s. Its current heading (yaw) is 1.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 37.4 meters away at (16.8, 33.4). A vehicle with ID 36 is 39.9 meters away at (18.4, 35.4). A vehicle with ID 37 is 42.3 meters away at (20.1, 37.2). A vehicle with ID 32 is 43.4 meters away at (30.9, -30.5). A vehicle with ID 1 is 44.1 meters away at (10.9, 42.7). A vehicle with ID 38 is 48.8 meters away at (24.3, 42.3). A pedestrian with ID 48 is 49.4 meters away at (31.6, 37.9). A pedestrian with ID 49 is 53.0 meters away at (33.7, 40.9). A unknown object with ID 40 is 54.5 meters away at (26.5, -47.6). A vehicle with ID 47 is 55.2 meters away at (18.4, 52.1).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [6.1477647  0.78096604] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.8216802 1.1912563] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.99268824 1.2079232 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-20.88408851623535, 170.6969451904297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [16.825975 33.364307], 37.36697006225586 meters away.)"}
{"file_name": "images/scenario_765_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.7) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 30.1 meters away at (17.9, 24.2). A vehicle with ID 36 is 32.7 meters away at (19.5, 26.2). A vehicle with ID 37 is 35.1 meters away at (21.2, 28.0). A vehicle with ID 1 is 35.6 meters away at (12.0, 33.5). A vehicle with ID 38 is 41.7 meters away at (25.4, 33.0). A pedestrian with ID 48 is 46.4 meters away at (34.4, 31.1). A vehicle with ID 47 is 47.0 meters away at (19.7, 42.7). A vehicle with ID 4 is 49.4 meters away at (21.3, 44.6). A pedestrian with ID 49 is 50.1 meters away at (36.8, 34.0). A vehicle with ID 2 is 50.3 meters away at (11.9, 48.9).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.83640856 1.1560774 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.83427566 1.0055697 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-20.88408851623535, 170.6969451904297)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [17.909607 24.233253], 30.133113861083984 meters away.)"}
{"file_name": "images/scenario_766_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -0.5) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 12.8 meters away at (-8.7, 9.4). A vehicle with ID 45 is 19.1 meters away at (-4.9, -18.4). A vehicle with ID 56 is 19.6 meters away at (-8.0, -17.9). A vehicle with ID 44 is 20.7 meters away at (-20.4, 3.8). A vehicle with ID 37 is 21.1 meters away at (14.2, 15.6). A vehicle with ID 58 is 21.7 meters away at (2.1, -21.6). A vehicle with ID 46 is 22.2 meters away at (-16.3, -15.0). A vehicle with ID 39 is 26.0 meters away at (22.6, 12.9). A vehicle with ID 65 is 26.7 meters away at (0.6, -26.7). A vehicle with ID 48 is 28.9 meters away at (21.3, -19.5).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.48060607910156, 160.4640350341797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.742033  9.394118], 12.83248233795166 meters away.)"}
{"file_name": "images/scenario_766_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 0.7) m/s. Its current heading (yaw) is 0.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 18.0 meters away at (7.4, 16.4). A vehicle with ID 41 is 18.7 meters away at (-15.6, 10.3). A vehicle with ID 39 is 20.8 meters away at (15.8, 13.6). A vehicle with ID 45 is 21.1 meters away at (-11.7, -17.6). A vehicle with ID 58 is 21.3 meters away at (-4.9, -20.7). A vehicle with ID 49 is 22.5 meters away at (19.8, -10.8). A vehicle with ID 56 is 22.7 meters away at (-15.0, -17.1). A vehicle with ID 48 is 23.6 meters away at (14.2, -18.8). A vehicle with ID 65 is 26.7 meters away at (-6.4, -25.9). A vehicle with ID 46 is 27.2 meters away at (-23.3, -14.0).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.48060607910156, 160.4640350341797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.3960104 16.44436  ], 18.03102684020996 meters away.)"}
{"file_name": "images/scenario_766_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 4.1) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 11.3 meters away at (7.5, 8.5). A vehicle with ID 37 is 11.4 meters away at (-0.8, 11.3). A vehicle with ID 67 is 18.0 meters away at (14.8, -10.2). A vehicle with ID 49 is 19.5 meters away at (11.5, -15.8). A unknown object with ID 55 is 21.7 meters away at (20.3, -7.7). A vehicle with ID 41 is 24.4 meters away at (-23.9, 5.2). A vehicle with ID 5 is 24.7 meters away at (3.6, 24.4). A vehicle with ID 60 is 26.2 meters away at (24.0, -10.4). A vehicle with ID 59 is 27.9 meters away at (20.6, -18.9). A vehicle with ID 69 is 28.3 meters away at (-28.3, 0.4).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-2.1497304  0.7554214] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 7.2894087 -2.378022 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.48060607910156, 160.4640350341797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [7.49234  8.456686], 11.298260688781738 meters away.)"}
{"file_name": "images/scenario_766_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 4.8) m/s. Its current heading (yaw) is 1.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 2.6 meters away at (2.6, -0.6). A vehicle with ID 37 is 6.2 meters away at (-5.8, 2.1). A vehicle with ID 11 is 13.1 meters away at (1.7, 12.9). A unknown object with ID 23 is 14.4 meters away at (-3.7, 14.0). A vehicle with ID 5 is 15.2 meters away at (-1.4, 15.1). A vehicle with ID 30 is 18.4 meters away at (7.9, 16.7). A vehicle with ID 3 is 18.5 meters away at (8.0, 16.7). A vehicle with ID 67 is 19.6 meters away at (6.8, -18.4). A vehicle with ID 69 is 25.7 meters away at (-22.4, -12.6). A vehicle with ID 49 is 25.8 meters away at (6.6, -25.0).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.7408516 -4.863283 ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.5567545   0.57299626] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 3.871795  -1.2535399] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(163.48060607910156, 160.4640350341797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.5510902 -0.6252432], 2.6265928745269775 meters away.)"}
{"file_name": "images/scenario_767_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.4) m/s. Its current heading (yaw) is -1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 5.7 meters away at (-5.7, 0.7). A pedestrian with ID 28 is 6.5 meters away at (-6.2, 2.0). A vehicle with ID 11 is 10.7 meters away at (0.3, -10.7). A vehicle with ID 29 is 15.7 meters away at (-1.7, -15.6). A vehicle with ID 30 is 19.0 meters away at (-3.1, -18.8). A vehicle with ID 31 is 20.1 meters away at (4.7, -19.6). A vehicle with ID 33 is 21.7 meters away at (-21.4, 3.5). A vehicle with ID 34 is 21.8 meters away at (-3.7, -21.5). A vehicle with ID 35 is 23.1 meters away at (4.2, -22.7). A vehicle with ID 36 is 24.3 meters away at (-5.6, -23.7).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.09672735  0.11245363] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.13767381  0.31847915] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 6.9722843 -2.7201738] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.007366   11.297528 ]\n [-13.8905945 -14.639346 ]\n [-34.919353    8.530989 ]\n [-13.033037  -12.142338 ]\n [-31.220417   15.946502 ]\n [-15.25656   -17.55076  ]\n [-12.297609   -9.011711 ]\n [-32.19646    13.421174 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.697097    0.73629594], 5.744479656219482 meters away.)"}
{"file_name": "images/scenario_767_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -3.0) m/s. Its current heading (yaw) is -1.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 27 is 8.8 meters away at (-7.6, 4.6). A pedestrian with ID 28 is 9.9 meters away at (-8.0, 5.9). A vehicle with ID 29 is 12.4 meters away at (-3.5, -11.9). A vehicle with ID 30 is 15.9 meters away at (-4.8, -15.1). A vehicle with ID 31 is 16.0 meters away at (2.8, -15.8). A vehicle with ID 34 is 18.7 meters away at (-5.6, -17.8). A vehicle with ID 35 is 19.2 meters away at (2.3, -19.0). A vehicle with ID 11 is 19.7 meters away at (13.0, -14.8). A vehicle with ID 38 is 20.8 meters away at (8.6, -19.0). A vehicle with ID 37 is 20.9 meters away at (-0.4, -20.9).", "velocity_description": "The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.00958803 0.00536067] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.0104018  0.01773353] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.971149 -4.530383] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.007366   11.297528 ]\n [-13.8905945 -14.639346 ]\n [-34.919353    8.530989 ]\n [-13.033037  -12.142338 ]\n [-31.220417   15.946502 ]\n [-15.25656   -17.55076  ]\n [-12.297609   -9.011711 ]\n [-32.19646    13.421174 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.551401   4.5927052], 8.838359832763672 meters away.)"}
{"file_name": "images/scenario_767_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -3.9) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 9.3 meters away at (-3.7, -8.5). A vehicle with ID 29 is 11.2 meters away at (-10.2, -4.5). A vehicle with ID 38 is 11.7 meters away at (1.9, -11.6). A vehicle with ID 35 is 12.4 meters away at (-4.2, -11.7). A vehicle with ID 30 is 13.9 meters away at (-11.6, -7.7). A vehicle with ID 39 is 15.3 meters away at (1.9, -15.2). A vehicle with ID 37 is 15.3 meters away at (-7.1, -13.6). A vehicle with ID 34 is 16.1 meters away at (-12.3, -10.4). A vehicle with ID 40 is 18.2 meters away at (9.3, -15.7). A pedestrian with ID 27 is 18.6 meters away at (-14.3, 12.0).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00390903 -0.01932128] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.007366   11.297528 ]\n [-13.8905945 -14.639346 ]\n [-34.919353    8.530989 ]\n [-13.033037  -12.142338 ]\n [-31.220417   15.946502 ]\n [-15.25656   -17.55076  ]\n [-12.297609   -9.011711 ]\n [-32.19646    13.421174 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.741397 -8.502607], 9.289369583129883 meters away.)"}
{"file_name": "images/scenario_767_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -3.9) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 8.5 meters away at (-2.4, -8.2). A vehicle with ID 38 is 10.4 meters away at (-9.5, -4.0). A vehicle with ID 12 is 11.4 meters away at (-4.2, -10.6). A cyclist with ID 25 is 12.4 meters away at (4.7, -11.4). A vehicle with ID 39 is 12.4 meters away at (-9.9, -7.4). A vehicle with ID 44 is 14.4 meters away at (2.8, -14.1). A vehicle with ID 31 is 15.4 meters away at (-15.4, -0.9). A vehicle with ID 35 is 16.5 meters away at (-16.0, -4.0). A vehicle with ID 37 is 19.7 meters away at (-18.9, -5.8). A vehicle with ID 29 is 22.3 meters away at (-22.1, 3.2).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-0.07785545 -0.04610485] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.007366   11.297528 ]\n [-13.8905945 -14.639346 ]\n [-34.919353    8.530989 ]\n [-13.033037  -12.142338 ]\n [-31.220417   15.946502 ]\n [-15.25656   -17.55076  ]\n [-12.297609   -9.011711 ]\n [-32.19646    13.421174 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.3592682 -8.151464 ], 8.486019134521484 meters away.)"}
{"file_name": "images/scenario_768_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -6.4) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 19.9 meters away at (3.0, 19.7). A unknown object with ID 11 is 22.8 meters away at (-22.6, -3.2). A vehicle with ID 15 is 22.8 meters away at (13.7, 18.2). A unknown object with ID 8 is 23.5 meters away at (-23.1, -4.0). A unknown object with ID 41 is 23.6 meters away at (-23.4, -2.6). A vehicle with ID 39 is 23.8 meters away at (1.4, 23.7). A unknown object with ID 37 is 30.3 meters away at (-14.9, -26.5). A unknown object with ID 36 is 32.1 meters away at (-16.3, -27.6). A vehicle with ID 16 is 36.2 meters away at (14.0, 33.4). A vehicle with ID 42 is 48.3 meters away at (2.9, 48.2).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.6580524 -6.7601776] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.778498  -6.2693915] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 4.102604 -3.844654] m/s.", "light_description": "There are active red lights at the following coordinates: [[-6.858158  19.088617 ]\n [-1.1483867 16.665474 ]\n [ 2.3090754 28.292187 ]\n [ 2.3692572 28.363838 ]\n [ 2.3144286 28.297985 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.9748278 19.692766 ], 19.91619110107422 meters away.)"}
{"file_name": "images/scenario_768_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, -5.9) m/s. Its current heading (yaw) is -2.37 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 14.0 meters away at (-2.3, -13.9). A unknown object with ID 37 is 14.1 meters away at (-2.9, -13.8). A unknown object with ID 8 is 14.4 meters away at (-11.5, 8.7). A unknown object with ID 11 is 14.4 meters away at (-10.9, 9.5). A unknown object with ID 9 is 15.3 meters away at (-12.1, 9.4). A unknown object with ID 33 is 15.4 meters away at (-12.0, 9.7). A unknown object with ID 41 is 15.5 meters away at (-11.8, 10.0). A unknown object with ID 36 is 15.6 meters away at (-4.4, -15.0). A unknown object with ID 7 is 17.7 meters away at (-5.3, -16.8). A unknown object with ID 4 is 20.0 meters away at (-6.9, -18.8).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.858158   19.088617 ]\n [ -1.1483867  16.665474 ]\n [-72.13219   -69.26415  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -2.3020325 -13.853931 ], 14.0438871383667 meters away.)"}
{"file_name": "images/scenario_768_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -5.2) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 8.4 meters away at (7.2, -4.2). A unknown object with ID 7 is 8.7 meters away at (6.3, -6.1). A unknown object with ID 37 is 9.2 meters away at (8.6, -3.1). A unknown object with ID 4 is 9.5 meters away at (5.0, -8.1). A unknown object with ID 8 is 19.4 meters away at (0.2, 19.4). A vehicle with ID 15 is 20.0 meters away at (15.8, 12.1). A unknown object with ID 9 is 20.0 meters away at (-0.5, 20.0). A unknown object with ID 11 is 20.2 meters away at (0.7, 20.2). A unknown object with ID 33 is 20.7 meters away at (-0.3, 20.7). A unknown object with ID 41 is 20.8 meters away at (-0.1, 20.8).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.2822437 -8.28076  ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.858158   19.088617 ]\n [ -1.1483867  16.665474 ]\n [-72.13219   -69.26415  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 7.2054424 -4.2460175], 8.363436698913574 meters away.)"}
{"file_name": "images/scenario_768_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -4.5) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 9.8 meters away at (-9.5, -2.3). A vehicle with ID 15 is 13.8 meters away at (12.6, 5.7). A unknown object with ID 4 is 14.2 meters away at (14.1, 1.5). A unknown object with ID 7 is 15.8 meters away at (15.4, 3.4). A unknown object with ID 36 is 17.1 meters away at (16.3, 5.2). A unknown object with ID 37 is 18.9 meters away at (17.8, 6.4). A unknown object with ID 8 is 30.4 meters away at (9.4, 29.0). A unknown object with ID 9 is 30.9 meters away at (8.7, 29.6). A vehicle with ID 16 is 31.2 meters away at (24.3, 19.6). A unknown object with ID 11 is 31.4 meters away at (10.0, 29.8).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [5.819812  6.8617854] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.668055  -7.8677397] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.1957207 -7.932458 ] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-6.858158  19.088617 ]\n [-1.1483867 16.665474 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.500351  -2.2764854], 9.769291877746582 meters away.)"}
{"file_name": "images/scenario_769_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -4.0) m/s. Its current heading (yaw) is -0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 7.1 meters away at (1.0, 7.0). A vehicle with ID 38 is 11.2 meters away at (-3.4, 10.7). A vehicle with ID 37 is 16.2 meters away at (-8.6, 13.8). A vehicle with ID 10 is 30.5 meters away at (-20.8, 22.3). A vehicle with ID 43 is 30.8 meters away at (6.9, -30.0). A unknown object with ID 44 is 34.8 meters away at (34.5, -4.8). A unknown object with ID 46 is 37.2 meters away at (36.3, -8.2). A unknown object with ID 47 is 38.9 meters away at (37.2, -11.4). A vehicle with ID 48 is 51.7 meters away at (-14.0, -49.7). A vehicle with ID 51 is 53.1 meters away at (48.9, -20.7).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.24110863 -0.86796296] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.0319452 7.0138264], 7.089334964752197 meters away.)"}
{"file_name": "images/scenario_769_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.6) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 13.8 meters away at (-13.7, 1.6). A vehicle with ID 39 is 18.6 meters away at (-10.6, 15.3). A vehicle with ID 43 is 22.3 meters away at (-4.8, -21.8). A unknown object with ID 44 is 23.1 meters away at (22.9, 3.5). A vehicle with ID 38 is 24.3 meters away at (-15.2, 19.0). A unknown object with ID 46 is 24.7 meters away at (24.7, 0.2). A unknown object with ID 47 is 25.7 meters away at (25.5, -3.1). A vehicle with ID 37 is 29.9 meters away at (-20.2, 22.0). A vehicle with ID 10 is 43.4 meters away at (-33.2, 27.9). A vehicle with ID 48 is 48.7 meters away at (-25.6, -41.4).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.24733388 -2.6758504 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-13.710684    1.6212406], 13.806203842163086 meters away.)"}
{"file_name": "images/scenario_769_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -5.2) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 46 is 16.0 meters away at (12.5, 10.0). A vehicle with ID 43 is 20.8 meters away at (-16.9, -12.1). A unknown object with ID 23 is 25.9 meters away at (-16.1, 20.3). A vehicle with ID 39 is 33.8 meters away at (-22.8, 25.0). A vehicle with ID 38 is 39.7 meters away at (-27.4, 28.7). A vehicle with ID 37 is 45.4 meters away at (-32.4, 31.7). A vehicle with ID 50 is 47.5 meters away at (-29.6, -37.1). A vehicle with ID 48 is 49.3 meters away at (-37.7, -31.7). A vehicle with ID 52 is 53.1 meters away at (-33.1, -41.6). A vehicle with ID 10 is 53.4 meters away at (-43.2, 31.4).", "velocity_description": "The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.4955583 -3.5570881] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [12.499813  9.983702], 15.997488021850586 meters away.)"}
{"file_name": "images/scenario_769_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -5.5) m/s. Its current heading (yaw) is -0.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 46 is 20.6 meters away at (0.0, 20.6). A vehicle with ID 43 is 29.7 meters away at (-29.7, -1.7). A unknown object with ID 3 is 38.0 meters away at (32.3, -19.9). A unknown object with ID 1 is 39.7 meters away at (33.7, -21.1). A vehicle with ID 50 is 49.6 meters away at (-42.0, -26.4). A vehicle with ID 39 is 50.3 meters away at (-35.4, 35.7). A vehicle with ID 48 is 54.4 meters away at (-50.2, -20.9). A vehicle with ID 52 is 55.0 meters away at (-45.5, -31.0). A unknown object with ID 25 is 55.5 meters away at (13.6, -53.8). A vehicle with ID 38 is 56.1 meters away at (-39.9, 39.4).", "velocity_description": "The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-0.3573981  -0.41661933] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 0.02938843 20.5996    ], 20.599620819091797 meters away.)"}
{"file_name": "images/scenario_770_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.8) m/s. Its current heading (yaw) is 1.92 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 26.0 meters away at (-25.5, 5.0). A unknown object with ID 15 is 30.1 meters away at (-28.9, 8.3). A unknown object with ID 14 is 30.4 meters away at (-29.2, 8.3). A pedestrian with ID 26 is 38.5 meters away at (22.6, 31.2). A pedestrian with ID 23 is 38.8 meters away at (24.2, 30.3). A pedestrian with ID 25 is 49.8 meters away at (-44.5, 22.4). A vehicle with ID 24 is 51.6 meters away at (-45.8, 23.8). A vehicle with ID 27 is 71.4 meters away at (17.9, 69.1).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.223084   -0.05943818] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0710188  -0.97463435] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.6624668 -1.1733929] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.15953521 -0.06108531] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-25.49894   4.95805], 25.97649383544922 meters away.)"}
{"file_name": "images/scenario_770_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.95 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 23.6 meters away at (-23.2, 4.4). A pedestrian with ID 9 is 24.2 meters away at (-7.7, -22.9). A pedestrian with ID 26 is 35.8 meters away at (21.4, 28.8). A pedestrian with ID 23 is 35.9 meters away at (23.3, 27.4). A pedestrian with ID 25 is 50.3 meters away at (-45.3, 21.8). A vehicle with ID 24 is 51.3 meters away at (-45.7, 23.4).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.1643934  -0.03959337] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00374661 -0.00623148] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.46554327 -1.2472575 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.2042057 -1.3676953] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.5228671   0.12603676] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-23.18945    4.446135], 23.611833572387695 meters away.)"}
{"file_name": "images/scenario_770_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 1.6) m/s. Its current heading (yaw) is 1.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 20.7 meters away at (-20.5, 3.3). A unknown object with ID 4 is 29.3 meters away at (-28.5, 6.8). A unknown object with ID 3 is 29.6 meters away at (-28.8, 6.8). A pedestrian with ID 26 is 33.0 meters away at (22.0, 24.6). A pedestrian with ID 23 is 33.2 meters away at (23.8, 23.2). A unknown object with ID 2 is 36.9 meters away at (-36.7, 4.0). A vehicle with ID 24 is 50.4 meters away at (-45.1, 22.5). A pedestrian with ID 25 is 50.6 meters away at (-46.0, 21.0). A pedestrian with ID 5 is 53.6 meters away at (-53.5, 2.7). A vehicle with ID 11 is 69.8 meters away at (18.7, 67.3).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.142093   -0.12654746] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.16762523 -1.5223594 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.08097135 -1.418931  ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.7988509 -0.2922497] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.0068903 -0.0032401] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-20.475597    3.2742658], 20.735740661621094 meters away.)"}
{"file_name": "images/scenario_770_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 2.8) m/s. Its current heading (yaw) is 2.35 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 15.5 meters away at (-15.4, -1.8). A unknown object with ID 4 is 25.6 meters away at (-25.5, 1.9). A unknown object with ID 3 is 25.9 meters away at (-25.8, 1.8). A pedestrian with ID 26 is 30.2 meters away at (25.0, 16.8). A pedestrian with ID 23 is 30.6 meters away at (26.2, 15.7). A unknown object with ID 1 is 33.8 meters away at (-33.8, 0.7). A unknown object with ID 2 is 33.8 meters away at (-33.8, -0.8). A vehicle with ID 24 is 45.8 meters away at (-42.3, 17.6). A pedestrian with ID 25 is 47.5 meters away at (-44.5, 16.6). A pedestrian with ID 5 is 50.7 meters away at (-50.6, -2.2).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.1204998  -0.01565211] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.06499039 -1.4076318 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.08573661 -1.3136483 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.42288446  0.2809741 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.11124633 0.04929624] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-15.439026  -1.771842], 15.540365219116211 meters away.)"}
{"file_name": "images/scenario_771_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 1.7) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 18.7 meters away at (4.6, -18.2). A pedestrian with ID 28 is 20.8 meters away at (-20.7, -2.7). A vehicle with ID 30 is 23.8 meters away at (-22.1, -8.9). A pedestrian with ID 8 is 27.7 meters away at (25.9, 9.8). A vehicle with ID 39 is 33.5 meters away at (-26.0, -21.1). A vehicle with ID 45 is 35.1 meters away at (-12.9, 32.6). A vehicle with ID 41 is 39.1 meters away at (-29.6, -25.6). A vehicle with ID 33 is 39.9 meters away at (-22.9, -32.7). A vehicle with ID 53 is 40.6 meters away at (-17.4, 36.7). A vehicle with ID 34 is 45.6 meters away at (-22.4, 39.8).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.95468116 -1.0994414 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 2.150993 -2.015272] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00790604 -0.02076464] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [  4.632178 -18.161737], 18.743152618408203 meters away.)"}
{"file_name": "images/scenario_771_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 23.7 meters away at (-22.8, -6.5). A vehicle with ID 30 is 25.2 meters away at (-20.3, -15.0). A pedestrian with ID 8 is 26.4 meters away at (24.9, 8.7). A vehicle with ID 45 is 34.4 meters away at (-13.9, 31.5). A vehicle with ID 39 is 34.9 meters away at (-26.9, -22.2). A vehicle with ID 53 is 40.1 meters away at (-18.5, 35.5). A vehicle with ID 41 is 40.6 meters away at (-30.5, -26.8). A vehicle with ID 33 is 41.4 meters away at (-24.0, -33.8). A vehicle with ID 34 is 45.1 meters away at (-23.4, 38.6). A vehicle with ID 49 is 47.2 meters away at (-35.0, -31.6).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.5772434 -1.4591213] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 0.38284165 -2.750041  ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.00408518 0.02088841] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-22.832842  -6.465803], 23.730682373046875 meters away.)"}
{"file_name": "images/scenario_771_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 25.9 meters away at (-24.3, -9.1). A vehicle with ID 30 is 29.6 meters away at (-21.5, -20.3). A vehicle with ID 45 is 34.3 meters away at (-13.9, 31.3). A vehicle with ID 39 is 35.0 meters away at (-27.0, -22.3). A vehicle with ID 53 is 40.0 meters away at (-18.5, 35.4). A vehicle with ID 41 is 40.7 meters away at (-30.5, -26.8). A vehicle with ID 33 is 41.5 meters away at (-24.1, -33.8). A vehicle with ID 34 is 45.1 meters away at (-23.5, 38.5). A vehicle with ID 49 is 47.2 meters away at (-35.0, -31.7). A vehicle with ID 35 is 48.3 meters away at (-28.5, -39.0).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.7386957 -1.1891422] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.4339857 -2.6734195] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-24.276459  -9.075182], 25.917280197143555 meters away.)"}
{"file_name": "images/scenario_771_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.83 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 27.9 meters away at (11.3, 25.6). A pedestrian with ID 28 is 28.0 meters away at (-25.6, -11.4). A vehicle with ID 45 is 34.3 meters away at (-13.9, 31.3). A vehicle with ID 39 is 35.1 meters away at (-27.0, -22.4). A vehicle with ID 30 is 36.8 meters away at (-25.7, -26.3). A vehicle with ID 38 is 38.6 meters away at (36.4, -12.7). A vehicle with ID 53 is 40.0 meters away at (-18.5, 35.4). A vehicle with ID 41 is 40.7 meters away at (-30.5, -26.9). A vehicle with ID 33 is 41.5 meters away at (-24.1, -33.8). A vehicle with ID 34 is 45.1 meters away at (-23.5, 38.5).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.43560582 -0.85780936] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-2.6387823 -3.3693602] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.6744547  4.03934  ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [11.267967 25.564692], 27.93779754638672 meters away.)"}
{"file_name": "images/scenario_772_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 1.6) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 75.8 meters away at (52.3, -54.9).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(178.20184326171875, -164.94033813476562)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 52.266823 -54.90261 ], 75.80314636230469 meters away.)"}
{"file_name": "images/scenario_772_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -1.9) m/s. Its current heading (yaw) is -2.59 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(178.20184326171875, -164.94033813476562)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_772_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -3.8) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 13.9 meters away at (-10.4, -9.1).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(178.20184326171875, -164.94033813476562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-10.430895  -9.115644], 13.852744102478027 meters away.)"}
{"file_name": "images/scenario_772_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -3.0) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 6.4 meters away at (-6.1, -1.8). A unknown object with ID 6 is 21.7 meters away at (-6.3, 20.8).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(178.20184326171875, -164.94033813476562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-6.137779  -1.8477993], 6.409890651702881 meters away.)"}
{"file_name": "images/scenario_773_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 5.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 9.5 meters away at (-3.6, 8.8). A vehicle with ID 116 is 10.0 meters away at (-6.4, -7.7). A vehicle with ID 118 is 11.6 meters away at (-11.1, -3.4). A unknown object with ID 122 is 12.8 meters away at (-7.6, 10.3). A unknown object with ID 123 is 14.6 meters away at (-14.6, 0.1). A unknown object with ID 124 is 16.3 meters away at (-16.2, 1.8). A vehicle with ID 127 is 17.9 meters away at (-10.2, 14.7). A unknown object with ID 126 is 18.3 meters away at (-18.0, 3.1). A vehicle with ID 114 is 19.8 meters away at (17.2, -9.8). A unknown object with ID 52 is 20.3 meters away at (-19.8, 4.6).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.5643787  8.778147 ], 9.474209785461426 meters away.)"}
{"file_name": "images/scenario_773_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.7) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 127 is 4.4 meters away at (2.6, 3.5). A unknown object with ID 122 is 5.3 meters away at (5.2, -0.9). A unknown object with ID 52 is 9.5 meters away at (-6.9, -6.5). A unknown object with ID 124 is 9.9 meters away at (-3.4, -9.4). A unknown object with ID 123 is 11.2 meters away at (-1.8, -11.1). A vehicle with ID 118 is 14.6 meters away at (1.6, -14.5). A vehicle with ID 116 is 19.9 meters away at (6.4, -18.8). A unknown object with ID 87 is 20.8 meters away at (-19.5, 7.3). A vehicle with ID 107 is 22.8 meters away at (-1.5, 22.8). A unknown object with ID 69 is 34.7 meters away at (-30.8, 16.2).", "velocity_description": "The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 24.675999 -28.742418]\n [ 24.650087 -33.6948  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.6178818 3.4764328], 4.351883411407471 meters away.)"}
{"file_name": "images/scenario_773_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 6.4) m/s. Its current heading (yaw) is 2.37 ", "actor_description": " The most relevant actors are: A unknown object with ID 96 is 9.1 meters away at (-6.5, -6.4). A unknown object with ID 40 is 9.6 meters away at (-7.8, -5.7). A vehicle with ID 107 is 15.6 meters away at (11.4, 10.6). A vehicle with ID 113 is 17.6 meters away at (-9.4, 14.9). A vehicle with ID 127 is 17.9 meters away at (15.6, -8.7). A unknown object with ID 69 is 18.3 meters away at (-17.8, 3.9). A unknown object with ID 103 is 18.7 meters away at (-18.3, 4.1). A unknown object with ID 89 is 19.4 meters away at (-18.4, 6.1). A pedestrian with ID 58 is 20.8 meters away at (-20.1, 5.1). A unknown object with ID 122 is 22.4 meters away at (18.2, -13.1).", "velocity_description": "The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.00072572 0.02150667] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-6.470272 -6.385069], 9.090298652648926 meters away.)"}
{"file_name": "images/scenario_773_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 6.1) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 113 is 4.8 meters away at (4.1, 2.5). A unknown object with ID 89 is 8.0 meters away at (-4.9, -6.4). A unknown object with ID 74 is 8.8 meters away at (-8.0, -3.5). A unknown object with ID 69 is 9.5 meters away at (-4.3, -8.5). A pedestrian with ID 58 is 9.9 meters away at (-6.6, -7.3). A pedestrian with ID 75 is 9.9 meters away at (-9.7, -2.1). A pedestrian with ID 70 is 10.0 meters away at (-8.6, -5.0). A unknown object with ID 73 is 11.1 meters away at (-11.1, -0.5). A pedestrian with ID 88 is 11.4 meters away at (-11.1, -2.8). A pedestrian with ID 50 is 13.5 meters away at (-13.5, -0.7).", "velocity_description": "The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00898457  0.00910595] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.00075077 -0.00140387] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.00127185 -0.0009808 ] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [0.00621421 0.00065602] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.0042556  -0.00302867] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.123787  2.4795303], 4.811828136444092 meters away.)"}
{"file_name": "images/scenario_774_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 0.1) m/s. Its current heading (yaw) is 3.13 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 16.9 meters away at (15.6, -6.4). A vehicle with ID 26 is 27.6 meters away at (16.4, -22.2). A vehicle with ID 27 is 29.7 meters away at (19.4, -22.5). A unknown object with ID 25 is 29.8 meters away at (29.1, 6.5). A vehicle with ID 31 is 30.6 meters away at (12.2, -28.1). A vehicle with ID 28 is 33.5 meters away at (25.3, -22.0). A vehicle with ID 41 is 35.5 meters away at (-34.1, -9.9). A vehicle with ID 30 is 37.4 meters away at (30.0, -22.3). A vehicle with ID 29 is 39.3 meters away at (38.5, 8.2). A vehicle with ID 33 is 40.8 meters away at (19.1, -36.0).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [15.641438 -6.394914], 16.898210525512695 meters away.)"}
{"file_name": "images/scenario_774_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 19.3 meters away at (-16.5, -10.1). A vehicle with ID 42 is 24.3 meters away at (-22.2, -9.9). A vehicle with ID 23 is 26.9 meters away at (-25.0, -9.9). A unknown object with ID 24 is 33.9 meters away at (33.2, -6.6). A vehicle with ID 26 is 40.8 meters away at (34.0, -22.5). A vehicle with ID 27 is 43.4 meters away at (37.0, -22.8). A pedestrian with ID 18 is 45.6 meters away at (-44.3, 10.8). A vehicle with ID 28 is 48.3 meters away at (42.9, -22.2). A vehicle with ID 30 is 52.7 meters away at (47.7, -22.5). A vehicle with ID 29 is 56.7 meters away at (56.1, 7.9).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.10228009 0.18631539] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-16.455334 -10.086908], 19.300874710083008 meters away.)"}
{"file_name": "images/scenario_774_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 10.2 meters away at (1.7, -10.1). A vehicle with ID 42 is 10.8 meters away at (-4.0, -10.0). A vehicle with ID 23 is 12.1 meters away at (-6.7, -10.0). A vehicle with ID 7 is 43.2 meters away at (-42.2, -9.6). A vehicle with ID 6 is 48.8 meters away at (-47.8, -9.7). A unknown object with ID 24 is 52.0 meters away at (51.6, -6.7). A vehicle with ID 3 is 57.0 meters away at (-56.1, -9.8). A vehicle with ID 2 is 60.7 meters away at (-59.9, -10.1). A vehicle with ID 28 is 65.2 meters away at (61.3, -22.3). A vehicle with ID 30 is 69.8 meters away at (66.0, -22.5).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  1.6808243 -10.101698 ], 10.240579605102539 meters away.)"}
{"file_name": "images/scenario_774_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 15.3 meters away at (11.6, -10.0). A vehicle with ID 42 is 17.6 meters away at (14.4, -10.1). A vehicle with ID 41 is 22.5 meters away at (20.1, -10.1). A vehicle with ID 7 is 25.7 meters away at (-23.8, -9.7). A vehicle with ID 6 is 31.0 meters away at (-29.4, -9.7). A pedestrian with ID 5 is 36.6 meters away at (-34.9, -11.3). A vehicle with ID 3 is 39.1 meters away at (-37.8, -10.0). A vehicle with ID 2 is 42.7 meters away at (-41.4, -10.1). A vehicle with ID 1 is 61.9 meters away at (-60.3, 14.1).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.46415135 -0.8343793 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.632843 -9.978589], 15.3262939453125 meters away.)"}
{"file_name": "images/scenario_775_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 6.4) m/s. Its current heading (yaw) is 1.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 3.7 meters away at (-2.6, 2.6). A pedestrian with ID 7 is 17.5 meters away at (17.4, 2.1). A pedestrian with ID 9 is 18.5 meters away at (18.3, 2.1). A pedestrian with ID 10 is 19.2 meters away at (19.1, 2.1). A pedestrian with ID 6 is 32.5 meters away at (19.6, -25.9). A pedestrian with ID 8 is 33.2 meters away at (20.3, -26.2). A vehicle with ID 11 is 68.2 meters away at (-12.4, -67.1).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.2031504 -1.0615939] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.1423316 -1.0401412] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.2233218 -1.031578 ] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.58375627 -1.1154509 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.5134769 -1.0702654] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-169.7238006591797, 221.12310791015625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.5637338  2.6393118], 3.679497003555298 meters away.)"}
{"file_name": "images/scenario_775_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 6.9) m/s. Its current heading (yaw) is 1.65 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 10.6 meters away at (-1.9, -10.4). A pedestrian with ID 7 is 22.0 meters away at (17.6, -13.1). A pedestrian with ID 9 is 22.8 meters away at (18.7, -13.0). A pedestrian with ID 10 is 23.6 meters away at (19.6, -13.0). A pedestrian with ID 6 is 45.8 meters away at (19.3, -41.6). A pedestrian with ID 8 is 46.4 meters away at (20.2, -41.8).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.01033066 -1.0226021 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.07557952 -0.99766344] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.09145153 -1.0032368 ] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.39353576 -1.2218789 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.38981223 -1.1740972 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-169.7238006591797, 221.12310791015625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -1.9196099 -10.393393 ], 10.56917667388916 meters away.)"}
{"file_name": "images/scenario_775_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 6.9) m/s. Its current heading (yaw) is 1.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 24.5 meters away at (-0.3, -24.5). A pedestrian with ID 7 is 34.9 meters away at (19.2, -29.2). A pedestrian with ID 9 is 35.4 meters away at (20.1, -29.1). A unknown object with ID 3 is 35.7 meters away at (-1.5, -35.7). A pedestrian with ID 10 is 36.0 meters away at (21.0, -29.2).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.14028265 -1.0390761 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.11752206 -1.0047176 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.0538051 -1.0044031] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-169.7238006591797, 221.12310791015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -0.32330394 -24.47042   ], 24.472557067871094 meters away.)"}
{"file_name": "images/scenario_775_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 6.6) m/s. Its current heading (yaw) is 1.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 37.8 meters away at (1.9, -37.8). A pedestrian with ID 7 is 49.5 meters away at (21.5, -44.6). A pedestrian with ID 9 is 49.7 meters away at (22.3, -44.5). A pedestrian with ID 10 is 50.2 meters away at (23.0, -44.7).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.04288236 -1.0670345 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.06649552 -1.0571347 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.10032035 -1.0523845 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-169.7238006591797, 221.12310791015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  1.9266443 -37.800846 ], 37.849910736083984 meters away.)"}
{"file_name": "images/scenario_776_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 1.8) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 7.6 meters away at (0.7, -7.5). A vehicle with ID 35 is 9.3 meters away at (-0.8, -9.2). A vehicle with ID 39 is 11.4 meters away at (-2.6, -11.1). A vehicle with ID 42 is 16.2 meters away at (8.4, -13.8). A vehicle with ID 45 is 17.1 meters away at (6.8, -15.7). A vehicle with ID 46 is 18.0 meters away at (-6.9, -16.7). A vehicle with ID 40 is 18.4 meters away at (5.2, -17.6). A vehicle with ID 26 is 19.3 meters away at (15.9, 10.9). A vehicle with ID 53 is 20.3 meters away at (-8.5, -18.5). A vehicle with ID 25 is 21.7 meters away at (17.4, 12.9).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.5595703125, 72.93212890625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.7105267 -7.5281096], 7.56156587600708 meters away.)"}
{"file_name": "images/scenario_776_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 1.7) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 11.1 meters away at (-2.1, -10.9). A vehicle with ID 35 is 13.1 meters away at (-3.7, -12.6). A vehicle with ID 26 is 15.1 meters away at (13.1, 7.5). A vehicle with ID 39 is 15.5 meters away at (-5.4, -14.5). A vehicle with ID 25 is 17.5 meters away at (14.6, 9.6). A vehicle with ID 42 is 18.1 meters away at (5.6, -17.2). A vehicle with ID 45 is 19.5 meters away at (4.0, -19.1). A vehicle with ID 27 is 20.0 meters away at (16.4, 11.4). A vehicle with ID 33 is 20.6 meters away at (20.6, 1.1). A vehicle with ID 40 is 21.2 meters away at (2.5, -21.0).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.5595703125, 72.93212890625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -2.1226966 -10.902765 ], 11.107481002807617 meters away.)"}
{"file_name": "images/scenario_776_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 2.4) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 10.4 meters away at (9.8, 3.5). A vehicle with ID 25 is 12.6 meters away at (11.3, 5.6). A vehicle with ID 27 is 15.0 meters away at (13.1, 7.4). A vehicle with ID 31 is 15.9 meters away at (-5.4, -14.9). A vehicle with ID 33 is 17.5 meters away at (17.3, -2.9). A vehicle with ID 35 is 18.0 meters away at (-7.0, -16.6). A vehicle with ID 32 is 18.9 meters away at (18.9, -0.8). A vehicle with ID 39 is 20.4 meters away at (-8.7, -18.5). A vehicle with ID 42 is 21.3 meters away at (2.4, -21.1). A vehicle with ID 34 is 22.1 meters away at (21.9, 2.9).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.5595703125, 72.93212890625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [9.784135  3.5365696], 10.403682708740234 meters away.)"}
{"file_name": "images/scenario_776_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 2.9) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 5.6 meters away at (5.4, -1.7). A vehicle with ID 25 is 6.8 meters away at (6.8, 0.3). A vehicle with ID 27 is 8.9 meters away at (8.7, 2.0). A vehicle with ID 33 is 15.2 meters away at (12.9, -8.2). A vehicle with ID 32 is 15.7 meters away at (14.5, -6.1). A vehicle with ID 34 is 17.7 meters away at (17.5, -2.4). A vehicle with ID 28 is 19.4 meters away at (15.8, 11.2). A vehicle with ID 36 is 20.8 meters away at (20.8, 1.3). A vehicle with ID 31 is 22.5 meters away at (-9.8, -20.2). A vehicle with ID 29 is 24.2 meters away at (19.2, 14.9).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.5595703125, 72.93212890625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.3611374 -1.7457523], 5.638213157653809 meters away.)"}
{"file_name": "images/scenario_777_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -3.9) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 5.9 meters away at (-5.3, 2.7). A vehicle with ID 20 is 6.7 meters away at (6.7, 0.5). A vehicle with ID 24 is 8.1 meters away at (-0.5, 8.1). A vehicle with ID 25 is 10.0 meters away at (1.2, 9.9). A vehicle with ID 26 is 10.7 meters away at (9.7, 4.5). A vehicle with ID 22 is 11.4 meters away at (2.1, -11.2). A vehicle with ID 27 is 12.2 meters away at (2.7, 11.9). A vehicle with ID 28 is 13.0 meters away at (11.3, 6.4). A vehicle with ID 33 is 14.4 meters away at (4.2, 13.7). A vehicle with ID 21 is 14.6 meters away at (-1.3, -14.6).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(44.9078483581543, -278.6427917480469)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.253664   2.7409058], 5.925668716430664 meters away.)"}
{"file_name": "images/scenario_777_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -2.5) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 8.8 meters away at (7.5, -4.7). A vehicle with ID 21 is 9.1 meters away at (4.1, -8.1). A vehicle with ID 23 is 9.1 meters away at (0.2, 9.1). A vehicle with ID 20 is 13.9 meters away at (12.0, 7.0). A vehicle with ID 24 is 15.4 meters away at (4.9, 14.6). A vehicle with ID 25 is 17.7 meters away at (6.6, 16.4). A cyclist with ID 64 is 18.0 meters away at (2.1, -17.8). A vehicle with ID 26 is 18.6 meters away at (15.0, 11.0). A vehicle with ID 1 is 18.8 meters away at (11.2, 15.1). A vehicle with ID 39 is 19.8 meters away at (-4.6, 19.3).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [-2.3063264 -1.5108739] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.1908004 -3.784165 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(44.9078483581543, -278.6427917480469)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.4981956 -4.687971 ], 8.843076705932617 meters away.)"}
{"file_name": "images/scenario_777_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.3) m/s. Its current heading (yaw) is -2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 8.4 meters away at (6.7, -5.1). A vehicle with ID 22 is 10.2 meters away at (10.1, -1.7). A vehicle with ID 23 is 12.4 meters away at (2.7, 12.1). A vehicle with ID 1 is 14.0 meters away at (8.2, 11.4). A cyclist with ID 64 is 15.4 meters away at (0.6, -15.4). A vehicle with ID 20 is 17.7 meters away at (14.6, 10.0). A vehicle with ID 24 is 19.1 meters away at (7.5, 17.6). A vehicle with ID 25 is 21.5 meters away at (9.3, 19.4). A vehicle with ID 39 is 22.3 meters away at (-2.0, 22.2). A vehicle with ID 26 is 22.5 meters away at (17.6, 14.0).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.1168618 -2.519449 ] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [-1.4769164  -0.18028955] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(44.9078483581543, -278.6427917480469)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.697832  -5.1317844], 8.437782287597656 meters away.)"}
{"file_name": "images/scenario_777_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 8.4 meters away at (6.8, -5.0). A vehicle with ID 22 is 10.3 meters away at (10.2, -1.5). A vehicle with ID 1 is 10.4 meters away at (5.9, 8.6). A vehicle with ID 23 is 12.6 meters away at (2.9, 12.3). A cyclist with ID 64 is 15.1 meters away at (0.3, -15.1). A vehicle with ID 13 is 17.2 meters away at (-8.9, -14.7). A vehicle with ID 20 is 17.9 meters away at (14.8, 10.2). A vehicle with ID 24 is 19.3 meters away at (7.7, 17.7). A vehicle with ID 25 is 21.6 meters away at (9.4, 19.5). A vehicle with ID 39 is 22.5 meters away at (-1.8, 22.4).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.67141825 -0.8099897 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.03220956 0.00496251] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0.18247314 5.3630676 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(44.9078483581543, -278.6427917480469)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.8056345 -4.9700737], 8.42723560333252 meters away.)"}
{"file_name": "images/scenario_778_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 7.1) m/s. Its current heading (yaw) is 2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 87 is 7.0 meters away at (-6.4, -2.8). A pedestrian with ID 79 is 9.8 meters away at (2.0, 9.6). A pedestrian with ID 61 is 10.6 meters away at (10.5, -1.3). A vehicle with ID 91 is 12.9 meters away at (-12.9, -0.3). A vehicle with ID 58 is 15.2 meters away at (8.0, -12.9). A pedestrian with ID 86 is 16.2 meters away at (-14.6, -7.0). A vehicle with ID 75 is 16.4 meters away at (6.1, -15.2). A pedestrian with ID 59 is 18.1 meters away at (16.0, -8.5). A vehicle with ID 82 is 18.6 meters away at (-11.8, -14.4). A vehicle with ID 95 is 18.9 meters away at (-16.3, 9.7).", "velocity_description": "The vehicle with ID 87 is traveling at a (x, y) velocity of [ 4.2911124 -5.236256 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.1317683  1.3829744] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.8541312  1.115527 ] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [ 4.039283  -5.0744166] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.7817972 -0.3615774] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 6.2377996 -4.591151 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.10255749  0.09304986] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-1.8708547 -4.9662848] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [ 3.6509595 -5.0705795] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.43176612  -3.9368837 ]\n [-19.52302     -5.62303   ]\n [-19.992657    -5.3109264 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.4127855 -2.7645369], 6.98330020904541 meters away.)"}
{"file_name": "images/scenario_778_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 8.3) m/s. Its current heading (yaw) is 2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 93 is 5.7 meters away at (0.2, 5.7). A vehicle with ID 103 is 11.3 meters away at (-4.5, -10.4). A vehicle with ID 113 is 13.2 meters away at (-13.1, 1.0). A pedestrian with ID 79 is 14.0 meters away at (13.7, -2.8). A unknown object with ID 24 is 16.2 meters away at (-13.3, -9.2). A vehicle with ID 95 is 16.7 meters away at (4.1, -16.2). A pedestrian with ID 100 is 18.5 meters away at (-18.5, 1.5). A vehicle with ID 101 is 20.5 meters away at (-9.1, 18.3). A pedestrian with ID 86 is 22.5 meters away at (-1.2, -22.5). A unknown object with ID 46 is 22.8 meters away at (-16.2, -16.0).", "velocity_description": "The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [ 3.4179678 -4.56879  ] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [ 3.63305   -4.9604807] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.15766609 1.4888899 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [ 3.833235 -5.022387] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [ 0.7445515 -1.0342859] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.0090927  -0.00314655] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.43176612  -3.9368837 ]\n [-19.52302     -5.62303   ]\n [-22.539064     4.374382  ]\n [-19.992657    -5.3109264 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.23562622 5.7400723 ], 5.744906425476074 meters away.)"}
{"file_name": "images/scenario_778_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 8.7) m/s. Its current heading (yaw) is 2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 101 is 3.8 meters away at (3.7, 1.2). A vehicle with ID 36 is 5.7 meters away at (0.6, 5.7). A vehicle with ID 29 is 9.5 meters away at (-7.6, -5.7). A vehicle with ID 23 is 10.9 meters away at (-3.1, 10.5). A vehicle with ID 51 is 16.6 meters away at (-6.7, 15.2). A vehicle with ID 93 is 17.3 meters away at (13.0, -11.5). A pedestrian with ID 100 is 18.5 meters away at (-3.9, -18.0). A vehicle with ID 19 is 22.6 meters away at (-10.4, 20.1). A vehicle with ID 113 is 26.2 meters away at (6.6, -25.4). A vehicle with ID 16 is 28.7 meters away at (-13.8, 25.2).", "velocity_description": "The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 4.51098   -6.0936456] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [ 0.6942193 -1.0176008] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [ 3.1190066 -4.0940714] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.43176612  -3.9368837 ]\n [-19.52302     -5.62303   ]\n [  0.3492485   -3.588235  ]\n [-22.539064     4.374382  ]\n [-19.992657    -5.3109264 ]\n [  0.59724605  -3.2169905 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.6609802 1.1613655], 3.8407740592956543 meters away.)"}
{"file_name": "images/scenario_778_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 8.2) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.8 meters away at (2.0, 3.3). A vehicle with ID 51 is 5.8 meters away at (5.6, -1.6). A vehicle with ID 16 is 8.5 meters away at (-1.4, 8.4). A vehicle with ID 23 is 11.2 meters away at (9.2, -6.4). A vehicle with ID 15 is 13.3 meters away at (-4.4, 12.5). A vehicle with ID 36 is 17.0 meters away at (12.8, -11.1). A vehicle with ID 14 is 18.3 meters away at (-7.6, 16.7). A vehicle with ID 101 is 22.4 meters away at (16.0, -15.7). A pedestrian with ID 6 is 29.6 meters away at (-11.9, 27.1). A vehicle with ID 5 is 31.0 meters away at (18.3, -25.0).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.00917908 0.0134107 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.1518793  9.267755 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.050964    5.8895445]\n [-22.539064    4.374382 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.9757576 3.269886 ], 3.820441484451294 meters away.)"}
{"file_name": "images/scenario_779_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -6.5) m/s. Its current heading (yaw) is -1.86 ", "actor_description": " The most relevant actors are: A unknown object with ID 59 is 12.1 meters away at (9.7, -7.3). A vehicle with ID 58 is 14.6 meters away at (-13.0, 6.6). A vehicle with ID 60 is 17.1 meters away at (-16.8, 3.3). A vehicle with ID 62 is 22.9 meters away at (-20.9, 9.5). A vehicle with ID 63 is 23.0 meters away at (21.3, -8.6). A pedestrian with ID 70 is 25.7 meters away at (-10.2, -23.7). A pedestrian with ID 69 is 26.0 meters away at (-9.6, -24.1). A vehicle with ID 26 is 28.8 meters away at (-11.2, -26.6). A vehicle with ID 64 is 30.5 meters away at (28.5, -11.0). A vehicle with ID 67 is 32.8 meters away at (-31.8, 8.3).", "velocity_description": "The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.04800511  0.00776966] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.17693435 -0.10054319] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.5438013 -11.261671 ]\n [ -5.3649178  -9.392067 ]]", "nav_goal": "(133.94979858398438, -190.31625366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 9.710746 -7.252631], 12.120200157165527 meters away.)"}
{"file_name": "images/scenario_779_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.9) m/s. Its current heading (yaw) is -1.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 70 is 12.1 meters away at (-6.6, -10.1). A unknown object with ID 59 is 14.7 meters away at (13.3, 6.4). A vehicle with ID 26 is 15.0 meters away at (-7.5, -13.0). A vehicle with ID 60 is 21.4 meters away at (-13.2, 16.8). A vehicle with ID 58 is 22.2 meters away at (-9.3, 20.1). A vehicle with ID 17 is 23.5 meters away at (-10.3, -21.1). A vehicle with ID 63 is 25.4 meters away at (25.0, 4.9). A vehicle with ID 56 is 25.5 meters away at (-2.7, -25.4). A unknown object with ID 55 is 28.1 meters away at (-4.4, -27.8). A vehicle with ID 62 is 28.6 meters away at (-17.1, 23.0).", "velocity_description": "The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.07175986  0.02208643] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.5438013 -11.261671 ]\n [ -5.3649178  -9.392067 ]]", "nav_goal": "(133.94979858398438, -190.31625366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -6.6105804 -10.124609 ], 12.091629028320312 meters away.)"}
{"file_name": "images/scenario_779_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -6.8) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 3.5 meters away at (-3.4, 0.8). A pedestrian with ID 70 is 4.3 meters away at (-2.4, 3.6). A vehicle with ID 17 is 9.5 meters away at (-6.2, -7.3). A vehicle with ID 56 is 11.7 meters away at (1.4, -11.6). A unknown object with ID 55 is 14.0 meters away at (-0.3, -14.0). A vehicle with ID 38 is 22.2 meters away at (-21.3, -6.3). A vehicle with ID 81 is 24.3 meters away at (-17.1, -17.2). A vehicle with ID 28 is 26.5 meters away at (-11.5, -23.9). A vehicle with ID 45 is 26.6 meters away at (-21.4, -15.8). A vehicle with ID 57 is 31.2 meters away at (-4.4, -30.8).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.05906776 -0.05851626] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.94979858398438, -190.31625366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.3852625  0.8466377], 3.4895269870758057 meters away.)"}
{"file_name": "images/scenario_779_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.3) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A unknown object with ID 55 is 4.3 meters away at (4.2, -0.7). A vehicle with ID 17 is 6.1 meters away at (-1.8, 5.8). A vehicle with ID 56 is 6.2 meters away at (5.9, 1.7). A vehicle with ID 28 is 12.8 meters away at (-7.1, -10.7). A vehicle with ID 81 is 13.2 meters away at (-12.5, -4.1). A vehicle with ID 26 is 14.1 meters away at (1.1, 14.1). A vehicle with ID 45 is 17.1 meters away at (-16.9, -2.6). A vehicle with ID 57 is 17.6 meters away at (0.1, -17.6). A vehicle with ID 38 is 18.1 meters away at (-16.8, 7.0). A vehicle with ID 27 is 18.2 meters away at (-8.4, -16.1).", "velocity_description": "The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.05094833 -0.04912531]\n [ 0.24793723 -0.09064949]]", "nav_goal": "(133.94979858398438, -190.31625366210938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 4.209276   -0.72837067], 4.271829605102539 meters away.)"}
{"file_name": "images/scenario_780_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 0.5) m/s. Its current heading (yaw) is 3.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 3.8 meters away at (-0.8, 3.7). A vehicle with ID 17 is 8.2 meters away at (-6.2, 5.5). A vehicle with ID 37 is 9.5 meters away at (-8.5, -4.2). A vehicle with ID 34 is 14.1 meters away at (-12.0, 7.4). A vehicle with ID 36 is 14.6 meters away at (-14.5, -2.1). A unknown object with ID 46 is 19.5 meters away at (-7.0, -18.2). A vehicle with ID 15 is 20.6 meters away at (-18.3, 9.5). A unknown object with ID 47 is 22.5 meters away at (-8.1, -21.0). A vehicle with ID 16 is 26.6 meters away at (-23.9, 11.7). A pedestrian with ID 48 is 32.8 meters away at (32.4, -5.1).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 1.2040622  -0.48121756] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.67384147644043, -105.43344116210938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.7981334  3.744244 ], 3.8283653259277344 meters away.)"}
{"file_name": "images/scenario_780_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 1.8) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 3.9 meters away at (2.4, 3.1). A vehicle with ID 34 is 6.1 meters away at (-3.4, 5.0). A vehicle with ID 37 is 6.6 meters away at (0.1, -6.6). A vehicle with ID 36 is 7.3 meters away at (-5.8, -4.5). A vehicle with ID 35 is 7.9 meters away at (7.7, 1.4). A vehicle with ID 15 is 12.0 meters away at (-9.6, 7.2). A vehicle with ID 16 is 17.8 meters away at (-15.1, 9.3). A unknown object with ID 31 is 20.5 meters away at (10.7, -17.5). A unknown object with ID 46 is 20.7 meters away at (1.6, -20.6). A vehicle with ID 33 is 24.8 meters away at (-21.8, 11.8).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.67384147644043, -105.43344116210938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.3792381 3.1290593], 3.9308760166168213 meters away.)"}
{"file_name": "images/scenario_780_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 1.9) m/s. Its current heading (yaw) is 2.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 3.4 meters away at (0.4, 3.4). A vehicle with ID 34 is 6.8 meters away at (6.7, 1.3). A vehicle with ID 16 is 7.3 meters away at (-4.8, 5.5). A vehicle with ID 36 is 9.3 meters away at (4.3, -8.2). A vehicle with ID 17 is 12.7 meters away at (12.6, -0.7). A vehicle with ID 33 is 14.0 meters away at (-11.5, 8.0). A vehicle with ID 37 is 14.6 meters away at (10.3, -10.4). A vehicle with ID 35 is 18.2 meters away at (18.1, -2.5). A vehicle with ID 41 is 29.9 meters away at (-29.5, -5.2). A unknown object with ID 19 is 32.0 meters away at (-31.9, -2.5).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.67384147644043, -105.43344116210938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.3627758 3.3775835], 3.39700984954834 meters away.)"}
{"file_name": "images/scenario_780_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 1.7) m/s. Its current heading (yaw) is 2.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.8 meters away at (4.4, 1.9). A vehicle with ID 33 is 4.9 meters away at (-2.2, 4.4). A vehicle with ID 15 is 9.7 meters away at (9.7, -0.3). A vehicle with ID 34 is 16.3 meters away at (16.1, -2.4). A vehicle with ID 36 is 18.1 meters away at (13.7, -11.9). A vehicle with ID 41 is 21.9 meters away at (-20.1, -8.8). A vehicle with ID 17 is 22.4 meters away at (22.0, -4.4). A vehicle with ID 37 is 24.2 meters away at (19.7, -14.0). A vehicle with ID 35 is 28.2 meters away at (27.6, -6.2). A pedestrian with ID 4 is 40.0 meters away at (-39.9, 2.0).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.23433729 -1.0348247 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(26.67384147644043, -105.43344116210938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.428154  1.8913784], 4.815169811248779 meters away.)"}
{"file_name": "images/scenario_781_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 3.3) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 104 is 7.3 meters away at (3.9, -6.1). A cyclist with ID 106 is 8.7 meters away at (8.0, 3.3). A cyclist with ID 107 is 9.1 meters away at (6.9, 5.9). A vehicle with ID 118 is 12.1 meters away at (-11.3, -4.4). A pedestrian with ID 110 is 14.9 meters away at (-10.2, 10.8). A vehicle with ID 11 is 15.8 meters away at (13.0, -9.0). A vehicle with ID 102 is 18.5 meters away at (17.0, -7.3). A vehicle with ID 108 is 21.3 meters away at (11.9, -17.6). A vehicle with ID 112 is 25.9 meters away at (6.5, 25.1). A vehicle with ID 117 is 26.6 meters away at (-26.6, -2.2).", "velocity_description": "The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 106 is traveling at a (x, y) velocity of [ 3.095623  -2.4103868] m/s.The cyclist with ID 107 is traveling at a (x, y) velocity of [ 1.640941  -1.2184389] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [ 8.797759 -4.859711] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.00118675 -0.08510783] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.417376   5.4168777] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [ 9.689691  -7.2699285] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.907576  15.305769]\n [-16.442131  13.661346]]", "nav_goal": "(-35.61899185180664, 118.80795288085938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.9402924 -6.1260376], 7.283833980560303 meters away.)"}
{"file_name": "images/scenario_781_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 2.5) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 110 is 6.7 meters away at (4.2, 5.2). A vehicle with ID 117 is 14.3 meters away at (-12.0, -7.8). A vehicle with ID 11 is 15.2 meters away at (14.3, -5.3). A vehicle with ID 92 is 16.5 meters away at (-16.4, -2.2). A vehicle with ID 123 is 17.7 meters away at (-15.2, 9.1). A vehicle with ID 122 is 19.9 meters away at (-19.2, -5.4). A vehicle with ID 104 is 22.0 meters away at (18.5, -11.8). A vehicle with ID 126 is 24.1 meters away at (-21.4, 11.2). A vehicle with ID 125 is 24.9 meters away at (-24.6, -3.5). A pedestrian with ID 114 is 25.3 meters away at (-6.7, -24.4).", "velocity_description": "The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.02832119 -0.01605114] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.1124787  3.4046376] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 8.460083  -3.3017976] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [0.5613794 1.178332 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.907576  15.305769]\n [-16.442131  13.661346]]", "nav_goal": "(-35.61899185180664, 118.80795288085938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [4.1970463 5.166979 ], 6.6567912101745605 meters away.)"}
{"file_name": "images/scenario_781_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 2.9) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 123 is 3.9 meters away at (0.6, 3.8). A vehicle with ID 126 is 8.0 meters away at (-5.4, 5.9). A vehicle with ID 72 is 8.4 meters away at (-6.8, -4.9). A vehicle with ID 122 is 11.1 meters away at (-3.3, -10.6). A vehicle with ID 125 is 12.3 meters away at (-8.6, -8.8). A vehicle with ID 117 is 13.7 meters away at (4.0, -13.1). A vehicle with ID 11 is 16.8 meters away at (15.9, -5.4). A pedestrian with ID 110 is 20.2 meters away at (20.2, -0.1). A vehicle with ID 92 is 22.8 meters away at (17.5, -14.7). A pedestrian with ID 114 is 29.2 meters away at (10.3, -27.3).", "velocity_description": "The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 8.3441305 -2.8819616] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.2425075  2.3665755] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.0148009  -0.00200624] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 9.035499  -3.8932936] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [0.5638116 1.1750898] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.907576  15.305769]\n [-16.442131  13.661346]\n [-11.64973   11.371802]]", "nav_goal": "(-35.61899185180664, 118.80795288085938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.6354408 3.80933  ], 3.8619658946990967 meters away.)"}
{"file_name": "images/scenario_781_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.2) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 7.4 meters away at (4.9, -5.5). A vehicle with ID 126 is 12.1 meters away at (12.1, -0.2). A vehicle with ID 66 is 13.7 meters away at (-12.2, -6.2). A vehicle with ID 125 is 17.5 meters away at (9.0, -15.0). A vehicle with ID 123 is 18.5 meters away at (18.4, -2.3). A vehicle with ID 11 is 19.6 meters away at (18.4, -6.7). A vehicle with ID 35 is 20.6 meters away at (-20.0, -5.3). A vehicle with ID 122 is 22.2 meters away at (14.5, -16.8). A vehicle with ID 78 is 25.5 meters away at (-25.3, -3.2). A vehicle with ID 117 is 29.0 meters away at (21.7, -19.2).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [ 7.3463483 -2.336705 ] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [1.4184244 0.4403599] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.21813    2.7578087] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-133.15108    54.72058 ]\n [-132.95409    54.679058]]", "nav_goal": "(-35.61899185180664, 118.80795288085938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.8909187 -5.522278 ], 7.376763343811035 meters away.)"}
{"file_name": "images/scenario_782_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.2) m/s. Its current heading (yaw) is -2.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 12.1 meters away at (9.8, 7.2). A unknown object with ID 11 is 37.1 meters away at (13.5, 34.6). A vehicle with ID 23 is 54.5 meters away at (-25.8, -48.0). A vehicle with ID 29 is 57.0 meters away at (-46.5, 33.0). A vehicle with ID 24 is 57.3 meters away at (-40.2, 40.8). A pedestrian with ID 26 is 60.7 meters away at (-30.4, -52.6). A pedestrian with ID 25 is 61.4 meters away at (-33.7, -51.3). A pedestrian with ID 27 is 62.1 meters away at (-34.4, -51.7). A pedestrian with ID 28 is 72.0 meters away at (-54.8, -46.7). A pedestrian with ID 15 is 77.6 meters away at (6.4, 77.3).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.3948799  -0.17088988] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.294229 -0.529874] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.283788   -0.47028697] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.8736685  -0.93919176] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.38137946 0.77883714] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [9.7741585 7.1827583], 12.129558563232422 meters away.)"}
{"file_name": "images/scenario_782_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.0) m/s. Its current heading (yaw) is -2.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 12.7 meters away at (10.3, 7.4). A vehicle with ID 23 is 54.2 meters away at (-25.3, -47.9). A vehicle with ID 29 is 56.6 meters away at (-45.9, 33.1). A vehicle with ID 24 is 57.0 meters away at (-39.6, 41.0). A pedestrian with ID 25 is 60.3 meters away at (-30.6, -52.0). A pedestrian with ID 27 is 61.3 meters away at (-31.3, -52.7).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.0700239 0.0236649] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.2838975  -0.20235758] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.3503577 -0.2549453] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [10.348395   7.3621554], 12.700024604797363 meters away.)"}
{"file_name": "images/scenario_782_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -0.7) m/s. Its current heading (yaw) is -2.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 52.3 meters away at (-22.8, -47.1). A vehicle with ID 29 is 54.9 meters away at (-43.1, 34.1). A pedestrian with ID 16 is 55.2 meters away at (-21.3, -50.9). A vehicle with ID 24 is 55.7 meters away at (-36.9, 41.8). A unknown object with ID 14 is 61.7 meters away at (-40.1, -46.8). A pedestrian with ID 6 is 67.4 meters away at (-47.4, -47.9).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [1.1980903 0.0664243] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.9038677  0.19614431] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-22.757267 -47.09756 ], 52.30748748779297 meters away.)"}
{"file_name": "images/scenario_782_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -2.8) m/s. Its current heading (yaw) is -2.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 47.0 meters away at (-17.2, -43.8). A pedestrian with ID 3 is 50.1 meters away at (-17.1, -47.1). A pedestrian with ID 16 is 50.3 meters away at (-13.4, -48.4). A pedestrian with ID 4 is 51.0 meters away at (-17.5, -47.9). A vehicle with ID 29 is 52.9 meters away at (-37.6, 37.2). A vehicle with ID 24 is 54.9 meters away at (-31.3, 45.1). A pedestrian with ID 6 is 60.1 meters away at (-39.5, -45.3). A pedestrian with ID 7 is 76.0 meters away at (-37.3, -66.3). A pedestrian with ID 20 is 77.6 meters away at (-47.0, -61.8).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.2165141  0.36502495] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.2022752  -0.73773086] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [1.14143    0.50724846] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.9760094  0.22153284] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.3416998  -0.25721127] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.40354335 -1.1891555 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-17.222342 -43.75494 ], 47.02237319946289 meters away.)"}
{"file_name": "images/scenario_783_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.3) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 5.3 meters away at (3.2, -4.3). A vehicle with ID 44 is 6.7 meters away at (-1.7, 6.5). A vehicle with ID 43 is 6.9 meters away at (5.4, 4.4). A vehicle with ID 41 is 10.0 meters away at (8.1, -5.9). A vehicle with ID 39 is 15.2 meters away at (13.3, -7.4). A vehicle with ID 45 is 17.4 meters away at (17.4, 0.6). A vehicle with ID 49 is 17.7 meters away at (-17.5, 2.4). A pedestrian with ID 19 is 18.6 meters away at (18.3, 3.4). A pedestrian with ID 55 is 19.0 meters away at (15.6, -10.8). A pedestrian with ID 56 is 19.5 meters away at (15.7, -11.7).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.3722464  -0.58608705] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.0077536  0.2554642] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9484324  0.2867179] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(164.75157165527344, 21.4946231842041)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.1586065 -4.2536297], 5.298128128051758 meters away.)"}
{"file_name": "images/scenario_783_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -1.6) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 3.5 meters away at (-0.6, 3.4). A vehicle with ID 41 is 3.7 meters away at (-2.8, -2.4). A vehicle with ID 39 is 4.5 meters away at (2.3, -3.9). A pedestrian with ID 55 is 7.3 meters away at (2.6, -6.8). A vehicle with ID 45 is 7.5 meters away at (6.3, 4.1). A vehicle with ID 40 is 7.8 meters away at (-7.7, -0.8). A pedestrian with ID 56 is 8.1 meters away at (2.7, -7.6). A vehicle with ID 43 is 9.7 meters away at (-5.6, 7.9). A pedestrian with ID 19 is 11.4 meters away at (9.7, 5.9). A vehicle with ID 44 is 16.1 meters away at (-12.6, 10.0).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [-9.275019   2.7687137] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.0456161   0.28912324] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.0958798   0.30172428] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.1853217 -0.5389934] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(164.75157165527344, 21.4946231842041)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.5544815  3.424398 ], 3.468998432159424 meters away.)"}
{"file_name": "images/scenario_783_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -1.1) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 5.4 meters away at (4.9, 2.1). A vehicle with ID 39 is 5.8 meters away at (-5.6, -1.3). A vehicle with ID 45 is 7.0 meters away at (-1.6, 6.8). A pedestrian with ID 55 is 8.0 meters away at (-7.2, -3.5). A pedestrian with ID 56 is 8.3 meters away at (-7.1, -4.3). A pedestrian with ID 19 is 8.7 meters away at (4.2, 7.6). A vehicle with ID 41 is 10.8 meters away at (-10.8, 0.3). A vehicle with ID 40 is 15.9 meters away at (-15.8, 2.0). A vehicle with ID 43 is 17.2 meters away at (-13.6, 10.5). A vehicle with ID 6 is 19.9 meters away at (19.0, 5.9).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [-5.1899295  0.9354085] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.92636955  0.2574377 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9092526  0.2694687] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.3968792  -0.63112384] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.59747124 -1.6587602 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(164.75157165527344, 21.4946231842041)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.9450073 2.0672464], 5.359720706939697 meters away.)"}
{"file_name": "images/scenario_783_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.1) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 8.5 meters away at (3.5, 7.7). A vehicle with ID 39 is 8.8 meters away at (-8.8, -0.2). A vehicle with ID 45 is 9.2 meters away at (-4.7, 7.9). A pedestrian with ID 55 is 12.3 meters away at (-12.1, -1.8). A pedestrian with ID 56 is 12.4 meters away at (-12.2, -2.6). A vehicle with ID 75 is 12.5 meters away at (-10.8, 6.3). A vehicle with ID 41 is 14.1 meters away at (-14.0, 1.4). A vehicle with ID 6 is 15.8 meters away at (15.0, 5.0). A vehicle with ID 3 is 17.2 meters away at (5.1, -16.4). A vehicle with ID 40 is 19.2 meters away at (-19.0, 3.1).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.2544726 -0.4668628] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.9521353  0.3082399] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9240795   0.35980192] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [-7.3985167  2.0897143] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.10069893 -0.28772545] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(164.75157165527344, 21.4946231842041)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [3.5346413 7.6873784], 8.46105670928955 meters away.)"}
{"file_name": "images/scenario_784_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 0.9) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 3.6 meters away at (-1.1, 3.4). A unknown object with ID 24 is 5.4 meters away at (5.3, -1.0). A vehicle with ID 25 is 5.5 meters away at (5.4, 1.1). A unknown object with ID 27 is 5.8 meters away at (2.2, 5.4). A unknown object with ID 1 is 6.9 meters away at (5.1, 4.6). A unknown object with ID 31 is 7.1 meters away at (-0.4, 7.0). A unknown object with ID 36 is 9.5 meters away at (-6.1, 7.3). A unknown object with ID 32 is 9.5 meters away at (8.2, 5.0). A pedestrian with ID 56 is 9.8 meters away at (-9.7, -1.4). A unknown object with ID 38 is 10.6 meters away at (-4.4, 9.7).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.39575675 -0.38557032] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.563635     0.06363437]\n [-26.531923    -3.3804398 ]\n [-11.309277    11.907409  ]\n [-30.536695     0.04870317]\n [-26.802898    -3.0481365 ]\n [-13.075274     9.429706  ]]", "nav_goal": "(-247.81536865234375, 164.09799194335938)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.0617571  3.4065318], 3.5681629180908203 meters away.)"}
{"file_name": "images/scenario_784_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 2.9 meters away at (-0.2, 2.9). A unknown object with ID 27 is 5.7 meters away at (3.1, 4.8). A vehicle with ID 25 is 6.1 meters away at (6.1, 0.6). A unknown object with ID 24 is 6.4 meters away at (6.2, -1.5). A unknown object with ID 31 is 6.5 meters away at (0.5, 6.5). A unknown object with ID 1 is 7.3 meters away at (6.0, 4.1). A unknown object with ID 36 is 8.5 meters away at (-5.2, 6.7). A unknown object with ID 38 is 9.8 meters away at (-3.5, 9.2). A unknown object with ID 32 is 10.1 meters away at (9.1, 4.4). A pedestrian with ID 56 is 10.8 meters away at (-10.2, -3.5).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.76378053 -1.0039566 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.563635     0.06363437]\n [-26.531923    -3.3804398 ]\n [-11.309277    11.907409  ]\n [-30.536695     0.04870317]\n [-26.802898    -3.0481365 ]\n [-13.075274     9.429706  ]]", "nav_goal": "(-247.81536865234375, 164.09799194335938)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.19954872  2.8647466 ], 2.8716881275177 meters away.)"}
{"file_name": "images/scenario_784_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 2.7 meters away at (-0.1, 2.7). A unknown object with ID 27 is 5.7 meters away at (3.2, 4.7). A vehicle with ID 25 is 6.2 meters away at (6.2, 0.5). A unknown object with ID 31 is 6.4 meters away at (0.6, 6.4). A unknown object with ID 24 is 6.5 meters away at (6.3, -1.6). A unknown object with ID 1 is 7.3 meters away at (6.1, 3.9). A unknown object with ID 36 is 8.4 meters away at (-5.1, 6.6). A unknown object with ID 38 is 9.7 meters away at (-3.4, 9.1). A unknown object with ID 32 is 10.2 meters away at (9.2, 4.3). A unknown object with ID 45 is 11.9 meters away at (-2.7, 11.6).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.531923   -3.3804398]\n [-11.309277   11.907409 ]\n [-26.802898   -3.0481365]\n [-13.075274    9.429706 ]]", "nav_goal": "(-247.81536865234375, 164.09799194335938)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.09512329  2.7467017 ], 2.7483482360839844 meters away.)"}
{"file_name": "images/scenario_784_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 2.7 meters away at (-0.1, 2.7). A unknown object with ID 27 is 5.7 meters away at (3.2, 4.6). A vehicle with ID 25 is 6.2 meters away at (6.2, 0.5). A unknown object with ID 31 is 6.4 meters away at (0.6, 6.4). A unknown object with ID 24 is 6.5 meters away at (6.3, -1.7). A unknown object with ID 1 is 7.3 meters away at (6.2, 3.9). A unknown object with ID 36 is 8.3 meters away at (-5.1, 6.6). A unknown object with ID 38 is 9.6 meters away at (-3.4, 9.0). A unknown object with ID 32 is 10.2 meters away at (9.2, 4.3). A unknown object with ID 45 is 11.9 meters away at (-2.7, 11.6).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.531923   -3.3804398]\n [-11.309277   11.907409 ]\n [-26.802898   -3.0481365]\n [-13.075274    9.429706 ]]", "nav_goal": "(-247.81536865234375, 164.09799194335938)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.06716585  2.7242508 ], 2.725078582763672 meters away.)"}
{"file_name": "images/scenario_785_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 2.1) m/s. Its current heading (yaw) is 2.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 4.9 meters away at (-1.1, 4.8). A vehicle with ID 73 is 5.8 meters away at (-5.8, -0.2). A vehicle with ID 75 is 9.4 meters away at (-9.0, -2.8). A vehicle with ID 78 is 13.2 meters away at (5.2, -12.1). A pedestrian with ID 74 is 13.8 meters away at (4.3, 13.1). A vehicle with ID 77 is 14.1 meters away at (-8.6, 11.1). A vehicle with ID 80 is 15.3 meters away at (-15.0, 2.8). A pedestrian with ID 72 is 16.7 meters away at (11.8, 11.9). A vehicle with ID 82 is 19.5 meters away at (-12.7, -14.8). A vehicle with ID 85 is 19.9 meters away at (-13.3, 14.8).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [3.879142 4.943833] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.08427274 0.01414921] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.42452088 0.87886155] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.2763786  -9.116672 ]\n [ -4.791868   -5.825305 ]\n [ -9.328897  -11.735421 ]\n [  2.1111312  -8.345955 ]\n [  4.6938376  -6.313979 ]]", "nav_goal": "(-258.0915832519531, 134.33612060546875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.1076908  4.7546115], 4.881937026977539 meters away.)"}
{"file_name": "images/scenario_785_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.1) m/s. Its current heading (yaw) is 2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 4.9 meters away at (0.7, 4.8). A vehicle with ID 80 is 6.6 meters away at (-5.6, -3.5). A vehicle with ID 73 is 7.4 meters away at (3.5, -6.5). A vehicle with ID 71 is 8.4 meters away at (8.2, -1.5). A vehicle with ID 75 is 9.1 meters away at (0.4, -9.1). A vehicle with ID 85 is 9.3 meters away at (-3.9, 8.5). A vehicle with ID 89 is 12.7 meters away at (-12.5, 2.3). A vehicle with ID 92 is 16.2 meters away at (-9.4, 13.2). A vehicle with ID 86 is 18.6 meters away at (-9.1, -16.2). A vehicle with ID 84 is 20.7 meters away at (-5.8, -19.9).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.2763786  -9.116672 ]\n [ -4.791868   -5.825305 ]\n [ -9.328897  -11.735421 ]\n [  2.1111312  -8.345955 ]\n [  4.6938376  -6.313979 ]]", "nav_goal": "(-258.0915832519531, 134.33612060546875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.7118025 4.8113627], 4.863730430603027 meters away.)"}
{"file_name": "images/scenario_785_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 5.5) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 92 is 4.1 meters away at (2.3, 3.4). A vehicle with ID 89 is 7.4 meters away at (-0.9, -7.3). A vehicle with ID 85 is 7.8 meters away at (7.7, -1.3). A vehicle with ID 33 is 9.4 meters away at (-3.9, 8.6). A vehicle with ID 70 is 10.2 meters away at (-10.2, -0.0). A vehicle with ID 77 is 13.3 meters away at (12.3, -4.9). A vehicle with ID 80 is 14.6 meters away at (6.0, -13.3). A vehicle with ID 34 is 15.0 meters away at (-8.3, 12.5). A vehicle with ID 88 is 17.9 meters away at (-16.9, 5.8). A vehicle with ID 29 is 21.4 meters away at (-13.3, 16.8).", "velocity_description": "The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 1.1367302 -0.8075612] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.2763786  -9.116672 ]\n [ -4.791868   -5.825305 ]\n [ -9.328897  -11.735421 ]\n [  2.1111312  -8.345955 ]\n [  4.6938376  -6.313979 ]]", "nav_goal": "(-258.0915832519531, 134.33612060546875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.2542152 3.4218998], 4.097668170928955 meters away.)"}
{"file_name": "images/scenario_785_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 5.8) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 5.2 meters away at (5.0, 1.5). A vehicle with ID 29 is 5.7 meters away at (0.1, 5.7). A vehicle with ID 88 is 6.7 meters away at (-2.3, -6.3). A vehicle with ID 33 is 9.7 meters away at (9.4, -2.4). A vehicle with ID 27 is 9.8 meters away at (-9.8, 0.1). A vehicle with ID 23 is 10.5 meters away at (-4.4, 9.5). A vehicle with ID 70 is 11.5 meters away at (3.2, -11.1). A vehicle with ID 21 is 16.1 meters away at (-9.2, 13.2). A vehicle with ID 22 is 17.2 meters away at (-16.2, 5.8). A vehicle with ID 28 is 17.3 meters away at (-15.1, -8.5).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 1.9444281 -1.6359525] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.2763786  -9.116672 ]\n [ -4.791868   -5.825305 ]\n [ -9.328897  -11.735421 ]\n [ -3.0215862 -16.637522 ]\n [  2.1111312  -8.345955 ]\n [  4.6938376  -6.313979 ]\n [ -3.0160756 -17.673435 ]]", "nav_goal": "(-258.0915832519531, 134.33612060546875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.022293  1.5025864], 5.242250919342041 meters away.)"}
{"file_name": "images/scenario_786_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.9) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A pedestrian with ID 5 is 22.2 meters away at (-8.8, -20.4). A vehicle with ID 34 is 42.7 meters away at (42.6, -2.9).", "velocity_description": "The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.00834774 0.0268566 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -8.817019 -20.407349], 22.230602264404297 meters away.)"}
{"file_name": "images/scenario_786_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.60 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 13.8 meters away at (4.6, 12.9). A pedestrian with ID 9 is 25.8 meters away at (-23.1, 11.6). A unknown object with ID 13 is 33.9 meters away at (-22.5, 25.4). A vehicle with ID 34 is 42.8 meters away at (42.6, -3.3).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00718357 -0.00266505] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 4.649693 12.945666], 13.755359649658203 meters away.)"}
{"file_name": "images/scenario_786_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 1.2) m/s. Its current heading (yaw) is 1.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 23.9 meters away at (-8.8, -22.2). A vehicle with ID 1 is 42.9 meters away at (42.7, -4.5). A unknown object with ID 10 is 53.3 meters away at (52.1, -11.4).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.00780853 0.01151086] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -8.775735 -22.199106], 23.870773315429688 meters away.)"}
{"file_name": "images/scenario_786_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 2.1) m/s. Its current heading (yaw) is 1.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 27.0 meters away at (-9.3, -25.3). A pedestrian with ID 14 is 27.6 meters away at (-9.8, -25.8). A vehicle with ID 1 is 42.7 meters away at (42.1, -7.5).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.01796155 0.00450156] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.0174306  0.01930356] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ -9.258554 -25.31376 ], 26.953800201416016 meters away.)"}
{"file_name": "images/scenario_787_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -2.0) m/s. Its current heading (yaw) is -1.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 10.4 meters away at (9.5, 4.3). A vehicle with ID 45 is 19.2 meters away at (-13.8, -13.4). A vehicle with ID 46 is 23.9 meters away at (18.5, -15.2). A vehicle with ID 47 is 26.3 meters away at (-26.2, 2.8). A vehicle with ID 27 is 29.4 meters away at (-27.5, -10.3). A vehicle with ID 48 is 32.5 meters away at (27.1, -17.9). A vehicle with ID 49 is 38.7 meters away at (33.3, -19.8). A pedestrian with ID 20 is 39.4 meters away at (34.9, -18.5). A vehicle with ID 8 is 39.5 meters away at (-11.3, -37.9). A vehicle with ID 50 is 50.2 meters away at (13.7, 48.3).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.0822833  0.01136271] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.929595 -7.881851] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(119.27313995361328, -104.16163635253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [9.523216 4.287578], 10.443896293640137 meters away.)"}
{"file_name": "images/scenario_787_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -4.7) m/s. Its current heading (yaw) is -1.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 13.6 meters away at (-12.0, -6.4). A vehicle with ID 43 is 16.0 meters away at (11.3, 11.3). A vehicle with ID 46 is 21.9 meters away at (20.3, -8.1). A vehicle with ID 27 is 25.9 meters away at (-25.7, -3.3). A vehicle with ID 47 is 26.3 meters away at (-24.4, 9.9). A vehicle with ID 48 is 31.0 meters away at (29.0, -10.9). A vehicle with ID 49 is 37.4 meters away at (35.2, -12.8). A vehicle with ID 8 is 50.1 meters away at (-14.0, -48.1). A vehicle with ID 24 is 54.7 meters away at (-54.3, 6.6). A vehicle with ID 50 is 57.5 meters away at (15.5, 55.4).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.521639 -8.512792] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(119.27313995361328, -104.16163635253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.991393   -6.3868895], 13.586237907409668 meters away.)"}
{"file_name": "images/scenario_787_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.4) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 10.1 meters away at (-9.0, 4.7). A vehicle with ID 46 is 23.4 meters away at (23.2, 3.1). A vehicle with ID 27 is 24.0 meters away at (-22.7, 7.8). A vehicle with ID 43 is 26.7 meters away at (14.2, 22.6). A vehicle with ID 47 is 30.0 meters away at (-21.4, 21.0). A vehicle with ID 48 is 31.8 meters away at (31.8, 0.3). A vehicle with ID 49 is 38.1 meters away at (38.0, -1.5). A vehicle with ID 8 is 55.5 meters away at (-16.1, -53.1). A vehicle with ID 1 is 55.6 meters away at (-19.5, -52.1). A vehicle with ID 23 is 59.1 meters away at (-50.3, 31.0).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.4845972 -7.3098526] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(119.27313995361328, -104.16163635253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.972494  4.668458], 10.114354133605957 meters away.)"}
{"file_name": "images/scenario_787_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -7.2) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 19.0 meters away at (-5.0, 18.3). A vehicle with ID 31 is 24.9 meters away at (7.2, -23.9). A vehicle with ID 46 is 32.0 meters away at (27.3, 16.8). A vehicle with ID 48 is 38.5 meters away at (35.9, 13.9). A vehicle with ID 47 is 38.8 meters away at (-17.4, 34.6). A vehicle with ID 43 is 40.6 meters away at (18.2, 36.3). A vehicle with ID 1 is 41.4 meters away at (-15.5, -38.4). A vehicle with ID 49 is 43.9 meters away at (42.2, 12.2). A vehicle with ID 8 is 53.6 meters away at (-15.9, -51.2). A vehicle with ID 4 is 67.1 meters away at (-22.0, -63.4).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.4704001 -3.8674278] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -34.1694  -104.84029]\n [ -34.36639 -104.79876]]", "nav_goal": "(119.27313995361328, -104.16163635253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.0178432 18.336641 ], 19.01081657409668 meters away.)"}
{"file_name": "images/scenario_788_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 4.9) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 79 is 4.8 meters away at (-4.8, 0.5). A vehicle with ID 83 is 5.8 meters away at (-0.6, 5.8). A pedestrian with ID 93 is 12.9 meters away at (-0.4, 12.9). A vehicle with ID 31 is 16.8 meters away at (7.5, 15.0). A vehicle with ID 80 is 20.1 meters away at (-19.0, -6.4). A vehicle with ID 81 is 21.0 meters away at (-1.7, -21.0). A vehicle with ID 78 is 21.3 meters away at (-18.4, -10.8). A vehicle with ID 85 is 22.4 meters away at (-5.2, -21.8). A vehicle with ID 82 is 22.8 meters away at (-22.6, -3.2). A vehicle with ID 77 is 23.1 meters away at (23.0, 2.0).", "velocity_description": "The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.7815776 -1.0856061] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-5.238579  4.510555] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-0.727783  0.655122] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.60285  60.65518 ]\n [53.83257  71.4674  ]\n [53.94585  62.89966 ]\n [55.608364 59.619267]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.8067636  0.4739504], 4.83007287979126 meters away.)"}
{"file_name": "images/scenario_788_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 4.2) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 5.6 meters away at (-0.4, 5.6). A vehicle with ID 83 is 9.2 meters away at (-8.5, -3.6). A pedestrian with ID 93 is 10.2 meters away at (-10.1, 1.5). A vehicle with ID 2 is 14.5 meters away at (1.3, 14.5). A vehicle with ID 79 is 15.6 meters away at (-12.7, -9.0). A unknown object with ID 102 is 15.6 meters away at (15.3, -2.9). A vehicle with ID 77 is 16.8 meters away at (15.0, -7.4). A vehicle with ID 7 is 25.5 meters away at (-1.3, 25.5). A vehicle with ID 8 is 27.3 meters away at (-3.1, 27.2). A vehicle with ID 112 is 29.7 meters away at (29.7, -1.2).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.8089624  -0.89776355] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.6731924 -0.5788752] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.60285  60.65518 ]\n [53.83257  71.4674  ]\n [53.94585  62.89966 ]\n [55.608364 59.619267]\n [63.318275 70.97872 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.38443947  5.617399  ], 5.6305389404296875 meters away.)"}
{"file_name": "images/scenario_788_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 4.0) m/s. Its current heading (yaw) is 0.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 6.4 meters away at (-6.2, -1.6). A vehicle with ID 2 is 8.3 meters away at (-4.5, 7.0). A vehicle with ID 77 is 17.4 meters away at (9.2, -14.7). A vehicle with ID 83 is 18.1 meters away at (-14.4, -11.0). A pedestrian with ID 93 is 19.4 meters away at (-17.7, -7.9). A vehicle with ID 7 is 19.5 meters away at (-7.2, 18.1). A vehicle with ID 8 is 21.8 meters away at (-9.0, 19.9). A vehicle with ID 79 is 24.8 meters away at (-18.6, -16.4). A vehicle with ID 3 is 29.4 meters away at (-1.3, 29.4). A unknown object with ID 1 is 33.5 meters away at (15.4, 29.8).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.9603917 -1.1562712] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.60285  60.65518 ]\n [59.154907 74.92754 ]\n [53.94585  62.89966 ]\n [57.76807  76.64025 ]\n [55.608364 59.619267]\n [59.086277 75.291756]\n [63.318275 70.97872 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.193283  -1.6242676], 6.40273380279541 meters away.)"}
{"file_name": "images/scenario_788_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 5.3) m/s. Its current heading (yaw) is 1.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 11.1 meters away at (-10.7, -3.1). A vehicle with ID 7 is 16.2 meters away at (-13.9, 8.5). A vehicle with ID 31 is 17.2 meters away at (-12.9, -11.3). A vehicle with ID 8 is 18.7 meters away at (-15.6, 10.3). A vehicle with ID 3 is 21.3 meters away at (-8.0, 19.8). A unknown object with ID 1 is 21.8 meters away at (8.6, 20.1). A vehicle with ID 77 is 24.5 meters away at (2.5, -24.4). A vehicle with ID 75 is 27.0 meters away at (18.2, 20.0). A vehicle with ID 83 is 29.5 meters away at (-21.0, -20.7). A pedestrian with ID 93 is 32.6 meters away at (-26.1, -19.6).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.84186906 -0.57148623] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.66045165 -0.85929567] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.60285  60.65518 ]\n [59.154907 74.92754 ]\n [53.94585  62.89966 ]\n [57.76807  76.64025 ]\n [55.608364 59.619267]\n [59.086277 75.291756]\n [63.318275 70.97872 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-10.721041   -3.0547638], 11.147747993469238 meters away.)"}
{"file_name": "images/scenario_789_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 10.6) m/s. Its current heading (yaw) is 1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 36.1 meters away at (6.0, -35.6). A vehicle with ID 1 is 72.7 meters away at (-31.8, 65.4).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.3196895 -8.894655 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-102.27570343017578, 282.80059814453125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  5.957798 -35.597748], 36.09286880493164 meters away.)"}
{"file_name": "images/scenario_789_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 10.9) m/s. Its current heading (yaw) is 1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 49.8 meters away at (-23.5, 43.9). A vehicle with ID 3 is 78.4 meters away at (20.6, -75.6).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0.3628261  0.12446182] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.695341 -9.374402] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-102.27570343017578, 282.80059814453125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-23.547157  43.921894], 49.83574676513672 meters away.)"}
{"file_name": "images/scenario_789_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 10.8) m/s. Its current heading (yaw) is 1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 27.0 meters away at (-15.1, 22.4).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0.42000932 0.12953874] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-102.27570343017578, 282.80059814453125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-15.100422  22.418274], 27.029645919799805 meters away.)"}
{"file_name": "images/scenario_789_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 10.5) m/s. Its current heading (yaw) is 1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 7.1 meters away at (-6.9, 1.5).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0.37322173 0.09775686] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-102.27570343017578, 282.80059814453125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.915001   1.4659348], 7.0686774253845215 meters away.)"}
{"file_name": "images/scenario_790_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, 7.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 20.6 meters away at (-12.7, -16.3). A vehicle with ID 31 is 23.8 meters away at (15.1, 18.4). A vehicle with ID 29 is 31.8 meters away at (-22.4, -22.5). A vehicle with ID 33 is 40.5 meters away at (26.1, 31.0). A vehicle with ID 32 is 50.9 meters away at (-34.4, -37.5). A vehicle with ID 34 is 55.0 meters away at (-32.7, -44.2). A vehicle with ID 15 is 69.3 meters away at (45.3, 52.5). A vehicle with ID 37 is 72.3 meters away at (-58.3, -42.6). A vehicle with ID 35 is 78.7 meters away at (-51.9, -59.1).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [5.037893  5.9127116] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [6.669002 7.812534] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.9761217 -5.3347926] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [6.2428846 7.295251 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.1081257 -5.5041323] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.979063 3.35843 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [7.553219 7.622046] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-4.5398526 -5.9755797] m/s.", "light_description": "There are active red lights at the following coordinates: [[-43.72785  -39.084934]\n [-41.378483 -37.837807]\n [-39.991646 -36.106617]\n [-29.95499  -30.025045]\n [-40.239697 -36.7299  ]\n [-40.062435 -36.2042  ]]", "nav_goal": "(-113.2953109741211, 86.30391693115234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.686159 -16.290178], 20.647239685058594 meters away.)"}
{"file_name": "images/scenario_790_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 7.8) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 21.9 meters away at (-13.4, -17.3). A vehicle with ID 31 is 24.8 meters away at (15.8, 19.1). A vehicle with ID 33 is 40.8 meters away at (26.7, 30.8). A vehicle with ID 3 is 60.0 meters away at (36.9, 47.3). A vehicle with ID 29 is 65.1 meters away at (-43.3, -48.6). A vehicle with ID 15 is 72.6 meters away at (48.9, 53.7).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [6.9585032 7.9945793] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [6.8536882 8.099893 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.6124153 8.03518  ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.9105055 -5.2605286] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [8.708409 8.402494] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-113.2953109741211, 86.30391693115234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-13.435968 -17.27614 ], 21.885847091674805 meters away.)"}
{"file_name": "images/scenario_790_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 6.5) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 19.2 meters away at (-11.5, -15.3). A vehicle with ID 31 is 27.1 meters away at (17.6, 20.6). A vehicle with ID 4 is 38.1 meters away at (35.3, 14.3). A vehicle with ID 3 is 40.6 meters away at (24.5, 32.4). A vehicle with ID 33 is 44.8 meters away at (30.5, 32.8). A vehicle with ID 1 is 56.7 meters away at (-30.4, 47.9). A unknown object with ID 25 is 59.8 meters away at (31.1, 51.0). A vehicle with ID 2 is 67.7 meters away at (-42.6, -52.7). A unknown object with ID 20 is 73.2 meters away at (-48.1, 55.2). A vehicle with ID 15 is 77.7 meters away at (54.8, 55.2).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [6.672733  7.5799217] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [7.507037 7.969081] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.1599104  -0.45412883] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [8.631802 8.329498] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.708358  -3.8851247] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [6.013987  7.0704117] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.397303  7.8819957] m/s.", "light_description": "There are active red lights at the following coordinates: [[68.806526 57.10027 ]\n [67.8497   56.03972 ]\n [67.84564  56.033714]\n [49.66126  62.447647]]", "nav_goal": "(-113.2953109741211, 86.30391693115234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-11.525478 -15.314011], 19.166522979736328 meters away.)"}
{"file_name": "images/scenario_790_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 5.8) m/s. Its current heading (yaw) is 1.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 15.4 meters away at (-8.4, -12.9). A vehicle with ID 3 is 24.7 meters away at (14.8, 19.8). A vehicle with ID 4 is 26.0 meters away at (25.9, 2.2). A vehicle with ID 6 is 33.2 meters away at (33.1, -2.7). A vehicle with ID 31 is 34.5 meters away at (24.3, 24.5). A vehicle with ID 1 is 38.3 meters away at (-24.5, 29.4). A vehicle with ID 12 is 43.6 meters away at (42.9, -7.9). A unknown object with ID 13 is 48.2 meters away at (27.7, 39.4). A vehicle with ID 14 is 51.6 meters away at (50.3, -11.5). A vehicle with ID 33 is 54.0 meters away at (39.1, 37.3).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [7.0773916 7.7646294] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [8.712628 8.012733] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.5481005 -3.1000428] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [9.696051 8.123078] m/s.", "light_description": "There are active red lights at the following coordinates: [[42.30294  69.22154 ]\n [68.806526 57.10027 ]\n [67.8497   56.03972 ]\n [67.84564  56.033714]\n [49.66126  62.447647]\n [42.041424 69.27796 ]\n [40.661804 67.565346]]", "nav_goal": "(-113.2953109741211, 86.30391693115234)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -8.382992 -12.938461], 15.41681957244873 meters away.)"}
{"file_name": "images/scenario_791_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.1) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 22.2 meters away at (-6.5, -21.2). A vehicle with ID 25 is 22.7 meters away at (7.0, 21.6). A pedestrian with ID 29 is 32.0 meters away at (-31.9, -1.0). A vehicle with ID 27 is 38.8 meters away at (-4.0, -38.6). A vehicle with ID 23 is 39.1 meters away at (-39.1, 0.5). A vehicle with ID 24 is 41.4 meters away at (-41.3, -1.4). A pedestrian with ID 30 is 41.8 meters away at (-36.7, 19.9). A vehicle with ID 16 is 41.8 meters away at (-4.7, -41.5). A vehicle with ID 31 is 42.0 meters away at (-41.7, -4.8). A vehicle with ID 35 is 43.1 meters away at (3.7, -42.9).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.30029324 -0.0407715 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-3.0863016 -6.7036476] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01170891 -0.00517781] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.2821392 -1.06343  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.303986 -51.38896 ]\n [-38.60985  -23.32844 ]\n [-41.332745 -28.218626]\n [-21.669952 -54.300373]\n [-18.711    -45.761326]\n [-37.63381  -20.803112]\n [-40.420757 -25.452085]\n [-19.446428 -48.891953]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ -6.543575 -21.193596], 22.180776596069336 meters away.)"}
{"file_name": "images/scenario_791_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -5.1) m/s. Its current heading (yaw) is -1.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 11.0 meters away at (-3.9, -10.3). A vehicle with ID 25 is 21.0 meters away at (4.6, 20.5). A vehicle with ID 27 is 27.6 meters away at (-1.3, -27.6). A vehicle with ID 16 is 30.6 meters away at (-1.9, -30.6). A pedestrian with ID 29 is 30.7 meters away at (-29.0, 10.0). A vehicle with ID 35 is 32.4 meters away at (6.3, -31.8). A vehicle with ID 37 is 33.3 meters away at (-3.0, -33.2). A vehicle with ID 38 is 35.1 meters away at (5.2, -34.7). A cyclist with ID 15 is 36.1 meters away at (1.6, -36.1). A vehicle with ID 18 is 36.7 meters away at (-3.6, -36.5).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00098307 -0.00052611] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-2.290757  -5.7408733] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.01439755 0.00341191] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [ 0.01190299 -0.02314177] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.303986 -51.38896 ]\n [-38.60985  -23.32844 ]\n [-41.332745 -28.218626]\n [-21.669952 -54.300373]\n [-18.711    -45.761326]\n [-37.63381  -20.803112]\n [-40.420757 -25.452085]\n [-19.446428 -48.891953]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -3.8779573 -10.303694 ], 11.009298324584961 meters away.)"}
{"file_name": "images/scenario_791_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -3.5) m/s. Its current heading (yaw) is -1.32 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 4.8 meters away at (-4.4, -1.8). A vehicle with ID 27 is 19.1 meters away at (-1.9, -19.0). A vehicle with ID 25 is 19.2 meters away at (0.1, 19.2). A vehicle with ID 16 is 22.2 meters away at (-2.6, -22.1). A vehicle with ID 35 is 23.9 meters away at (5.6, -23.3). A vehicle with ID 37 is 25.0 meters away at (-3.6, -24.7). A vehicle with ID 38 is 26.6 meters away at (4.5, -26.2). A cyclist with ID 15 is 27.6 meters away at (1.1, -27.6). A vehicle with ID 43 is 31.8 meters away at (2.1, -31.7). A vehicle with ID 3 is 32.1 meters away at (11.7, -29.9).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.01316723 0.00291905] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-1.5272264 -4.0599656] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [0.02524648 0.01006582] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.303986 -51.38896 ]\n [-38.60985  -23.32844 ]\n [-41.332745 -28.218626]\n [-21.669952 -54.300373]\n [-18.711    -45.761326]\n [-37.63381  -20.803112]\n [-40.420757 -25.452085]\n [-19.446428 -48.891953]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.417095 -1.809021], 4.773184299468994 meters away.)"}
{"file_name": "images/scenario_791_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -4.0) m/s. Its current heading (yaw) is -1.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 9.3 meters away at (-7.5, 5.6). A vehicle with ID 27 is 12.7 meters away at (-4.7, -11.8). A vehicle with ID 16 is 15.5 meters away at (-7.3, -13.7). A vehicle with ID 35 is 16.2 meters away at (2.7, -16.0). A vehicle with ID 20 is 18.5 meters away at (-7.3, -16.9). A vehicle with ID 38 is 19.2 meters away at (1.8, -19.1). A cyclist with ID 15 is 20.4 meters away at (-1.9, -20.3). A vehicle with ID 25 is 20.7 meters away at (-5.1, 20.1). A vehicle with ID 11 is 21.6 meters away at (-7.5, -20.2). A vehicle with ID 5 is 22.0 meters away at (9.6, -19.8).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.5868605  0.2882743] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-2.2924376  1.5061975] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.8020307  1.2027612] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.23285554  0.21593022] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [0.00351609 0.04592229] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.6916308 -1.8299478] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.6901112  1.131517 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.303986 -51.38896 ]\n [-41.332745 -28.218626]\n [-21.669952 -54.300373]\n [-18.711    -45.761326]\n [-40.420757 -25.452085]\n [-19.446428 -48.891953]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.5004454  5.5687714], 9.341729164123535 meters away.)"}
{"file_name": "images/scenario_792_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -2.2) m/s. Its current heading (yaw) is -2.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 29.5 meters away at (21.5, 20.2).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ 0.8364145 -2.1397457] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-164.4915313720703, 185.6256561279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [21.541996 20.209564], 29.537841796875 meters away.)"}
{"file_name": "images/scenario_792_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, -2.4) m/s. Its current heading (yaw) is -2.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 44.9 meters away at (41.0, 18.4). A vehicle with ID 1 is 68.8 meters away at (-61.9, 30.0).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.7127018 -4.019814 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [  3.4456432 -12.130437 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-164.4915313720703, 185.6256561279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [40.959312 18.36335 ], 44.88739013671875 meters away.)"}
{"file_name": "images/scenario_792_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, -2.1) m/s. Its current heading (yaw) is -2.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 41.0 meters away at (-39.2, 12.1). A vehicle with ID 5 is 64.7 meters away at (63.1, 14.4).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 2.7975037 -9.699346 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 4.9872065 -3.3922038] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-164.4915313720703, 185.6256561279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-39.20845   12.131067], 41.042240142822266 meters away.)"}
{"file_name": "images/scenario_792_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, -0.8) m/s. Its current heading (yaw) is -3.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 20.5 meters away at (-20.5, -0.9).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 3.1436398 -6.5356755] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-164.4915313720703, 185.6256561279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-20.489784   -0.8610134], 20.50786590576172 meters away.)"}
{"file_name": "images/scenario_793_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.6) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 11.4 meters away at (0.3, 11.4). A vehicle with ID 50 is 16.0 meters away at (15.8, -2.2). A pedestrian with ID 18 is 20.6 meters away at (14.7, -14.3). A vehicle with ID 51 is 21.6 meters away at (20.9, -5.3). A vehicle with ID 49 is 27.0 meters away at (25.4, -9.0). A vehicle with ID 52 is 39.6 meters away at (-32.4, 22.8). A vehicle with ID 60 is 42.3 meters away at (-34.8, -24.1). A pedestrian with ID 57 is 43.7 meters away at (-31.1, 30.7). A vehicle with ID 61 is 45.2 meters away at (-45.0, 4.2). A vehicle with ID 59 is 46.0 meters away at (-45.7, -5.8).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.69637847 -0.25145113] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-10.881249   6.312024] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.9539106   0.45791265] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [2.904832 3.329809] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.9416386   0.77998924] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.26374435 11.376221  ], 11.379277229309082 meters away.)"}
{"file_name": "images/scenario_793_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -3.2) m/s. Its current heading (yaw) is -0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 7.0 meters away at (5.5, 4.3). A pedestrian with ID 18 is 10.3 meters away at (5.7, -8.6). A vehicle with ID 51 is 10.5 meters away at (10.5, 1.4). A vehicle with ID 49 is 15.2 meters away at (15.0, -2.4). A vehicle with ID 55 is 20.6 meters away at (-10.2, 17.9). A vehicle with ID 60 is 48.5 meters away at (-45.2, -17.5). A unknown object with ID 42 is 53.3 meters away at (50.3, -17.7). A vehicle with ID 61 is 53.8 meters away at (-51.0, 17.2). A pedestrian with ID 57 is 58.1 meters away at (-43.7, 38.3). A vehicle with ID 12 is 59.1 meters away at (-0.1, -59.1).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.7568958  -0.58196354] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [1.8406599 3.1220133] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.0102065  0.5323492] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.4579887 4.339097 ], 6.972618103027344 meters away.)"}
{"file_name": "images/scenario_793_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -2.8) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 3.9 meters away at (-1.9, -3.4). A vehicle with ID 49 is 6.9 meters away at (5.9, 3.6). A vehicle with ID 51 is 7.4 meters away at (1.5, 7.2). A vehicle with ID 50 is 10.9 meters away at (-3.6, 10.3). A unknown object with ID 28 is 12.6 meters away at (12.6, -1.3). A unknown object with ID 24 is 30.5 meters away at (-21.8, 21.3). A vehicle with ID 46 is 42.8 meters away at (-30.7, 29.8). A unknown object with ID 42 is 42.8 meters away at (41.2, -11.6). A unknown object with ID 27 is 44.7 meters away at (42.1, -15.0). A pedestrian with ID 25 is 51.4 meters away at (14.8, -49.2).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.8051406 -0.5068769] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [1.0492299 0.6582793] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-1.9207039 -3.4423256], 3.9419169425964355 meters away.)"}
{"file_name": "images/scenario_793_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -3.0) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 8.8 meters away at (-8.7, 1.1). A vehicle with ID 49 is 9.3 meters away at (-2.2, 9.0). A vehicle with ID 51 is 14.4 meters away at (-6.7, 12.7). A pedestrian with ID 38 is 17.0 meters away at (16.4, 4.6). A vehicle with ID 50 is 19.7 meters away at (-11.8, 15.8). A unknown object with ID 42 is 33.6 meters away at (33.1, -6.2). A unknown object with ID 27 is 35.2 meters away at (33.9, -9.5). A unknown object with ID 30 is 36.6 meters away at (-13.1, 34.1). A pedestrian with ID 25 is 42.0 meters away at (9.0, -41.0). A pedestrian with ID 48 is 43.0 meters away at (9.7, -41.9).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.63527596 -0.4454923 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.00990357  0.00191903] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [1.0114858 0.9685466] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.923952   0.96734947] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-8.717514   1.1233597], 8.789595603942871 meters away.)"}
{"file_name": "images/scenario_794_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.5 meters away at (-4.1, -5.0). A vehicle with ID 20 is 6.6 meters away at (1.4, 6.5). A vehicle with ID 27 is 7.7 meters away at (5.1, 5.8). A unknown object with ID 22 is 8.1 meters away at (-4.3, 6.8). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 40 is 21.5 meters away at (15.1, 15.3). A vehicle with ID 42 is 21.7 meters away at (-20.9, 5.8). A vehicle with ID 24 is 24.1 meters away at (20.9, -12.1). A vehicle with ID 35 is 25.0 meters away at (-24.2, -6.4).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.00117653 -0.00157514] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.0041553  0.00121659] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [10.040073 -8.253471] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.904904 14.129291]\n [17.113962 26.157175]\n [13.561908 11.884814]\n [ 9.426887 16.064991]\n [15.727126 27.869883]\n [17.045332 26.521385]\n [13.567418 10.8489  ]]", "nav_goal": "(197.20872497558594, 183.67503356933594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.1463575 -4.9579263], 6.46322774887085 meters away.)"}
{"file_name": "images/scenario_794_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.4 meters away at (-4.1, -4.9). A vehicle with ID 20 is 6.6 meters away at (1.4, 6.4). A vehicle with ID 27 is 7.8 meters away at (5.1, 5.8). A unknown object with ID 22 is 8.0 meters away at (-4.3, 6.8). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 42 is 21.7 meters away at (-20.9, 5.8). A vehicle with ID 24 is 24.2 meters away at (20.9, -12.1). A vehicle with ID 35 is 25.0 meters away at (-24.2, -6.4). A vehicle with ID 64 is 32.8 meters away at (-6.6, 32.1).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01048866 -0.00300687] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.00178971 0.0004157 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 4.7345634 -3.9242573] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.904904  14.129291 ]\n [ 9.307115  19.405664 ]\n [17.113962  26.157175 ]\n [ 7.2545958 16.786915 ]\n [13.561908  11.884814 ]\n [ 9.426887  16.064991 ]\n [15.727126  27.869883 ]\n [17.045332  26.521385 ]\n [13.567418  10.8489   ]]", "nav_goal": "(197.20872497558594, 183.67503356933594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.095674  -4.8942595], 6.3818745613098145 meters away.)"}
{"file_name": "images/scenario_794_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.4 meters away at (-4.1, -4.9). A vehicle with ID 20 is 6.6 meters away at (1.4, 6.5). A vehicle with ID 27 is 7.8 meters away at (5.1, 5.8). A unknown object with ID 22 is 8.1 meters away at (-4.3, 6.8). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 42 is 21.7 meters away at (-21.0, 5.8). A vehicle with ID 24 is 24.2 meters away at (20.9, -12.0). A vehicle with ID 35 is 25.0 meters away at (-24.2, -6.4). A vehicle with ID 64 is 26.6 meters away at (0.2, 26.6).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00023144  0.00053436] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.0004624  -0.00160074] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 1.7439059 -1.4228101] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.904904  14.129291 ]\n [ 9.307115  19.405664 ]\n [17.113962  26.157175 ]\n [ 7.2545958 16.786915 ]\n [13.561908  11.884814 ]\n [ 9.426887  16.064991 ]\n [15.727126  27.869883 ]\n [17.045332  26.521385 ]\n [13.567418  10.8489   ]]", "nav_goal": "(197.20872497558594, 183.67503356933594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.1152554 -4.906231 ], 6.403626441955566 meters away.)"}
{"file_name": "images/scenario_794_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.4 meters away at (-4.1, -4.9). A vehicle with ID 20 is 6.6 meters away at (1.5, 6.5). A unknown object with ID 22 is 8.1 meters away at (-4.4, 6.8). A vehicle with ID 27 is 8.2 meters away at (5.4, 6.2). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 42 is 21.7 meters away at (-21.0, 5.8). A vehicle with ID 1 is 23.3 meters away at (-0.6, 23.3). A vehicle with ID 24 is 24.2 meters away at (20.9, -12.1). A vehicle with ID 35 is 25.1 meters away at (-24.2, -6.5).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.39019513 0.4920304 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-3.14388e-04  4.80228e-05] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00120787 -0.00024766] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.0654739  -0.98489904] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.904904  14.129291 ]\n [ 9.307115  19.405664 ]\n [17.113962  26.157175 ]\n [ 7.2545958 16.786915 ]\n [13.561908  11.884814 ]\n [ 9.426887  16.064991 ]\n [15.727126  27.869883 ]\n [17.045332  26.521385 ]\n [13.567418  10.8489   ]]", "nav_goal": "(197.20872497558594, 183.67503356933594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.1146917 -4.907218 ], 6.404020309448242 meters away.)"}
{"file_name": "images/scenario_795_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 1.2) m/s. Its current heading (yaw) is 1.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 6.2 meters away at (4.3, 4.5). A pedestrian with ID 23 is 12.4 meters away at (-10.1, 7.3). A pedestrian with ID 4 is 17.5 meters away at (-10.1, 14.3). A pedestrian with ID 21 is 27.0 meters away at (27.0, -0.0). A pedestrian with ID 22 is 27.7 meters away at (27.7, 0.8). A vehicle with ID 31 is 30.1 meters away at (8.9, -28.7). A pedestrian with ID 26 is 30.1 meters away at (-1.4, -30.1). A cyclist with ID 27 is 31.9 meters away at (20.8, 24.1). A vehicle with ID 32 is 32.4 meters away at (15.6, 28.4). A vehicle with ID 30 is 34.7 meters away at (18.9, 29.1).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.7034376 -1.2670189] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00079216  0.00225056] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01453607  0.01590161] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.01431303 0.0107224 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0831883  0.8207303] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.03618274 -0.02550142] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.358478  13.206981 ]\n [ 1.387837  13.361978 ]\n [19.862366  22.569908 ]\n [ 2.4570918 13.313986 ]\n [ 6.154567  14.075399 ]\n [16.620905  24.417381 ]\n [13.522926  25.323416 ]\n [21.8314    22.822691 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.3040648 4.5021415], 6.228503227233887 meters away.)"}
{"file_name": "images/scenario_795_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 5.7 meters away at (4.2, 4.0). A pedestrian with ID 23 is 9.4 meters away at (-8.4, 4.2). A unknown object with ID 17 is 10.4 meters away at (9.7, 3.7). A pedestrian with ID 4 is 17.0 meters away at (-10.2, 13.5). A pedestrian with ID 21 is 26.9 meters away at (26.9, -0.7). A pedestrian with ID 22 is 27.6 meters away at (27.6, 0.2). A pedestrian with ID 26 is 29.3 meters away at (-3.6, -29.1). A cyclist with ID 27 is 30.6 meters away at (20.7, 22.5). A vehicle with ID 31 is 30.7 meters away at (8.8, -29.5). A vehicle with ID 32 is 31.6 meters away at (15.4, 27.6).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.76570374 -1.3191329 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00981352 -0.01427808] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.00542659 -0.00928474] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.0079663  -0.00865779] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.2036182   0.97179836] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.00790768 -0.2730593 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.358478  13.206981 ]\n [ 1.387837  13.361978 ]\n [19.862366  22.569908 ]\n [ 2.4570918 13.313986 ]\n [ 6.154567  14.075399 ]\n [16.620905  24.417381 ]\n [13.522926  25.323416 ]\n [21.8314    22.822691 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.16597   3.9510064], 5.741581439971924 meters away.)"}
{"file_name": "images/scenario_795_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 6.3 meters away at (4.3, 4.6). A pedestrian with ID 23 is 7.0 meters away at (-6.8, 1.5). A pedestrian with ID 4 is 17.2 meters away at (-10.3, 13.8). A pedestrian with ID 21 is 26.8 meters away at (26.8, -0.8). A pedestrian with ID 26 is 27.4 meters away at (-5.7, -26.8). A pedestrian with ID 22 is 27.6 meters away at (27.6, 0.1). A cyclist with ID 27 is 30.3 meters away at (20.8, 22.1). A vehicle with ID 31 is 30.9 meters away at (8.8, -29.6). A vehicle with ID 32 is 31.5 meters away at (15.4, 27.5). A vehicle with ID 30 is 33.9 meters away at (18.7, 28.3).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0.19702423 1.1424125 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.71577305 -1.3523543 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.09058131 0.2680253 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01637245 -0.00679927] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0581306  1.1033175] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.00138909 -0.00410285] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.09256568 -0.56363726] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.387837  13.361978 ]\n [19.862366  22.569908 ]\n [ 2.4570918 13.313986 ]\n [16.620905  24.417381 ]\n [13.522926  25.323416 ]\n [21.8314    22.822691 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.308111 4.649844], 6.33883810043335 meters away.)"}
{"file_name": "images/scenario_795_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 2.7) m/s. Its current heading (yaw) is 1.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 7.4 meters away at (-6.2, -4.0). A vehicle with ID 3 is 10.1 meters away at (4.9, 8.8). A pedestrian with ID 4 is 15.9 meters away at (-10.8, 11.7). A cyclist with ID 27 is 25.8 meters away at (22.3, 13.0). A pedestrian with ID 21 is 26.2 meters away at (26.1, -2.7). A vehicle with ID 32 is 26.3 meters away at (14.8, 21.8). A pedestrian with ID 22 is 26.8 meters away at (26.8, -1.8). A pedestrian with ID 26 is 28.1 meters away at (-7.7, -27.0). A vehicle with ID 30 is 29.5 meters away at (18.2, 23.2). A unknown object with ID 20 is 32.6 meters away at (11.1, 30.6).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.21060611 -1.4266826 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.5755153 5.2848406] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.3419202 0.7021554] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 2.3470898 -4.8452854] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.28665406  1.0237052 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.16264638 -3.5146627 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.2019136  1.1638055] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.56301236  1.3835666 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.02654746 -2.6039588 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-6.190873 -3.99781 ], 7.369490623474121 meters away.)"}
{"file_name": "images/scenario_796_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -1.8) m/s. Its current heading (yaw) is -2.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 14 is 26.8 meters away at (-26.8, 1.1). A pedestrian with ID 24 is 27.9 meters away at (-27.9, 0.8). A pedestrian with ID 25 is 78.4 meters away at (76.8, -15.8).", "velocity_description": "The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0712569 -0.8231664] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0760854 -1.0624064] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.101491    0.52301514] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.46881103515625, -42.5669059753418)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-26.755583    1.1471405], 26.780162811279297 meters away.)"}
{"file_name": "images/scenario_796_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 0.7) m/s. Its current heading (yaw) is 2.95 ", "actor_description": " The most relevant actors are: A pedestrian with ID 14 is 21.9 meters away at (-21.9, 0.6). A pedestrian with ID 24 is 22.8 meters away at (-22.8, 0.3).", "velocity_description": "The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.90348583 -0.45357233] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.8420151  -0.51208705] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.46881103515625, -42.5669059753418)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-21.862646     0.56278944], 21.869888305664062 meters away.)"}
{"file_name": "images/scenario_796_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -0.4) m/s. Its current heading (yaw) is -3.05 ", "actor_description": " The most relevant actors are: A pedestrian with ID 14 is 14.7 meters away at (-14.6, -1.7). A vehicle with ID 1 is 61.1 meters away at (-24.9, -55.8). A vehicle with ID 2 is 68.8 meters away at (-41.7, -54.7). A vehicle with ID 3 is 69.3 meters away at (-43.9, -53.7). A pedestrian with ID 17 is 72.0 meters away at (-25.7, -67.3).", "velocity_description": "The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9838874  -0.80206823] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.32627675 -1.197301  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.46881103515625, -42.5669059753418)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-14.579317  -1.710073], 14.679265022277832 meters away.)"}
{"file_name": "images/scenario_796_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -2.8) m/s. Its current heading (yaw) is -2.53 ", "actor_description": " The most relevant actors are: A pedestrian with ID 14 is 7.7 meters away at (-7.7, -0.4). A pedestrian with ID 21 is 8.3 meters away at (-8.2, -1.2). A vehicle with ID 1 is 55.3 meters away at (-16.1, -52.9). A vehicle with ID 2 is 61.3 meters away at (-32.8, -51.8). A vehicle with ID 3 is 61.7 meters away at (-35.0, -50.8). A pedestrian with ID 17 is 69.0 meters away at (-17.5, -66.8). A vehicle with ID 9 is 74.5 meters away at (-22.4, -71.1).", "velocity_description": "The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9214098  -0.75281185] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.7040773  -0.99333256] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.25348645 -1.2040026 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.46881103515625, -42.5669059753418)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-7.667021   -0.38811636], 7.676837921142578 meters away.)"}
{"file_name": "images/scenario_797_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -3.5) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 16 is 28.3 meters away at (-28.2, -2.4). A pedestrian with ID 17 is 28.6 meters away at (-28.5, -3.0). A vehicle with ID 18 is 29.5 meters away at (-29.2, -4.0). A pedestrian with ID 19 is 30.4 meters away at (-30.2, -2.8). A vehicle with ID 7 is 43.6 meters away at (-43.5, -2.2). A vehicle with ID 20 is 43.7 meters away at (-43.6, -2.3). A cyclist with ID 21 is 45.3 meters away at (-45.2, 2.0). A unknown object with ID 11 is 63.4 meters away at (54.2, -32.9).", "velocity_description": "The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.23794354  0.1167853 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.12055881 -0.04326006] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01688113 0.0154127 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.00215965 -0.00790939] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-28.162363   -2.4389381], 28.267776489257812 meters away.)"}
{"file_name": "images/scenario_797_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.8, -3.4) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 12.5 meters away at (-8.6, 9.1). A unknown object with ID 12 is 29.4 meters away at (-29.3, 2.8). A pedestrian with ID 16 is 44.5 meters away at (-44.3, 4.7). A pedestrian with ID 17 is 44.7 meters away at (-44.5, 4.1). A vehicle with ID 18 is 45.5 meters away at (-45.4, 3.0). A unknown object with ID 11 is 46.0 meters away at (37.9, -26.0). A vehicle with ID 7 is 59.9 meters away at (-59.7, 4.9). A vehicle with ID 14 is 63.2 meters away at (-62.9, 6.6).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.00427994  0.01860328] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.01444439 -0.0168076 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.582006  9.067195], 12.48458480834961 meters away.)"}
{"file_name": "images/scenario_797_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.1) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 27.1 meters away at (-22.7, 14.8). A unknown object with ID 10 is 28.8 meters away at (-24.8, 14.6). A pedestrian with ID 16 is 59.1 meters away at (-58.1, 10.8). A vehicle with ID 18 is 60.2 meters away at (-59.6, 8.9).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.08904712 0.07650621] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-22.672865  14.796851], 27.07407569885254 meters away.)"}
{"file_name": "images/scenario_797_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, 0.6) m/s. Its current heading (yaw) is 0.09 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 70.2 meters away at (69.5, 10.0). A pedestrian with ID 2 is 70.2 meters away at (69.6, 9.1). A pedestrian with ID 16 is 73.5 meters away at (-72.3, 13.5). A vehicle with ID 18 is 73.6 meters away at (-72.8, 11.0).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.2210726   0.15401584] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.2327405   0.16322601] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-1.0446914  0.3833217] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [69.484955  9.954337], 70.1943588256836 meters away.)"}
{"file_name": "images/scenario_798_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -5.7) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A cyclist with ID 84 is 11.2 meters away at (-1.3, 11.1). A vehicle with ID 93 is 12.7 meters away at (-12.3, -2.9). A vehicle with ID 8 is 15.9 meters away at (5.8, 14.8). A pedestrian with ID 86 is 18.7 meters away at (16.7, 8.5). A pedestrian with ID 85 is 19.9 meters away at (-5.1, 19.3). A pedestrian with ID 87 is 20.3 meters away at (-9.8, 17.8). A pedestrian with ID 88 is 24.4 meters away at (-6.1, 23.6). A pedestrian with ID 89 is 24.6 meters away at (-6.6, 23.7). A pedestrian with ID 90 is 24.9 meters away at (-6.0, 24.1). A pedestrian with ID 91 is 25.1 meters away at (-6.5, 24.2).", "velocity_description": "The cyclist with ID 84 is traveling at a (x, y) velocity of [0.01848618 0.01101193] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [1.2864704 4.150477 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.6319424 -6.5527673] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.6044501   0.19151467] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.1352574   0.27573532] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-1.0440018 -0.7329667] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [0.06247942 0.00892751] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.03117456 0.00734865] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.02587224 0.00695592] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.04338644 -0.00417635] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.0368648  25.63575   ]\n [ 6.257016   25.524618  ]\n [ 6.153951   25.856636  ]\n [-4.750927   14.299382  ]\n [-1.088956   12.93201   ]\n [-1.4346511  13.11211   ]\n [-0.87319016 12.793343  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-1.2746172 11.117593 ], 11.190421104431152 meters away.)"}
{"file_name": "images/scenario_798_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.3) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 101 is 10.3 meters away at (-10.2, -1.0). A unknown object with ID 68 is 13.2 meters away at (-13.0, -2.3). A unknown object with ID 58 is 13.8 meters away at (-13.4, -3.5). A vehicle with ID 8 is 14.8 meters away at (6.3, 13.4). A unknown object with ID 53 is 14.9 meters away at (-14.9, -0.7). A unknown object with ID 55 is 15.0 meters away at (-14.1, -5.0). A vehicle with ID 81 is 15.2 meters away at (-14.9, -2.9). A vehicle with ID 93 is 16.1 meters away at (-5.0, 15.3). A cyclist with ID 84 is 23.4 meters away at (4.1, 23.1). A vehicle with ID 106 is 24.4 meters away at (-15.9, -18.5).", "velocity_description": "The vehicle with ID 101 is traveling at a (x, y) velocity of [1.3201667 3.6184044] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.0495007 -6.8273854] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0.90610147 2.7810583 ] m/s.The cyclist with ID 84 is traveling at a (x, y) velocity of [0.01751086 0.00545188] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [1.602523  4.4731007] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.0368648  25.63575   ]\n [ 6.257016   25.524618  ]\n [ 6.153951   25.856636  ]\n [-4.750927   14.299382  ]\n [-1.088956   12.93201   ]\n [-1.4346511  13.11211   ]\n [-0.87319016 12.793343  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.249449   -1.0133305], 10.299419403076172 meters away.)"}
{"file_name": "images/scenario_798_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -6.2) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 106 is 7.9 meters away at (-7.4, 2.7). A unknown object with ID 55 is 11.4 meters away at (-8.5, 7.6). A pedestrian with ID 100 is 12.3 meters away at (0.5, -12.3). A vehicle with ID 81 is 13.5 meters away at (-9.3, 9.8). A vehicle with ID 8 is 13.6 meters away at (5.5, 12.4). A vehicle with ID 30 is 16.1 meters away at (-12.7, -9.9). A vehicle with ID 101 is 18.4 meters away at (-2.4, 18.2). A unknown object with ID 19 is 19.3 meters away at (-16.9, -9.4). A unknown object with ID 20 is 19.3 meters away at (-17.4, -8.5). A unknown object with ID 65 is 20.0 meters away at (-18.3, -8.2).", "velocity_description": "The vehicle with ID 106 is traveling at a (x, y) velocity of [1.3210617 3.9334722] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [ 0.00321983 -0.01206873] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.9916472 -6.7791376] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [1.522643  4.0631213] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [1.0151169 2.7677577] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-4.750927   14.299382  ]\n [-1.088956   12.93201   ]\n [-1.4346511  13.11211   ]\n [-0.87319016 12.793343  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.4042816  2.6846085], 7.875945091247559 meters away.)"}
{"file_name": "images/scenario_798_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.4) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A pedestrian with ID 100 is 5.5 meters away at (5.5, -0.6). A vehicle with ID 30 is 10.9 meters away at (-4.4, 10.0). A unknown object with ID 19 is 12.1 meters away at (-11.8, 2.3). A vehicle with ID 8 is 12.1 meters away at (4.9, 11.1). A unknown object with ID 20 is 12.7 meters away at (-12.3, 3.2). A unknown object with ID 15 is 13.6 meters away at (-13.3, -2.8). A unknown object with ID 65 is 13.7 meters away at (-13.2, 3.5). A unknown object with ID 40 is 13.9 meters away at (-13.6, 2.6). A unknown object with ID 76 is 14.1 meters away at (-14.0, 1.7). A unknown object with ID 11 is 14.5 meters away at (-13.9, -4.1).", "velocity_description": "The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.00654599 -0.02339764] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [1.6863439 3.834769 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.6160698 -5.959079 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-4.750927   14.299382  ]\n [-1.088956   12.93201   ]\n [-1.4346511  13.11211   ]\n [-0.87319016 12.793343  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 5.485465  -0.6367264], 5.5222954750061035 meters away.)"}
{"file_name": "images/scenario_799_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.4) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 4.5 meters away at (-4.4, -1.2). A vehicle with ID 11 is 9.1 meters away at (7.3, -5.4). A vehicle with ID 14 is 11.2 meters away at (-8.5, 7.2). A vehicle with ID 16 is 13.0 meters away at (1.2, 12.9). A pedestrian with ID 21 is 13.4 meters away at (9.9, 9.1). A pedestrian with ID 23 is 14.1 meters away at (10.2, 9.8). A vehicle with ID 17 is 14.4 meters away at (14.3, 1.8). A vehicle with ID 18 is 16.6 meters away at (-3.3, 16.3). A pedestrian with ID 20 is 16.9 meters away at (15.7, 6.3). A pedestrian with ID 22 is 17.2 meters away at (16.2, 5.8).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [ 3.5545485 -2.9752967] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 2.127375  -1.7350986] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.93189585  0.75233805] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.98655534  0.73405236] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00203787 0.00032379] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.00504213 -0.00781419] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.625334 -22.78525 ]\n [ 24.572815 -25.404   ]\n [ 30.880127 -30.3061  ]\n [ 36.012844 -22.014534]\n [ 38.59555  -19.98256 ]\n [ 30.885637 -31.342014]]", "nav_goal": "(226.71542358398438, -192.93882751464844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.3658805 -1.2414341], 4.538950443267822 meters away.)"}
{"file_name": "images/scenario_799_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 5.4 meters away at (0.6, -5.3). A vehicle with ID 14 is 8.2 meters away at (-6.2, 5.4). A vehicle with ID 11 is 8.7 meters away at (7.0, -5.2). A vehicle with ID 16 is 13.2 meters away at (1.0, 13.1). A pedestrian with ID 21 is 13.7 meters away at (8.1, 11.1). A vehicle with ID 17 is 14.2 meters away at (14.1, 2.0). A pedestrian with ID 23 is 14.4 meters away at (8.2, 11.8). A vehicle with ID 41 is 14.9 meters away at (14.7, -1.9). A pedestrian with ID 20 is 16.7 meters away at (15.5, 6.4). A vehicle with ID 18 is 16.9 meters away at (-3.6, 16.5).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.0032284 -1.6463538] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.4393527  -0.33052596] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.73045033  0.9333557 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8239431  1.0508438] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-2.4644551   0.84767294] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00408091  0.00384893] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.625334 -22.78525 ]\n [ 24.572815 -25.404   ]\n [ 36.012844 -22.014534]\n [ 38.59555  -19.98256 ]]", "nav_goal": "(226.71542358398438, -192.93882751464844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.5609386 -5.335247 ], 5.364654064178467 meters away.)"}
{"file_name": "images/scenario_799_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 8.0 meters away at (-6.0, 5.3). A vehicle with ID 12 is 8.7 meters away at (3.8, -7.9). A vehicle with ID 11 is 8.7 meters away at (7.0, -5.2). A vehicle with ID 41 is 8.8 meters away at (8.7, 1.6). A vehicle with ID 35 is 10.4 meters away at (-9.7, 3.7). A vehicle with ID 16 is 13.2 meters away at (1.0, 13.1). A vehicle with ID 17 is 14.2 meters away at (14.1, 2.0). A pedestrian with ID 21 is 14.6 meters away at (6.6, 13.0). A pedestrian with ID 23 is 15.4 meters away at (6.7, 13.9). A pedestrian with ID 20 is 16.7 meters away at (15.4, 6.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 1.0960948  -0.86276555] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-3.4475594  2.4444766] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 3.8048272 -3.1403778] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.75814575  0.87414336] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8367973  0.9329402] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.0098823  0.01505591] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.625334 -22.78525 ]\n [ 24.572815 -25.404   ]\n [ 36.012844 -22.014534]\n [ 38.59555  -19.98256 ]]", "nav_goal": "(226.71542358398438, -192.93882751464844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.0080576  5.2707043], 7.992313861846924 meters away.)"}
{"file_name": "images/scenario_799_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 4.0 meters away at (-3.9, -1.2). A vehicle with ID 41 is 7.9 meters away at (0.8, 7.9). A vehicle with ID 14 is 8.0 meters away at (-6.0, 5.3). A vehicle with ID 11 is 8.7 meters away at (7.0, -5.2). A vehicle with ID 12 is 10.0 meters away at (4.9, -8.7). A vehicle with ID 16 is 13.2 meters away at (0.9, 13.2). A vehicle with ID 17 is 14.2 meters away at (14.0, 2.1). A pedestrian with ID 21 is 15.6 meters away at (5.1, 14.7). A pedestrian with ID 23 is 16.4 meters away at (5.2, 15.6). A pedestrian with ID 20 is 16.7 meters away at (15.4, 6.5).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [ 2.1875336 -1.8305702] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-4.516943  3.617171] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.8785754  0.7935694] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8581992  0.7916626] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00255084  0.00096791] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.625334 -22.78525 ]\n [ 24.572815 -25.404   ]\n [ 36.012844 -22.014534]\n [ 38.59555  -19.98256 ]]", "nav_goal": "(226.71542358398438, -192.93882751464844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.8602629 -1.1574755], 4.030059337615967 meters away.)"}
{"file_name": "images/scenario_800_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -2.7) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 36 is 3.4 meters away at (-0.9, 3.3). A pedestrian with ID 37 is 3.9 meters away at (-0.3, 3.9). A pedestrian with ID 35 is 13.2 meters away at (-5.7, 11.8). A vehicle with ID 38 is 21.0 meters away at (-18.4, 10.2). A pedestrian with ID 49 is 24.5 meters away at (15.8, -18.7). A vehicle with ID 50 is 28.5 meters away at (-28.4, -2.5). A unknown object with ID 40 is 28.9 meters away at (-28.8, 2.5). A unknown object with ID 44 is 29.1 meters away at (-22.4, -18.5). A unknown object with ID 41 is 29.3 meters away at (-29.3, 1.4). A unknown object with ID 46 is 29.7 meters away at (-21.2, -20.8).", "velocity_description": "The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.98744804 -0.6212339 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.95621365 -0.5955478 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00115595 -0.00246077] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.7005171 4.2297177] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0619996  -0.29054916] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [2.7519004 6.0519958] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-0.8650379  3.3171806], 3.4281158447265625 meters away.)"}
{"file_name": "images/scenario_800_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, -2.9) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A pedestrian with ID 37 is 14.1 meters away at (-11.3, 8.4). A pedestrian with ID 36 is 14.1 meters away at (-11.8, 7.8). A pedestrian with ID 49 is 14.9 meters away at (4.7, -14.1). A unknown object with ID 58 is 22.6 meters away at (19.9, -10.7). A unknown object with ID 59 is 22.7 meters away at (19.5, -11.7). A pedestrian with ID 35 is 25.5 meters away at (-18.7, 17.4). A unknown object with ID 46 is 37.5 meters away at (-34.2, -15.3). A unknown object with ID 44 is 37.7 meters away at (-35.3, -13.1). A pedestrian with ID 68 is 38.0 meters away at (36.2, -11.7). A vehicle with ID 38 is 38.3 meters away at (-28.5, 25.5).", "velocity_description": "The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.1090149  -0.44439816] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.099173   -0.49313998] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0096995 -0.4073303] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.00931736 0.03439084] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-1.0049444   0.41016692] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [1.977517  5.3773513] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-11.298593   8.371042], 14.06174087524414 meters away.)"}
{"file_name": "images/scenario_800_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -3.5) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 58 is 5.8 meters away at (4.0, -4.2). A unknown object with ID 59 is 6.3 meters away at (3.6, -5.1). A pedestrian with ID 49 is 12.5 meters away at (-9.2, -8.5). A pedestrian with ID 68 is 18.9 meters away at (18.4, -4.4). A vehicle with ID 18 is 23.2 meters away at (17.8, -14.9). A pedestrian with ID 37 is 28.6 meters away at (-25.0, 13.9). A pedestrian with ID 36 is 28.7 meters away at (-25.5, 13.2). A pedestrian with ID 67 is 31.8 meters away at (14.7, -28.2). A pedestrian with ID 35 is 43.3 meters away at (-35.1, 25.3). A vehicle with ID 23 is 55.5 meters away at (49.8, -24.5).", "velocity_description": "The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0960935  -0.33777314] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.8476126  0.3912407] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-8.821763   4.1098123] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.1767349  -0.48607314] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.1614922  -0.48940757] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 1.2180631  -0.77597016] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.28280428  1.0258067 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 4.0055313 -4.178011 ], 5.787923336029053 meters away.)"}
{"file_name": "images/scenario_800_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.4) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 68 is 4.2 meters away at (0.1, 4.2). A unknown object with ID 58 is 12.9 meters away at (-12.4, 3.5). A unknown object with ID 59 is 13.0 meters away at (-12.7, 2.6). A vehicle with ID 18 is 17.3 meters away at (-17.3, 0.5). A pedestrian with ID 67 is 21.7 meters away at (0.6, -21.7). A pedestrian with ID 49 is 23.6 meters away at (-23.5, -1.6). A vehicle with ID 31 is 25.8 meters away at (18.3, -18.1). A vehicle with ID 23 is 37.1 meters away at (33.3, -16.5). A vehicle with ID 30 is 39.1 meters away at (31.2, -23.6). A pedestrian with ID 9 is 39.7 meters away at (28.1, -28.0).", "velocity_description": "The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.7604347   0.47793064] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-9.455393   3.4836853] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 1.2183809 -0.5947864] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.1598594 -0.5661829] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-9.135219  5.755904] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-11.257629    7.1982064] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-1.1567861  0.7291259] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [0.11398315 4.2355614 ], 4.237094879150391 meters away.)"}
{"file_name": "images/scenario_801_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -3.7) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 14.5 meters away at (2.4, 14.3). A vehicle with ID 80 is 14.7 meters away at (8.1, 12.3). A cyclist with ID 45 is 16.8 meters away at (-13.1, -10.6). A pedestrian with ID 88 is 17.1 meters away at (16.9, 2.4). A pedestrian with ID 85 is 19.2 meters away at (-4.6, -18.7). A pedestrian with ID 62 is 28.3 meters away at (-22.4, 17.3). A cyclist with ID 71 is 28.4 meters away at (-22.5, 17.4). A cyclist with ID 73 is 31.5 meters away at (-24.0, 20.4). A unknown object with ID 60 is 31.8 meters away at (-31.1, 6.8). A unknown object with ID 31 is 33.4 meters away at (31.9, -9.7).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [-9.975347   4.4752555] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.9067826 -0.6138306] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.01283761 0.00227767] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.00648932 -0.01468007] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [ 0.08442415 -0.09134351] m/s.The cyclist with ID 73 is traveling at a (x, y) velocity of [ 0.00932631 -0.03765991] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(185.68545532226562, 139.51710510253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.434454 14.285267], 14.491218566894531 meters away.)"}
{"file_name": "images/scenario_801_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -3.3) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A pedestrian with ID 88 is 8.5 meters away at (1.6, 8.3). A unknown object with ID 31 is 15.2 meters away at (15.0, -2.6). A unknown object with ID 41 is 16.4 meters away at (16.3, -2.1). A unknown object with ID 19 is 16.6 meters away at (16.3, -3.2). A unknown object with ID 55 is 16.8 meters away at (16.8, -1.1). A unknown object with ID 18 is 17.3 meters away at (17.0, -2.7). A unknown object with ID 68 is 17.4 meters away at (17.3, -1.5). A vehicle with ID 80 is 21.2 meters away at (-8.8, 19.3). A pedestrian with ID 85 is 24.5 meters away at (-21.5, -11.6). A vehicle with ID 77 is 25.7 meters away at (-14.5, 21.3).", "velocity_description": "The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.935666   -0.61061996] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.00843298 -0.00428013] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(185.68545532226562, 139.51710510253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [1.6417198 8.294331 ], 8.455245018005371 meters away.)"}
{"file_name": "images/scenario_801_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -2.8) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 2.8 meters away at (-0.1, 2.8). A unknown object with ID 18 is 3.4 meters away at (0.7, 3.3). A unknown object with ID 31 is 3.6 meters away at (-1.4, 3.4). A unknown object with ID 68 is 4.6 meters away at (0.9, 4.5). A unknown object with ID 55 is 5.1 meters away at (0.2, 5.1). A pedestrian with ID 88 is 18.8 meters away at (-13.0, 13.5). A unknown object with ID 16 is 20.6 meters away at (0.0, -20.6). A unknown object with ID 15 is 24.7 meters away at (7.5, -23.6). A unknown object with ID 13 is 27.0 meters away at (10.9, -24.7). A unknown object with ID 12 is 29.4 meters away at (13.6, -26.1).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 1.0559092 -0.3594852] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(185.68545532226562, 139.51710510253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.11991882  2.8169765 ], 2.8195278644561768 meters away.)"}
{"file_name": "images/scenario_801_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -2.8) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A cyclist with ID 48 is 14.4 meters away at (-1.1, -14.4). A vehicle with ID 49 is 17.2 meters away at (-6.7, -15.9). A unknown object with ID 18 is 17.4 meters away at (-14.9, 9.0). A unknown object with ID 68 is 17.7 meters away at (-14.6, 10.0). A unknown object with ID 19 is 17.7 meters away at (-15.6, 8.4). A unknown object with ID 55 is 18.7 meters away at (-15.3, 10.7). A unknown object with ID 31 is 19.2 meters away at (-16.9, 9.0). A unknown object with ID 15 is 19.6 meters away at (-8.0, -17.8). A unknown object with ID 13 is 19.7 meters away at (-4.6, -19.2). A unknown object with ID 59 is 20.1 meters away at (-11.8, -16.3).", "velocity_description": "The cyclist with ID 48 is traveling at a (x, y) velocity of [-10.497789    4.8548474] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-7.228298   3.0586593] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(185.68545532226562, 139.51710510253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ -1.1174164 -14.393759 ], 14.437067985534668 meters away.)"}
{"file_name": "images/scenario_802_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -3.3) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 9.9 meters away at (7.6, -6.4). A vehicle with ID 49 is 14.2 meters away at (0.8, 14.2). A vehicle with ID 59 is 15.6 meters away at (13.2, -8.4). A vehicle with ID 22 is 16.4 meters away at (-15.8, 4.3). A vehicle with ID 57 is 17.4 meters away at (17.4, -0.4). A vehicle with ID 51 is 19.9 meters away at (2.6, 19.7). A vehicle with ID 67 is 20.6 meters away at (18.0, -10.1). A vehicle with ID 56 is 20.9 meters away at (-17.2, -11.8). A vehicle with ID 62 is 22.3 meters away at (-10.7, -19.6). A vehicle with ID 52 is 25.2 meters away at (-4.6, 24.8).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 4.3717575 -1.5428168] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(89.81513214111328, 74.97814178466797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.6450186 -6.3654146], 9.948105812072754 meters away.)"}
{"file_name": "images/scenario_802_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -2.6) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 3.2 meters away at (-0.5, -3.2). A vehicle with ID 53 is 6.0 meters away at (-5.9, -1.2). A vehicle with ID 57 is 6.2 meters away at (3.7, 5.0). A vehicle with ID 67 is 6.5 meters away at (4.3, -4.8). A vehicle with ID 76 is 11.9 meters away at (9.9, -6.7). A unknown object with ID 43 is 13.7 meters away at (13.4, 2.8). A vehicle with ID 84 is 18.1 meters away at (15.9, -8.6). A vehicle with ID 30 is 20.1 meters away at (20.0, -0.6). A vehicle with ID 22 is 20.2 meters away at (-19.3, 6.0). A vehicle with ID 88 is 23.0 meters away at (20.7, -10.1).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 5.8117423 -1.9157408] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(89.81513214111328, 74.97814178466797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.45503235 -3.156086  ], 3.1887195110321045 meters away.)"}
{"file_name": "images/scenario_802_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.5, -2.9) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 84 is 3.1 meters away at (-0.8, -3.0). A vehicle with ID 88 is 5.9 meters away at (3.9, -4.5). A vehicle with ID 30 is 6.0 meters away at (3.3, 5.0). A vehicle with ID 76 is 6.6 meters away at (-6.5, -1.1). A unknown object with ID 43 is 9.2 meters away at (-3.5, 8.5). A vehicle with ID 67 is 12.5 meters away at (-12.5, 0.8). A vehicle with ID 31 is 15.3 meters away at (15.2, 1.2). A vehicle with ID 57 is 16.7 meters away at (-13.0, 10.5). A vehicle with ID 32 is 16.7 meters away at (14.6, -8.1). A vehicle with ID 59 is 17.4 meters away at (-17.3, 2.5).", "velocity_description": "The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(89.81513214111328, 74.97814178466797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.7774544 -3.0037556], 3.1027379035949707 meters away.)"}
{"file_name": "images/scenario_802_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -2.7) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 2.9 meters away at (-1.3, -2.6). A vehicle with ID 31 is 6.7 meters away at (-0.7, 6.7). A vehicle with ID 48 is 12.1 meters away at (10.2, -6.5). A vehicle with ID 88 is 12.1 meters away at (-12.1, 1.0). A vehicle with ID 30 is 16.5 meters away at (-12.7, 10.4). A vehicle with ID 84 is 17.2 meters away at (-17.0, 2.6). A vehicle with ID 18 is 21.7 meters away at (21.7, -1.0). A pedestrian with ID 17 is 22.8 meters away at (22.6, 3.0). A vehicle with ID 76 is 23.3 meters away at (-22.9, 4.5). A vehicle with ID 22 is 23.8 meters away at (-22.7, 7.3).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00346194 -0.00565055] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 8.65843   -2.9718065] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(89.81513214111328, 74.97814178466797)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.2894707 -2.6148758], 2.9155290126800537 meters away.)"}
{"file_name": "images/scenario_803_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.2) m/s. Its current heading (yaw) is 2.29 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 7.3 meters away at (-3.1, 6.6). A pedestrian with ID 4 is 8.2 meters away at (-3.3, 7.4). A pedestrian with ID 3 is 8.4 meters away at (-3.8, 7.4). A vehicle with ID 38 is 14.0 meters away at (2.2, -13.9). A unknown object with ID 40 is 20.5 meters away at (20.5, -0.3). A vehicle with ID 33 is 23.3 meters away at (-16.4, 16.5). A vehicle with ID 34 is 32.1 meters away at (-24.3, 21.0). A vehicle with ID 49 is 40.5 meters away at (33.4, -22.9). A unknown object with ID 20 is 46.1 meters away at (-28.4, 36.3). A pedestrian with ID 50 is 46.8 meters away at (-7.1, -46.3).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0774074  -0.16469719] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.9777429  -0.29569107] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9349477  -0.37026778] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.8885588 -0.761597 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-38.70257568359375, 27.065567016601562)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-3.0734262  6.5896645], 7.271150588989258 meters away.)"}
{"file_name": "images/scenario_803_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.29 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 7.3 meters away at (-5.0, 5.3). A pedestrian with ID 4 is 8.0 meters away at (-5.2, 6.1). A pedestrian with ID 3 is 8.1 meters away at (-5.8, 5.6). A unknown object with ID 28 is 12.6 meters away at (-7.8, 9.8). A vehicle with ID 38 is 13.9 meters away at (2.9, -13.6). A unknown object with ID 40 is 20.7 meters away at (20.7, -0.5). A vehicle with ID 33 is 23.0 meters away at (-16.3, 16.3). A vehicle with ID 34 is 31.8 meters away at (-24.1, 20.7). A vehicle with ID 49 is 40.8 meters away at (33.5, -23.2). A vehicle with ID 51 is 47.6 meters away at (38.7, -27.7).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.9979522 -0.8214591] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.0109854  -0.85174805] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9761184 -0.8438482] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [1.088599  0.7904866] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-38.70257568359375, 27.065567016601562)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-4.9868646  5.2923107], 7.2716827392578125 meters away.)"}
{"file_name": "images/scenario_803_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.29 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 7.7 meters away at (-6.8, 3.6). A pedestrian with ID 4 is 8.3 meters away at (-7.0, 4.4). A pedestrian with ID 3 is 8.7 meters away at (-7.7, 4.0). A vehicle with ID 38 is 14.4 meters away at (7.7, -12.2). A unknown object with ID 40 is 20.7 meters away at (20.7, -0.6). A vehicle with ID 33 is 23.0 meters away at (-16.2, 16.3). A vehicle with ID 34 is 31.7 meters away at (-24.0, 20.7). A vehicle with ID 49 is 40.8 meters away at (33.6, -23.2). A vehicle with ID 51 is 47.7 meters away at (38.8, -27.8). A vehicle with ID 58 is 48.7 meters away at (-27.8, -39.9).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.8097741 -0.9070326] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.85890794 -0.91954666] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9253753 -0.7711645] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 3.2113566  -0.46853653] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-38.70257568359375, 27.065567016601562)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-6.7590685  3.6376877], 7.6757917404174805 meters away.)"}
{"file_name": "images/scenario_803_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 1.1) m/s. Its current heading (yaw) is 2.38 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 7.3 meters away at (-7.2, 0.8). A pedestrian with ID 4 is 7.8 meters away at (-7.6, 1.6). A pedestrian with ID 3 is 8.1 meters away at (-8.1, 1.0). A unknown object with ID 30 is 16.7 meters away at (-16.7, 0.1). A vehicle with ID 33 is 21.7 meters away at (-15.3, 15.4). A unknown object with ID 40 is 21.8 meters away at (21.7, -1.7). A vehicle with ID 38 is 23.9 meters away at (15.8, -17.9). A vehicle with ID 34 is 30.3 meters away at (-23.0, 19.8). A vehicle with ID 49 is 42.1 meters away at (34.4, -24.2). A vehicle with ID 6 is 42.6 meters away at (32.4, -27.7).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.81158286 -0.95721424] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.81008965 -0.9840424 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.56788164 -1.1444108 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 4.222884  -3.7597811] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-4.6131763  4.022021 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-38.70257568359375, 27.065567016601562)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-7.2145357  0.754859 ], 7.253918647766113 meters away.)"}
{"file_name": "images/scenario_804_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 1.0) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 3.2 meters away at (1.9, 2.5). A vehicle with ID 19 is 5.2 meters away at (5.0, -1.6). A vehicle with ID 23 is 9.6 meters away at (-5.9, 7.6). A pedestrian with ID 21 is 14.0 meters away at (-1.7, 13.9). A pedestrian with ID 22 is 14.1 meters away at (-0.6, 14.1). A pedestrian with ID 32 is 15.5 meters away at (-5.5, 14.5). A vehicle with ID 30 is 16.0 meters away at (8.7, -13.5). A pedestrian with ID 33 is 16.3 meters away at (-5.7, 15.3). A pedestrian with ID 35 is 17.1 meters away at (-6.3, 15.9). A pedestrian with ID 39 is 19.2 meters away at (-3.6, -18.9).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.7817817  1.2483574] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.66071945  1.347654  ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.05330394  0.03297436] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-2.4489775  4.096219 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.03977334  0.01770752] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.01902311 -0.00361875] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.67886657 -1.024786  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-24.301682  33.215645]\n [-34.986774  18.959066]\n [-12.96238   21.486425]\n [-33.08352   16.457077]\n [-35.07154   22.845364]\n [-16.942139  18.427837]\n [-27.415894  31.555225]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.8963395 2.5298996], 3.1617236137390137 meters away.)"}
{"file_name": "images/scenario_804_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.2) m/s. Its current heading (yaw) is 2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 3.0 meters away at (2.5, 1.6). A vehicle with ID 19 is 6.2 meters away at (5.7, -2.6). A vehicle with ID 23 is 8.4 meters away at (-5.2, 6.6). A vehicle with ID 30 is 10.7 meters away at (6.0, -8.9). A vehicle with ID 37 is 12.9 meters away at (4.0, -12.3). A pedestrian with ID 32 is 14.3 meters away at (-4.8, 13.4). A pedestrian with ID 33 is 15.2 meters away at (-5.1, 14.3). A pedestrian with ID 22 is 16.0 meters away at (-0.9, 15.9). A pedestrian with ID 35 is 16.0 meters away at (-5.8, 14.9). A pedestrian with ID 21 is 16.2 meters away at (-1.9, 16.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.99723876  1.5797427 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.0029917  5.6105113] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.02240432 -0.1380216 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.02396974 -0.00053499] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.19267435  1.4789191 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.02061263 -0.01160213] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.23032409  1.5805095 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-24.301682  33.215645]\n [-34.986774  18.959066]\n [-12.96238   21.486425]\n [-33.08352   16.457077]\n [-35.07154   22.845364]\n [-16.942139  18.427837]\n [-27.415894  31.555225]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.5365987 1.6026993], 3.0004961490631104 meters away.)"}
{"file_name": "images/scenario_804_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 3.0 meters away at (2.6, 1.5). A vehicle with ID 37 is 4.0 meters away at (-3.1, -2.5). A vehicle with ID 19 is 6.3 meters away at (5.7, -2.7). A vehicle with ID 23 is 8.3 meters away at (-5.1, 6.5). A vehicle with ID 30 is 8.7 meters away at (4.9, -7.2). A pedestrian with ID 32 is 14.1 meters away at (-4.7, 13.3). A pedestrian with ID 33 is 15.0 meters away at (-5.0, 14.2). A pedestrian with ID 35 is 15.9 meters away at (-5.7, 14.8). A pedestrian with ID 22 is 18.6 meters away at (-0.2, 18.6). A pedestrian with ID 21 is 19.2 meters away at (-1.1, 19.2).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-2.9164915  4.0417023] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.00050319 -0.00070467] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01325523 -0.01176539] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00296194 -0.00230189] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.7399515 1.3114593] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.78473634 1.3938973 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-24.301682  33.215645]\n [-34.986774  18.959066]\n [-12.96238   21.486425]\n [-33.08352   16.457077]\n [-35.07154   22.845364]\n [-16.942139  18.427837]\n [-27.415894  31.555225]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.5990853 1.5229244], 3.0123982429504395 meters away.)"}
{"file_name": "images/scenario_804_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 3.0 meters away at (2.6, 1.5). A vehicle with ID 19 is 6.4 meters away at (5.8, -2.7). A vehicle with ID 37 is 8.0 meters away at (-7.3, 3.3). A vehicle with ID 23 is 8.3 meters away at (-5.1, 6.5). A vehicle with ID 30 is 8.5 meters away at (4.8, -7.1). A pedestrian with ID 32 is 14.0 meters away at (-4.7, 13.2). A pedestrian with ID 33 is 14.9 meters away at (-4.9, 14.0). A pedestrian with ID 35 is 15.8 meters away at (-5.7, 14.8). A vehicle with ID 48 is 18.0 meters away at (10.8, -14.4). A pedestrian with ID 22 is 21.0 meters away at (1.6, 20.9).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.0481402  1.4457222] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.08128367  0.14235516] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00587893 -0.02723033] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.0183532  0.00270435] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.9150607 1.2020441] m/s.", "light_description": "There are active red lights at the following coordinates: [[-24.301682  33.215645]\n [-34.986774  18.959066]\n [-12.96238   21.486425]\n [-33.08352   16.457077]\n [-35.07154   22.845364]\n [-16.942139  18.427837]\n [-27.415894  31.555225]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.607912  1.5120063], 3.014526128768921 meters away.)"}
{"file_name": "images/scenario_805_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.6) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.8 meters away at (5.1, -5.9). A vehicle with ID 33 is 7.9 meters away at (-2.1, 7.6). A vehicle with ID 31 is 16.9 meters away at (10.8, -13.1). A unknown object with ID 36 is 27.1 meters away at (-27.0, -2.4). A unknown object with ID 37 is 28.5 meters away at (-28.5, -1.4). A vehicle with ID 38 is 29.7 meters away at (-29.7, 0.8). A vehicle with ID 29 is 35.3 meters away at (-35.3, 0.8). A vehicle with ID 39 is 35.7 meters away at (-35.5, -3.8). A vehicle with ID 30 is 38.9 meters away at (-38.8, 2.3). A vehicle with ID 27 is 41.7 meters away at (-41.5, -4.1).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-7.2099276  8.384529 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-0.9640016  1.1578584] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.32383     6.5901685]\n [-25.561724    7.1009903]\n [ -7.072342    8.947769 ]\n [ -7.072342    8.947769 ]\n [-27.663137   13.65425  ]\n [-27.493416   13.522537 ]]", "nav_goal": "(-236.001953125, -147.07371520996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.0623517 -5.9387617], 7.803607940673828 meters away.)"}
{"file_name": "images/scenario_805_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.9) m/s. Its current heading (yaw) is 2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 10.2 meters away at (6.6, -7.8). A vehicle with ID 31 is 18.0 meters away at (11.4, -13.9). A vehicle with ID 23 is 20.8 meters away at (-15.8, 13.6). A unknown object with ID 36 is 25.8 meters away at (-25.4, -4.4). A vehicle with ID 38 is 26.9 meters away at (-26.9, -0.4). A vehicle with ID 33 is 27.9 meters away at (-15.8, 23.0). A vehicle with ID 29 is 33.5 meters away at (-33.4, -1.2). A vehicle with ID 39 is 34.4 meters away at (-33.9, -5.9). A vehicle with ID 30 is 37.4 meters away at (-37.4, 0.2). A vehicle with ID 27 is 40.3 meters away at (-39.9, -6.0).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 11.637543  -13.8853655] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [1.7587025 1.0214291] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-8.295079  9.176597] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.32383     6.5901685]\n [-25.561724    7.1009903]\n [ -7.072342    8.947769 ]\n [-27.663137   13.65425  ]\n [-27.493416   13.522537 ]]", "nav_goal": "(-236.001953125, -147.07371520996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.572516 -7.797036], 10.19763469696045 meters away.)"}
{"file_name": "images/scenario_805_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.6) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 13.8 meters away at (-13.4, -3.6). A vehicle with ID 11 is 15.5 meters away at (10.1, -11.7). A vehicle with ID 23 is 24.6 meters away at (13.0, -20.8). A vehicle with ID 31 is 25.0 meters away at (16.1, -19.1). A vehicle with ID 39 is 28.2 meters away at (-26.2, -10.3). A vehicle with ID 29 is 28.8 meters away at (-27.9, -7.3). A vehicle with ID 30 is 32.5 meters away at (-32.0, -5.9). A vehicle with ID 27 is 36.4 meters away at (-34.4, -12.0). A vehicle with ID 28 is 39.9 meters away at (-38.5, -10.6). A vehicle with ID 24 is 44.3 meters away at (-40.9, -17.1).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [5.6608033 0.5836441] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.143408  2.557626] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 11.599437 -14.259085] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.1216203  1.2446105] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [2.203154  1.6680733] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.32383     6.5901685]\n [-25.561724    7.1009903]\n [-27.663137   13.65425  ]\n [-27.493416   13.522537 ]]", "nav_goal": "(-236.001953125, -147.07371520996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-13.355461   -3.6387715], 13.842290878295898 meters away.)"}
{"file_name": "images/scenario_805_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 1.0) m/s. Its current heading (yaw) is 3.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 13.8 meters away at (-7.8, -11.4). A vehicle with ID 38 is 15.8 meters away at (9.9, -12.3). A unknown object with ID 20 is 18.0 meters away at (-8.1, -16.1). A vehicle with ID 11 is 18.3 meters away at (15.6, -9.6). A vehicle with ID 29 is 20.5 meters away at (-16.1, -12.8). A vehicle with ID 30 is 23.2 meters away at (-20.2, -11.5). A vehicle with ID 27 is 28.7 meters away at (-22.6, -17.6). A vehicle with ID 28 is 31.0 meters away at (-26.6, -16.0). A vehicle with ID 31 is 31.1 meters away at (23.9, -20.0). A vehicle with ID 24 is 36.9 meters away at (-29.2, -22.6).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [4.6064734 2.131908 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.862201 -3.830225] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-4.340406  4.661974] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-2.915501  3.357382] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.32383     6.5901685]\n [-25.561724    7.1009903]\n [-27.663137   13.65425  ]\n [-27.493416   13.522537 ]]", "nav_goal": "(-236.001953125, -147.07371520996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -7.8050404 -11.407367 ], 13.8219633102417 meters away.)"}
{"file_name": "images/scenario_806_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -1.1) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 12.7 meters away at (-11.6, -5.3). A unknown object with ID 16 is 14.6 meters away at (-13.4, -5.8). A unknown object with ID 17 is 16.3 meters away at (-15.3, -5.6). A unknown object with ID 18 is 36.9 meters away at (-36.0, 8.1). A unknown object with ID 7 is 43.6 meters away at (-40.8, 15.3). A unknown object with ID 20 is 47.3 meters away at (-44.1, 17.2). A unknown object with ID 23 is 75.1 meters away at (-56.9, 49.1).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.0150146484375, 117.23017120361328)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-11.585396  -5.323527], 12.749954223632812 meters away.)"}
{"file_name": "images/scenario_806_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -1.9) m/s. Its current heading (yaw) is -1.11 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 14.4 meters away at (-14.2, -2.6). A unknown object with ID 16 is 16.3 meters away at (-16.0, -3.1). A unknown object with ID 17 is 18.2 meters away at (-18.0, -2.9). A vehicle with ID 6 is 41.8 meters away at (-28.6, -30.5). A unknown object with ID 7 is 47.0 meters away at (-43.4, 17.8). A pedestrian with ID 10 is 59.2 meters away at (41.7, 42.0). A pedestrian with ID 4 is 59.2 meters away at (41.4, 42.3). A pedestrian with ID 3 is 62.9 meters away at (44.8, 44.2).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.0389981 0.8019747] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [1.0651811  0.77639675] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.0216645  0.78102845] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.0150146484375, 117.23017120361328)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-14.159033   -2.5654316], 14.389567375183105 meters away.)"}
{"file_name": "images/scenario_806_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -2.0) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 13.9 meters away at (2.8, 13.6). A unknown object with ID 13 is 14.2 meters away at (-14.1, 1.7). A unknown object with ID 16 is 16.0 meters away at (-15.9, 1.3). A unknown object with ID 17 is 17.9 meters away at (-17.9, 1.4). A vehicle with ID 6 is 38.7 meters away at (-28.5, -26.2). A vehicle with ID 8 is 53.7 meters away at (-48.7, 22.7). A vehicle with ID 11 is 60.1 meters away at (-43.7, -41.3). A pedestrian with ID 10 is 65.0 meters away at (43.9, 48.0). A pedestrian with ID 4 is 65.0 meters away at (43.5, 48.3). A pedestrian with ID 3 is 68.6 meters away at (46.7, 50.2).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.0068048 0.7205816] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [1.0582491  0.76298755] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.136725  0.7090287] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.0150146484375, 117.23017120361328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.763349  13.5825405], 13.860790252685547 meters away.)"}
{"file_name": "images/scenario_806_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 0.1) m/s. Its current heading (yaw) is 3.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 10.9 meters away at (-10.2, 3.9). A unknown object with ID 16 is 12.4 meters away at (-12.0, 3.5). A unknown object with ID 17 is 14.4 meters away at (-13.9, 3.6). A vehicle with ID 6 is 34.2 meters away at (-24.5, -23.8). A vehicle with ID 11 is 55.7 meters away at (-39.7, -39.1). A pedestrian with ID 4 is 71.9 meters away at (49.7, 52.0). A pedestrian with ID 10 is 72.0 meters away at (50.1, 51.6). A pedestrian with ID 3 is 75.5 meters away at (53.0, 53.8).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.96059453 0.6579429 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.9990199  0.64809763] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.1020753 0.650793 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.0150146484375, 117.23017120361328)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-10.152569    3.9223166], 10.88389778137207 meters away.)"}
{"file_name": "images/scenario_807_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 0.1) m/s. Its current heading (yaw) is 0.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 20.5 meters away at (1.7, 20.4). A vehicle with ID 65 is 26.9 meters away at (-12.6, 23.8). A unknown object with ID 64 is 27.0 meters away at (18.4, 19.8). A vehicle with ID 69 is 27.9 meters away at (-15.3, 23.4). A vehicle with ID 76 is 28.9 meters away at (28.7, 2.6). A unknown object with ID 77 is 30.5 meters away at (26.7, -14.8). A vehicle with ID 71 is 30.9 meters away at (-20.8, 22.8). A unknown object with ID 81 is 33.1 meters away at (28.9, -16.2). A unknown object with ID 78 is 33.8 meters away at (-30.1, -15.4). A vehicle with ID 79 is 33.8 meters away at (-25.5, -22.3).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(130.4912567138672, 86.4816665649414)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.6800488 20.382828 ], 20.451950073242188 meters away.)"}
{"file_name": "images/scenario_807_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 2.2) m/s. Its current heading (yaw) is 0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 19.4 meters away at (-4.6, 18.9). A unknown object with ID 27 is 21.5 meters away at (13.8, -16.4). A unknown object with ID 64 is 21.7 meters away at (12.0, 18.1). A vehicle with ID 76 is 22.1 meters away at (22.1, 0.9). A unknown object with ID 77 is 25.9 meters away at (20.0, -16.5). A unknown object with ID 81 is 28.5 meters away at (22.2, -17.9). A vehicle with ID 65 is 29.4 meters away at (-19.0, 22.4). A unknown object with ID 28 is 30.2 meters away at (14.2, -26.7). A vehicle with ID 69 is 30.9 meters away at (-21.7, 22.0). A unknown object with ID 84 is 30.9 meters away at (26.0, -16.7).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(130.4912567138672, 86.4816665649414)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.6132903 18.855295 ], 19.411455154418945 meters away.)"}
{"file_name": "images/scenario_807_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.4) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 9.0 meters away at (-8.9, 1.4). A unknown object with ID 64 is 12.9 meters away at (6.1, 11.4). A vehicle with ID 19 is 16.0 meters away at (-10.5, 12.1). A vehicle with ID 76 is 17.2 meters away at (16.2, -5.8). A unknown object with ID 27 is 24.4 meters away at (8.0, -23.1). A unknown object with ID 77 is 27.2 meters away at (14.1, -23.2). A vehicle with ID 65 is 29.5 meters away at (-25.0, 15.6). A unknown object with ID 81 is 29.5 meters away at (16.3, -24.6). A unknown object with ID 84 is 30.9 meters away at (20.2, -23.4). A vehicle with ID 69 is 31.6 meters away at (-27.7, 15.1).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(130.4912567138672, 86.4816665649414)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.874089   1.3614893], 8.977923393249512 meters away.)"}
{"file_name": "images/scenario_807_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 6.2) m/s. Its current heading (yaw) is 1.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 64 is 4.6 meters away at (4.5, 0.6). A vehicle with ID 19 is 12.1 meters away at (-12.0, 1.3). A vehicle with ID 76 is 22.1 meters away at (14.5, -16.6). A vehicle with ID 65 is 27.0 meters away at (-26.6, 4.8). A vehicle with ID 69 is 29.6 meters away at (-29.3, 4.4). A vehicle with ID 66 is 31.6 meters away at (-26.4, 17.4). A unknown object with ID 27 is 34.5 meters away at (6.5, -33.9). A vehicle with ID 71 is 35.0 meters away at (-34.8, 3.9). A unknown object with ID 77 is 36.3 meters away at (12.7, -34.0). A unknown object with ID 41 is 36.3 meters away at (8.8, -35.3).", "velocity_description": "The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(130.4912567138672, 86.4816665649414)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [4.520898  0.6303787], 4.564635276794434 meters away.)"}
{"file_name": "images/scenario_808_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -0.2) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A pedestrian with ID 39 is 17.7 meters away at (-14.4, 10.3). A vehicle with ID 41 is 20.8 meters away at (-20.7, -1.5). A unknown object with ID 15 is 44.1 meters away at (-39.9, 18.7). A unknown object with ID 6 is 44.1 meters away at (-38.1, 22.3). A unknown object with ID 4 is 44.6 meters away at (-39.5, 20.7). A unknown object with ID 8 is 44.6 meters away at (-37.3, 24.4). A unknown object with ID 2 is 45.2 meters away at (-42.0, 16.8). A pedestrian with ID 1 is 47.6 meters away at (-41.1, 24.0). A pedestrian with ID 42 is 49.4 meters away at (48.3, 10.4). A unknown object with ID 18 is 49.7 meters away at (-34.1, 36.1).", "velocity_description": "The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.19434951 0.96117353] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.50876105 -1.1605055 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.84814125 0.22956556] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-65.07242    -1.0663648]\n [-65.07264    -1.0626062]\n [-65.31671    -1.1868521]\n [-65.06893    -1.1322215]\n [-65.06668    -1.185514 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-14.396605  10.323704], 17.715559005737305 meters away.)"}
{"file_name": "images/scenario_808_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -0.1) m/s. Its current heading (yaw) is -3.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 14.3 meters away at (-14.2, -1.2). A pedestrian with ID 39 is 14.4 meters away at (-7.3, 12.4). A unknown object with ID 32 is 37.9 meters away at (-33.8, 17.2). A unknown object with ID 15 is 38.5 meters away at (-33.4, 19.1). A unknown object with ID 6 is 38.9 meters away at (-31.5, 22.7). A unknown object with ID 4 is 39.1 meters away at (-32.9, 21.1). A unknown object with ID 2 is 39.5 meters away at (-35.5, 17.2). A unknown object with ID 8 is 39.7 meters away at (-30.8, 25.0). A unknown object with ID 10 is 41.3 meters away at (-30.8, 27.4). A unknown object with ID 16 is 41.7 meters away at (-33.9, 24.3).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.19507416 0.692742  ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-65.07242    -1.0663648]\n [-65.07264    -1.0626062]\n [-65.31671    -1.1868521]\n [-65.06893    -1.1322215]\n [-33.827637   -2.1003134]\n [-65.06668    -1.185514 ]\n [-33.807297   -1.3812368]\n [-33.82634    -2.1290405]\n [-33.837437   -1.8158302]\n [-33.82634    -2.1290395]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-14.2303295  -1.1971328], 14.280594825744629 meters away.)"}
{"file_name": "images/scenario_808_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.1) m/s. Its current heading (yaw) is -3.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 11.1 meters away at (-11.1, -1.0). A pedestrian with ID 39 is 14.7 meters away at (-3.7, 14.2). A vehicle with ID 38 is 30.1 meters away at (30.1, 0.9). A unknown object with ID 32 is 35.3 meters away at (-30.8, 17.4). A unknown object with ID 15 is 35.8 meters away at (-30.2, 19.2). A unknown object with ID 6 is 36.5 meters away at (-28.4, 22.9). A unknown object with ID 4 is 36.6 meters away at (-29.8, 21.3). A unknown object with ID 2 is 36.7 meters away at (-32.4, 17.3). A unknown object with ID 8 is 37.4 meters away at (-27.7, 25.1). A pedestrian with ID 1 is 38.9 meters away at (-32.7, 21.0).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.1413829  0.85713124] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-7.4654818 -0.299825 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.168694   -0.88140315] m/s.", "light_description": "There are active red lights at the following coordinates: [[-65.07242    -1.0663648]\n [-65.07264    -1.0626062]\n [-65.31671    -1.1868521]\n [-65.06893    -1.1322215]\n [-33.827637   -2.1003134]\n [-65.06668    -1.185514 ]\n [-33.807297   -1.3812368]\n [-33.82634    -2.1290405]\n [-33.837437   -1.8158302]\n [-33.82634    -2.1290395]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.08567    -1.0266778], 11.133111000061035 meters away.)"}
{"file_name": "images/scenario_808_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 10.7 meters away at (-10.7, -1.0). A pedestrian with ID 39 is 16.2 meters away at (-3.3, 15.9). A vehicle with ID 38 is 17.7 meters away at (17.7, 0.4). A unknown object with ID 32 is 34.9 meters away at (-30.3, 17.3). A unknown object with ID 3 is 35.4 meters away at (-29.8, 19.1). A unknown object with ID 15 is 35.7 meters away at (-30.0, 19.3). A unknown object with ID 6 is 36.2 meters away at (-28.0, 22.9). A unknown object with ID 4 is 36.3 meters away at (-29.4, 21.3). A unknown object with ID 2 is 36.4 meters away at (-32.0, 17.3). A pedestrian with ID 1 is 36.8 meters away at (-31.2, 19.4).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.07055824  0.77218866] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.8750086  -0.22923934] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.50654775 -0.6892534 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-65.07242    -1.0663648]\n [-65.07264    -1.0626062]\n [-65.31671    -1.1868521]\n [-65.06893    -1.1322215]\n [-33.827637   -2.1003134]\n [-65.06668    -1.185514 ]\n [-33.807297   -1.3812368]\n [-33.82634    -2.1290405]\n [-33.837437   -1.8158302]\n [-33.82634    -2.1290395]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.6930485  -0.9913213], 10.738901138305664 meters away.)"}
{"file_name": "images/scenario_809_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.3) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 9.2 meters away at (-9.2, -0.0). A vehicle with ID 72 is 9.8 meters away at (-3.7, -9.1). A vehicle with ID 74 is 12.8 meters away at (-12.2, -3.9). A vehicle with ID 31 is 13.9 meters away at (-9.1, -10.5). A vehicle with ID 75 is 18.3 meters away at (-16.3, -8.4). A vehicle with ID 77 is 19.9 meters away at (17.0, 10.4). A vehicle with ID 30 is 26.3 meters away at (-17.3, -19.8). A vehicle with ID 83 is 27.6 meters away at (-7.9, 26.4). A vehicle with ID 79 is 28.5 meters away at (-15.8, -23.7). A vehicle with ID 80 is 29.2 meters away at (-23.5, -17.3).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [2.6182296 2.9088464] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 5.4283266  -0.17445579] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [3.0191972 3.593812 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-52.58764  -58.09071 ]\n [-52.935802 -57.925873]\n [-51.6075   -58.57097 ]\n [-54.07294  -56.926544]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-9.1647415  -0.02876711], 9.164786338806152 meters away.)"}
{"file_name": "images/scenario_809_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 9.8 meters away at (-6.3, -7.5). A vehicle with ID 73 is 10.3 meters away at (-10.2, -1.3). A vehicle with ID 72 is 11.3 meters away at (-4.7, -10.3). A pedestrian with ID 39 is 11.5 meters away at (10.6, -4.4). A vehicle with ID 74 is 14.2 meters away at (-13.3, -5.2). A pedestrian with ID 58 is 16.0 meters away at (15.8, -3.0). A vehicle with ID 75 is 19.9 meters away at (-17.3, -9.7). A vehicle with ID 30 is 20.9 meters away at (-13.8, -15.6). A vehicle with ID 83 is 26.7 meters away at (-9.0, 25.1). A vehicle with ID 65 is 29.2 meters away at (-21.9, 19.3).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [1.199717  1.2734776] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.9266513  -0.48252136] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.03887067 -0.00711784] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [1.7605513 2.00729  ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-52.58764  -58.09071 ]\n [-52.935802 -57.925873]\n [-51.6075   -58.57097 ]\n [-54.07294  -56.926544]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.3262672 -7.546948 ], 9.847744941711426 meters away.)"}
{"file_name": "images/scenario_809_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.6) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 12.1 meters away at (-7.6, -9.4). A pedestrian with ID 58 is 14.2 meters away at (12.0, -7.6). A vehicle with ID 73 is 15.1 meters away at (-14.0, -5.7). A vehicle with ID 72 is 17.1 meters away at (-8.5, -14.8). A vehicle with ID 74 is 19.5 meters away at (-17.0, -9.6). A vehicle with ID 30 is 23.0 meters away at (-15.1, -17.3). A vehicle with ID 83 is 24.3 meters away at (-12.8, 20.6). A vehicle with ID 75 is 25.5 meters away at (-21.1, -14.3). A pedestrian with ID 70 is 27.6 meters away at (23.4, 14.8). A vehicle with ID 76 is 28.5 meters away at (28.2, -3.9).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [1.8156174 1.9702313] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.02975874 0.00776129] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [1.0452254 1.172651 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.0024565  -0.00339849] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-7.639904 -9.357477], 12.080170631408691 meters away.)"}
{"file_name": "images/scenario_809_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.7) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A pedestrian with ID 70 is 16.3 meters away at (15.5, 5.3). A unknown object with ID 44 is 17.0 meters away at (3.4, 16.6). A vehicle with ID 31 is 17.1 meters away at (-10.5, -13.5). A vehicle with ID 83 is 23.5 meters away at (-20.7, 11.1). A vehicle with ID 76 is 24.4 meters away at (20.4, -13.3). A vehicle with ID 67 is 24.8 meters away at (10.4, 22.5). A vehicle with ID 73 is 26.7 meters away at (-21.9, -15.3). A vehicle with ID 85 is 29.1 meters away at (-26.0, 13.0). A vehicle with ID 72 is 29.3 meters away at (-16.3, -24.3). A vehicle with ID 30 is 30.2 meters away at (-19.7, -22.9).", "velocity_description": "The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.00465894 0.01184209] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [2.4257133 2.5650609] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [2.5089402 2.8113618] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [15.46748   5.251829], 16.334768295288086 meters away.)"}
{"file_name": "images/scenario_810_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -1.8) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 40.4 meters away at (23.5, -32.9). A vehicle with ID 15 is 41.1 meters away at (40.5, -7.2). A vehicle with ID 6 is 60.4 meters away at (57.4, 18.8).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.9619555 -7.0627933] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 49.216072 -23.739029]\n [ 45.896255 -21.726227]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 23.518478 -32.85632 ], 40.40614318847656 meters away.)"}
{"file_name": "images/scenario_810_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -0.6) m/s. Its current heading (yaw) is -0.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 31.5 meters away at (31.2, -4.6). A vehicle with ID 6 is 43.3 meters away at (42.7, 7.7).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.053744  -6.1912513] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 49.216072 -23.739029]\n [ 45.896255 -21.726227]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [31.157753  -4.5838246], 31.493125915527344 meters away.)"}
{"file_name": "images/scenario_810_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 0.8) m/s. Its current heading (yaw) is 0.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 23.4 meters away at (22.8, -5.0). A vehicle with ID 6 is 32.2 meters away at (32.0, -3.9). A vehicle with ID 4 is 53.4 meters away at (42.7, 32.0).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.39219713 -5.579067  ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.6216218 -7.0674024] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 49.216072 -23.739029]\n [ 45.896255 -21.726227]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [22.823944 -4.984746], 23.3619384765625 meters away.)"}
{"file_name": "images/scenario_810_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.4) m/s. Its current heading (yaw) is 0.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 17.6 meters away at (16.1, -7.1). A vehicle with ID 4 is 34.0 meters away at (29.6, 16.8).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.926826 -6.256062] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 49.216072 -23.739029]\n [ 45.896255 -21.726227]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [16.132397  -7.0766788], 17.616287231445312 meters away.)"}
{"file_name": "images/scenario_811_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -3.5) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 3.7 meters away at (-2.5, 2.7). A vehicle with ID 68 is 8.0 meters away at (-0.9, 7.9). A vehicle with ID 67 is 13.1 meters away at (1.0, 13.1). A vehicle with ID 69 is 16.9 meters away at (9.9, 13.7). A vehicle with ID 71 is 17.9 meters away at (2.6, 17.7). A vehicle with ID 73 is 18.7 meters away at (12.7, 13.8). A vehicle with ID 70 is 19.1 meters away at (7.3, -17.7). A vehicle with ID 20 is 29.2 meters away at (-26.7, -12.0). A vehicle with ID 91 is 29.8 meters away at (-13.2, -26.7). A pedestrian with ID 86 is 32.7 meters away at (1.8, 32.6).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.14563952 -0.74706686] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.15839638 -1.1112155 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-145.95811462402344, 133.80758666992188)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.480025   2.6814098], 3.6524624824523926 meters away.)"}
{"file_name": "images/scenario_811_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 5.7 meters away at (-1.4, 5.5). A vehicle with ID 68 is 10.9 meters away at (0.3, 10.9). A vehicle with ID 67 is 16.3 meters away at (2.2, 16.1). A vehicle with ID 70 is 17.0 meters away at (8.4, -14.8). A vehicle with ID 69 is 20.0 meters away at (11.0, 16.7). A vehicle with ID 71 is 21.0 meters away at (3.8, 20.6). A vehicle with ID 73 is 21.9 meters away at (13.8, 16.9). A vehicle with ID 21 is 22.1 meters away at (-22.1, -1.0). A vehicle with ID 91 is 26.7 meters away at (-12.1, -23.8). A vehicle with ID 20 is 27.1 meters away at (-25.6, -9.0).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-145.95811462402344, 133.80758666992188)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.3943272  5.501205 ], 5.675157070159912 meters away.)"}
{"file_name": "images/scenario_811_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.4) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 7.8 meters away at (-0.3, 7.8). A unknown object with ID 48 is 11.0 meters away at (-7.3, 8.2). A vehicle with ID 68 is 13.2 meters away at (1.3, 13.1). A vehicle with ID 70 is 15.7 meters away at (9.7, -12.3). A vehicle with ID 67 is 18.8 meters away at (3.3, 18.5). A unknown object with ID 41 is 20.9 meters away at (0.0, -20.9). A vehicle with ID 21 is 21.0 meters away at (-21.0, 1.3). A vehicle with ID 69 is 22.5 meters away at (12.0, 19.0). A vehicle with ID 71 is 23.3 meters away at (4.8, 22.9). A vehicle with ID 91 is 24.1 meters away at (-10.8, -21.5).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-145.95811462402344, 133.80758666992188)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.30878782  7.8333306 ], 7.839414119720459 meters away.)"}
{"file_name": "images/scenario_811_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -1.0) m/s. Its current heading (yaw) is -2.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 13.7 meters away at (6.0, 12.3). A vehicle with ID 21 is 15.7 meters away at (-14.7, 5.6). A unknown object with ID 41 is 17.6 meters away at (6.4, -16.4). A vehicle with ID 91 is 17.7 meters away at (-4.6, -17.2). A vehicle with ID 70 is 17.8 meters away at (15.9, -8.0). A vehicle with ID 20 is 18.2 meters away at (-18.0, -2.5). A vehicle with ID 68 is 19.2 meters away at (7.6, 17.6). A vehicle with ID 17 is 23.3 meters away at (-23.3, -0.6). A vehicle with ID 67 is 25.0 meters away at (9.6, 23.1). A vehicle with ID 93 is 26.8 meters away at (-7.4, -25.7).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-145.95811462402344, 133.80758666992188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.980064  12.2952795], 13.672420501708984 meters away.)"}
{"file_name": "images/scenario_812_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -0.9) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 9.3 meters away at (5.4, -7.6). A vehicle with ID 32 is 9.4 meters away at (7.8, -5.2). A vehicle with ID 33 is 13.2 meters away at (-13.1, 1.7). A pedestrian with ID 40 is 15.6 meters away at (2.6, -15.4). A vehicle with ID 39 is 18.0 meters away at (1.0, 18.0). A vehicle with ID 38 is 19.0 meters away at (-18.3, 5.0). A pedestrian with ID 44 is 23.4 meters away at (5.7, -22.6). A vehicle with ID 47 is 24.2 meters away at (23.9, -3.8). A pedestrian with ID 46 is 24.2 meters away at (6.7, -23.3). A pedestrian with ID 53 is 25.2 meters away at (23.9, 8.0).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.1987664 -0.680066 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.00488798  0.01831352] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.02612631  0.00415126] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.641912   -0.30596438] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.354137  35.513912]\n [-37.68686   34.857353]\n [-35.274902  37.722404]]", "nav_goal": "(75.80847930908203, 76.11166381835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.371492  -7.5577025], 9.27209758758545 meters away.)"}
{"file_name": "images/scenario_812_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 8.4 meters away at (4.6, -7.0). A vehicle with ID 32 is 8.5 meters away at (7.1, -4.7). A vehicle with ID 33 is 14.0 meters away at (-13.8, 2.3). A pedestrian with ID 40 is 16.7 meters away at (4.1, -16.2). A vehicle with ID 39 is 18.5 meters away at (0.3, 18.5). A vehicle with ID 38 is 19.9 meters away at (-19.1, 5.6). A pedestrian with ID 44 is 22.7 meters away at (4.9, -22.2). A vehicle with ID 47 is 23.4 meters away at (23.1, -3.2). A pedestrian with ID 46 is 23.5 meters away at (6.0, -22.7). A pedestrian with ID 53 is 24.4 meters away at (22.9, 8.6).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.0593542  -0.70878625] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.04670835 -0.01152391] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.00384936 0.00762551] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.00489468  0.00337948] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.354137  35.513912]\n [-37.68686   34.857353]\n [-35.274902  37.722404]]", "nav_goal": "(75.80847930908203, 76.11166381835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.586151 -7.000099], 8.36864185333252 meters away.)"}
{"file_name": "images/scenario_812_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 8.2 meters away at (4.5, -6.9). A vehicle with ID 32 is 8.4 meters away at (7.0, -4.6). A vehicle with ID 33 is 14.2 meters away at (-14.0, 2.4). A pedestrian with ID 40 is 18.5 meters away at (6.1, -17.4). A vehicle with ID 39 is 18.6 meters away at (0.2, 18.6). A vehicle with ID 38 is 20.0 meters away at (-19.2, 5.7). A pedestrian with ID 44 is 22.7 meters away at (4.8, -22.1). A vehicle with ID 47 is 23.2 meters away at (23.0, -3.1). A pedestrian with ID 46 is 23.4 meters away at (5.8, -22.7). A pedestrian with ID 53 is 24.3 meters away at (22.7, 8.7).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.9829867 -0.3692406] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.01094582 -0.00039186] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.0089768  -0.01524848] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.9975265e-02  1.9382798e-05] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.354137  35.513912]\n [-37.68686   34.857353]\n [-35.274902  37.722404]]", "nav_goal": "(75.80847930908203, 76.11166381835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.467013 -6.911334], 8.22926139831543 meters away.)"}
{"file_name": "images/scenario_812_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 8.2 meters away at (4.5, -6.9). A vehicle with ID 32 is 8.3 meters away at (6.9, -4.6). A vehicle with ID 33 is 14.2 meters away at (-14.0, 2.4). A vehicle with ID 39 is 18.6 meters away at (0.2, 18.6). A pedestrian with ID 40 is 18.8 meters away at (6.4, -17.6). A vehicle with ID 38 is 20.0 meters away at (-19.2, 5.7). A pedestrian with ID 44 is 22.6 meters away at (4.8, -22.1). A vehicle with ID 47 is 23.1 meters away at (22.9, -3.1). A pedestrian with ID 46 is 23.3 meters away at (5.8, -22.6). A pedestrian with ID 53 is 23.6 meters away at (22.0, 8.7).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00038877  0.00342251] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.00141739 0.00021702] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.00079292 0.00206302] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.42213914 -0.00421319] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.354137  35.513912]\n [-37.68686   34.857353]\n [-35.274902  37.722404]]", "nav_goal": "(75.80847930908203, 76.11166381835938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.4650164 -6.8908596], 8.21098804473877 meters away.)"}
{"file_name": "images/scenario_813_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.7, -9.1) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 9.2 meters away at (-4.9, -7.8). A unknown object with ID 16 is 24.3 meters away at (-22.4, -9.5). A vehicle with ID 20 is 27.8 meters away at (24.1, 14.0). A vehicle with ID 15 is 41.6 meters away at (-31.4, -27.3). A vehicle with ID 18 is 61.3 meters away at (-47.1, -39.2).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [10.162526   7.5862775] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [10.414511  7.798986] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.560669 7.091998] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [8.9648075 6.662872 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-228.28912353515625, -192.77992248535156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.910982  -7.7648525], 9.187528610229492 meters away.)"}
{"file_name": "images/scenario_813_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.6, -9.0) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 9.1 meters away at (-5.2, -7.5). A vehicle with ID 15 is 12.8 meters away at (11.7, 5.1). A vehicle with ID 21 is 47.6 meters away at (39.8, 26.0).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [9.528674  7.1053376] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.852404  7.2924466] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [11.041788  8.163543] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-228.28912353515625, -192.77992248535156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.238762  -7.4984665], 9.14721965789795 meters away.)"}
{"file_name": "images/scenario_813_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.2, -8.7) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 31.4 meters away at (20.7, 23.7). A vehicle with ID 18 is 44.8 meters away at (37.2, 24.8). A vehicle with ID 15 is 65.5 meters away at (53.9, 37.3).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [10.280049   7.5696282] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.852583 7.240505] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-228.28912353515625, -192.77992248535156)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [20.654785 23.699392], 31.43694305419922 meters away.)"}
{"file_name": "images/scenario_813_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.0, -8.4) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 27.8 meters away at (-20.1, -19.2). A vehicle with ID 12 is 59.5 meters away at (-45.3, -38.5).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [11.152282  8.195741] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [11.018877  8.168961] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-228.28912353515625, -192.77992248535156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-20.084564 -19.23024 ], 27.80632781982422 meters away.)"}
{"file_name": "images/scenario_814_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.3) m/s. Its current heading (yaw) is 2.93 ", "actor_description": " The most relevant actors are: A unknown object with ID 62 is 12.9 meters away at (4.4, 12.1). A unknown object with ID 61 is 12.9 meters away at (6.3, 11.3). A unknown object with ID 57 is 13.1 meters away at (3.2, 12.7). A unknown object with ID 58 is 13.2 meters away at (2.8, 12.9). A unknown object with ID 60 is 14.3 meters away at (1.7, 14.2). A unknown object with ID 67 is 14.3 meters away at (1.7, 14.2). A unknown object with ID 65 is 14.3 meters away at (8.4, 11.6). A unknown object with ID 59 is 15.4 meters away at (7.1, 13.7). A unknown object with ID 73 is 16.1 meters away at (0.6, 16.1). A unknown object with ID 75 is 18.1 meters away at (-0.2, 18.1).", "velocity_description": "The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 4.4118004 12.101353 ], 12.880477905273438 meters away.)"}
{"file_name": "images/scenario_814_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 11.9 meters away at (11.9, -1.2). A unknown object with ID 62 is 13.0 meters away at (5.3, 11.9). A unknown object with ID 57 is 13.2 meters away at (4.2, 12.5). A unknown object with ID 61 is 13.2 meters away at (7.2, 11.1). A unknown object with ID 58 is 13.3 meters away at (3.7, 12.8). A unknown object with ID 67 is 14.3 meters away at (2.6, 14.1). A unknown object with ID 65 is 14.8 meters away at (9.3, 11.5). A unknown object with ID 59 is 15.5 meters away at (7.9, 13.4). A unknown object with ID 73 is 16.0 meters away at (1.5, 15.9). A unknown object with ID 75 is 17.8 meters away at (0.8, 17.8).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [-5.5899706  2.3934436] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.858957  -1.2247373], 11.922032356262207 meters away.)"}
{"file_name": "images/scenario_814_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.2) m/s. Its current heading (yaw) is 3.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 4.9 meters away at (4.3, 2.3). A unknown object with ID 57 is 13.6 meters away at (5.8, 12.3). A unknown object with ID 62 is 13.6 meters away at (7.0, 11.6). A unknown object with ID 58 is 13.6 meters away at (5.4, 12.5). A unknown object with ID 61 is 14.0 meters away at (8.9, 10.8). A unknown object with ID 67 is 14.4 meters away at (4.3, 13.7). A unknown object with ID 65 is 15.7 meters away at (11.1, 11.1). A unknown object with ID 73 is 16.0 meters away at (3.3, 15.6). A unknown object with ID 59 is 16.4 meters away at (9.7, 13.2). A unknown object with ID 52 is 17.1 meters away at (-11.1, -13.0).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [-3.3051653  1.3782988] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.2516837 2.3484025], 4.857140064239502 meters away.)"}
{"file_name": "images/scenario_814_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.1) m/s. Its current heading (yaw) is 3.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 4.6 meters away at (2.6, 3.8). A vehicle with ID 83 is 14.5 meters away at (-14.5, -1.0). A unknown object with ID 58 is 14.6 meters away at (7.9, 12.3). A unknown object with ID 57 is 14.6 meters away at (8.2, 12.1). A unknown object with ID 62 is 14.8 meters away at (9.3, 11.5). A unknown object with ID 67 is 15.1 meters away at (6.6, 13.6). A unknown object with ID 61 is 15.6 meters away at (11.3, 10.7). A unknown object with ID 52 is 15.8 meters away at (-8.7, -13.1). A unknown object with ID 21 is 16.5 meters away at (-10.1, -13.1). A unknown object with ID 73 is 16.5 meters away at (5.6, 15.5).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [-0.51998365  0.20680533] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [3.6404903 7.788767 ] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.607726  3.7793741], 4.591721057891846 meters away.)"}
{"file_name": "images/scenario_815_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 7.4) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 10.5 meters away at (-5.2, 9.1). A unknown object with ID 25 is 11.7 meters away at (-4.0, 11.0). A cyclist with ID 2 is 17.2 meters away at (-3.4, -16.9). A unknown object with ID 22 is 22.8 meters away at (-11.3, -19.8). A unknown object with ID 11 is 23.1 meters away at (-8.2, -21.7). A unknown object with ID 23 is 31.1 meters away at (-12.5, -28.4). A unknown object with ID 14 is 38.7 meters away at (-0.4, -38.7).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [1.332239  7.5816355] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-42.457366943359375, 253.13816833496094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-5.174632  9.104547], 10.47232437133789 meters away.)"}
{"file_name": "images/scenario_815_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 7.9) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 9.8 meters away at (-8.9, -4.3). A unknown object with ID 24 is 11.8 meters away at (-10.0, -6.2). A pedestrian with ID 21 is 14.0 meters away at (-12.1, 7.1). A cyclist with ID 2 is 17.5 meters away at (-4.9, -16.7). A unknown object with ID 23 is 47.1 meters away at (-17.3, -43.8).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00367167  0.01125633] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [1.8733536 7.4672956] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-42.457366943359375, 253.13816833496094)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-8.8522415 -4.3045425], 9.84333610534668 meters away.)"}
{"file_name": "images/scenario_815_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 7.7) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A cyclist with ID 2 is 18.4 meters away at (-5.9, -17.4). A pedestrian with ID 21 is 19.5 meters away at (-17.6, -8.5). A unknown object with ID 25 is 24.6 meters away at (-14.4, -20.0). A unknown object with ID 24 is 26.8 meters away at (-15.5, -21.9). A unknown object with ID 23 is 63.7 meters away at (-22.9, -59.5).", "velocity_description": "The cyclist with ID 2 is traveling at a (x, y) velocity of [2.6407878 7.7118087] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.02614564 0.02354676] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-42.457366943359375, 253.13816833496094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ -5.929873 -17.413008], 18.39500617980957 meters away.)"}
{"file_name": "images/scenario_815_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 7.5) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A cyclist with ID 2 is 18.1 meters away at (-6.5, -16.9). A pedestrian with ID 21 is 33.2 meters away at (-23.5, -23.5). A unknown object with ID 25 is 40.4 meters away at (-20.3, -35.0). A unknown object with ID 24 is 42.7 meters away at (-21.5, -36.9). A unknown object with ID 23 is 79.9 meters away at (-28.9, -74.4).", "velocity_description": "The cyclist with ID 2 is traveling at a (x, y) velocity of [2.7204626 7.6690383] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00799452  0.0110408 ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-42.457366943359375, 253.13816833496094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ -6.4683313 -16.943554 ], 18.13624382019043 meters away.)"}
{"file_name": "images/scenario_816_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.5) m/s. Its current heading (yaw) is 2.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.5 meters away at (1.4, 4.3). A vehicle with ID 17 is 6.8 meters away at (6.8, -0.4). A vehicle with ID 18 is 7.6 meters away at (5.6, -5.1). A vehicle with ID 20 is 8.6 meters away at (-6.4, 5.7). A vehicle with ID 21 is 9.3 meters away at (-3.7, 8.5). A vehicle with ID 24 is 10.8 meters away at (-10.8, 0.1). A pedestrian with ID 22 is 14.2 meters away at (14.1, -1.7). A pedestrian with ID 23 is 14.9 meters away at (14.8, -1.4). A pedestrian with ID 19 is 15.0 meters away at (15.0, -0.6). A vehicle with ID 27 is 15.7 meters away at (-12.1, 10.1).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.9835547   0.86944044] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.285009 -5.286527] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8367538  0.6976257] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.87434006  0.72741854] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.852991   0.6773318] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.694422  18.35833 ]\n [-19.111715  20.390305]]", "nav_goal": "(36.47364044189453, 224.90504455566406)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.422184 4.250687], 4.482292652130127 meters away.)"}
{"file_name": "images/scenario_816_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (1.7, 4.1). A vehicle with ID 18 is 6.6 meters away at (4.8, -4.5). A vehicle with ID 17 is 7.1 meters away at (7.1, -0.6). A vehicle with ID 20 is 8.2 meters away at (-6.1, 5.5). A vehicle with ID 21 is 9.0 meters away at (-3.4, 8.3). A pedestrian with ID 22 is 12.8 meters away at (12.7, -0.3). A vehicle with ID 24 is 13.2 meters away at (4.0, -12.5). A pedestrian with ID 23 is 13.4 meters away at (13.4, -0.1). A pedestrian with ID 19 is 13.7 meters away at (13.7, 0.5). A vehicle with ID 27 is 15.3 meters away at (-11.7, 9.9).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8544555   0.67951906] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 8.042327  -6.8517213] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8348776  0.6793808] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.8053284  0.6829947] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.694422  18.35833 ]\n [-19.111715  20.390305]]", "nav_goal": "(36.47364044189453, 224.90504455566406)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.6823173 4.059206 ], 4.394012451171875 meters away.)"}
{"file_name": "images/scenario_816_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (1.7, 4.0). A vehicle with ID 18 is 6.6 meters away at (4.8, -4.5). A vehicle with ID 17 is 7.1 meters away at (7.1, -0.6). A vehicle with ID 20 is 8.2 meters away at (-6.1, 5.5). A vehicle with ID 21 is 8.9 meters away at (-3.4, 8.3). A pedestrian with ID 22 is 11.0 meters away at (11.0, 1.0). A pedestrian with ID 23 is 11.9 meters away at (11.8, 1.3). A pedestrian with ID 19 is 12.2 meters away at (12.1, 1.9). A vehicle with ID 27 is 15.3 meters away at (-11.8, 9.9). A vehicle with ID 37 is 19.7 meters away at (15.0, -12.7).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.81001836  0.70696294] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.7797733  0.7232557] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.80208546  0.7537125 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-0.5266488   0.43477315] m/s.", "light_description": "There are active red lights at the following coordinates: [[-31.081932   17.587612 ]\n [-33.13445    14.9688635]\n [-21.694422   18.35833  ]\n [-19.111715   20.390305 ]]", "nav_goal": "(36.47364044189453, 224.90504455566406)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.6918191 4.0406294], 4.380517959594727 meters away.)"}
{"file_name": "images/scenario_816_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (1.7, 4.0). A vehicle with ID 18 is 6.6 meters away at (4.8, -4.5). A vehicle with ID 17 is 7.1 meters away at (7.1, -0.6). A vehicle with ID 20 is 8.2 meters away at (-6.1, 5.5). A vehicle with ID 21 is 8.9 meters away at (-3.3, 8.3). A pedestrian with ID 22 is 9.5 meters away at (9.2, 2.5). A pedestrian with ID 23 is 10.5 meters away at (10.1, 2.7). A pedestrian with ID 19 is 11.1 meters away at (10.6, 3.3). A vehicle with ID 27 is 15.3 meters away at (-11.7, 9.9). A vehicle with ID 37 is 19.4 meters away at (14.8, -12.5).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.82923716  0.72548026] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.818941   0.6719571] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.79138947  0.67260724] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-31.081932   17.587612 ]\n [-33.13445    14.9688635]\n [-21.694422   18.35833  ]\n [-19.111715   20.390305 ]]", "nav_goal": "(36.47364044189453, 224.90504455566406)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.7071046 4.0282598], 4.375052452087402 meters away.)"}
{"file_name": "images/scenario_817_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 3.2) m/s. Its current heading (yaw) is 2.68 ", "actor_description": " The most relevant actors are: A unknown object with ID 52 is 7.9 meters away at (-2.1, 7.6). A vehicle with ID 56 is 26.3 meters away at (-11.3, 23.8). A unknown object with ID 50 is 26.9 meters away at (25.4, -9.0). A vehicle with ID 49 is 27.1 meters away at (-27.1, -0.4). A vehicle with ID 57 is 29.8 meters away at (-6.1, 29.2). A vehicle with ID 27 is 33.0 meters away at (-32.3, -6.9). A vehicle with ID 59 is 34.7 meters away at (-1.7, 34.6). A vehicle with ID 53 is 46.2 meters away at (46.2, 1.3). A vehicle with ID 47 is 46.6 meters away at (-41.5, 21.2). A vehicle with ID 54 is 47.8 meters away at (46.8, 9.8).", "velocity_description": "The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.053165  16.17927 ]\n [-36.656715  12.348465]\n [-43.789375  13.200951]\n [-29.693527  22.046825]\n [-34.793312  11.447088]\n [-40.123955  16.081686]\n [-41.440006  14.44808 ]\n [-30.016512  22.260841]\n [-40.301216  15.555984]]", "nav_goal": "(-54.63939666748047, 189.40921020507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.1183987  7.6396494], 7.927916049957275 meters away.)"}
{"file_name": "images/scenario_817_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.2) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 52 is 9.8 meters away at (9.8, -0.4). A vehicle with ID 56 is 15.8 meters away at (0.7, 15.8). A vehicle with ID 49 is 17.3 meters away at (-15.2, -8.3). A vehicle with ID 57 is 22.0 meters away at (5.9, 21.2). A vehicle with ID 27 is 25.2 meters away at (-20.4, -14.9). A vehicle with ID 59 is 28.5 meters away at (10.4, 26.6). A unknown object with ID 45 is 31.6 meters away at (-21.7, 23.0). A vehicle with ID 47 is 32.4 meters away at (-29.5, 13.3). A vehicle with ID 35 is 32.7 meters away at (-25.2, -20.7). A vehicle with ID 48 is 38.1 meters away at (-34.0, 17.2).", "velocity_description": "The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.053165  16.17927 ]\n [-36.656715  12.348465]\n [-43.789375  13.200951]\n [-29.693527  22.046825]\n [-34.793312  11.447088]\n [-40.123955  16.081686]\n [-41.440006  14.44808 ]\n [-30.016512  22.260841]\n [-40.301216  15.555984]]", "nav_goal": "(-54.63939666748047, 189.40921020507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 9.81847   -0.3712368], 9.825485229492188 meters away.)"}
{"file_name": "images/scenario_817_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 4.9) m/s. Its current heading (yaw) is 2.50 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 14.5 meters away at (12.8, 6.8). A vehicle with ID 49 is 17.5 meters away at (-3.0, -17.2). A vehicle with ID 47 is 17.9 meters away at (-17.4, 4.3). A vehicle with ID 57 is 21.9 meters away at (18.1, 12.3). A vehicle with ID 48 is 23.3 meters away at (-21.8, 8.1). A unknown object with ID 52 is 23.9 meters away at (22.0, -9.4). A vehicle with ID 27 is 25.3 meters away at (-8.4, -23.8). A vehicle with ID 59 is 28.5 meters away at (22.4, 17.6). A vehicle with ID 35 is 32.5 meters away at (-13.2, -29.7). A vehicle with ID 46 is 34.9 meters away at (-31.0, 16.1).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.053165  16.17927 ]\n [-36.656715  12.348465]\n [-43.789375  13.200951]\n [-29.693527  22.046825]\n [-34.793312  11.447088]\n [-40.123955  16.081686]\n [-41.440006  14.44808 ]\n [-30.016512  22.260841]\n [-40.301216  15.555984]]", "nav_goal": "(-54.63939666748047, 189.40921020507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.801901  6.816784], 14.50369644165039 meters away.)"}
{"file_name": "images/scenario_817_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 4.8) m/s. Its current heading (yaw) is 2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 7.2 meters away at (-4.7, -5.4). A vehicle with ID 48 is 9.1 meters away at (-9.0, -1.7). A vehicle with ID 46 is 19.2 meters away at (-18.2, 6.3). A vehicle with ID 56 is 25.8 meters away at (25.6, -3.0). A vehicle with ID 49 is 28.7 meters away at (9.7, -27.1). A vehicle with ID 57 is 30.9 meters away at (30.8, 2.5). A vehicle with ID 6 is 32.0 meters away at (-22.5, 22.8). A vehicle with ID 27 is 33.9 meters away at (4.4, -33.6). A vehicle with ID 12 is 37.1 meters away at (-36.3, 7.6). A vehicle with ID 3 is 38.1 meters away at (-27.0, 26.9).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.053165  16.17927 ]\n [-36.656715  12.348465]\n [-43.789375  13.200951]\n [-29.693527  22.046825]\n [-34.793312  11.447088]\n [-40.123955  16.081686]\n [-41.440006  14.44808 ]\n [-30.016512  22.260841]\n [-40.301216  15.555984]]", "nav_goal": "(-54.63939666748047, 189.40921020507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.673893  -5.4348526], 7.168186187744141 meters away.)"}
{"file_name": "images/scenario_818_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.4) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 19.8 meters away at (-14.7, -13.3). A vehicle with ID 43 is 21.0 meters away at (-17.1, -12.2). A vehicle with ID 44 is 22.4 meters away at (-19.5, -11.1). A vehicle with ID 34 is 24.4 meters away at (-22.1, -10.3). A vehicle with ID 39 is 26.7 meters away at (-24.9, -9.5). A vehicle with ID 18 is 26.9 meters away at (-11.5, -24.3). A vehicle with ID 32 is 28.7 meters away at (-27.3, -8.7). A vehicle with ID 21 is 32.5 meters away at (-31.9, -6.4). A vehicle with ID 31 is 35.3 meters away at (-34.7, -6.3). A vehicle with ID 29 is 44.8 meters away at (-44.8, -2.4).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(23.09893226623535, -225.3187255859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-14.716854 -13.305334], 19.839801788330078 meters away.)"}
{"file_name": "images/scenario_818_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.3) m/s. Its current heading (yaw) is -1.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 10.6 meters away at (-10.6, -0.8). A vehicle with ID 43 is 12.9 meters away at (-12.9, 0.4). A vehicle with ID 18 is 13.8 meters away at (-7.4, -11.7). A vehicle with ID 44 is 15.5 meters away at (-15.4, 1.5). A vehicle with ID 34 is 18.1 meters away at (-18.0, 2.4). A vehicle with ID 39 is 21.0 meters away at (-20.7, 3.1). A vehicle with ID 32 is 23.5 meters away at (-23.2, 4.0). A vehicle with ID 21 is 28.4 meters away at (-27.7, 6.2). A vehicle with ID 31 is 31.3 meters away at (-30.6, 6.4). A vehicle with ID 29 is 41.9 meters away at (-40.6, 10.3).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(23.09893226623535, -225.3187255859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.566552   -0.8186722], 10.59821891784668 meters away.)"}
{"file_name": "images/scenario_818_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.4) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 3.2 meters away at (-3.1, 0.7). A vehicle with ID 42 is 13.2 meters away at (-6.4, 11.6). A vehicle with ID 43 is 15.5 meters away at (-8.8, 12.8). A vehicle with ID 44 is 17.8 meters away at (-11.2, 13.8). A vehicle with ID 34 is 20.0 meters away at (-13.7, 14.5). A vehicle with ID 39 is 22.7 meters away at (-16.5, 15.5). A vehicle with ID 32 is 25.1 meters away at (-19.1, 16.3). A vehicle with ID 19 is 33.8 meters away at (-14.4, -30.6). A unknown object with ID 27 is 35.7 meters away at (3.9, 35.5).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(23.09893226623535, -225.3187255859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.1384153  0.7027893], 3.2161409854888916 meters away.)"}
{"file_name": "images/scenario_818_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.5) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 14.0 meters away at (1.5, 13.9). A vehicle with ID 19 is 20.0 meters away at (-9.8, -17.4). A vehicle with ID 42 is 24.9 meters away at (-1.7, 24.8). A unknown object with ID 23 is 46.9 meters away at (21.6, 41.7). A vehicle with ID 4 is 58.1 meters away at (-1.6, -58.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(23.09893226623535, -225.3187255859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.4799013 13.892803 ], 13.971402168273926 meters away.)"}
{"file_name": "images/scenario_819_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 9.9) m/s. Its current heading (yaw) is 1.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 13.5 meters away at (11.0, -7.8). A vehicle with ID 6 is 28.0 meters away at (25.2, -12.2). A vehicle with ID 11 is 52.5 meters away at (-3.3, -52.4).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [ -0.9620139 -13.604211 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.22535579 -1.6946766 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.2087332 17.341915 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-149.6844940185547, 216.34532165527344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.0178585 -7.8098726], 13.505084991455078 meters away.)"}
{"file_name": "images/scenario_819_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 9.7) m/s. Its current heading (yaw) is 1.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 38.4 meters away at (23.1, -30.6). A vehicle with ID 11 is 38.4 meters away at (-2.8, -38.3). A vehicle with ID 9 is 55.5 meters away at (6.8, -55.1). A vehicle with ID 1 is 75.6 meters away at (1.5, 75.6).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.0817591 16.261967 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -1.2507583 -14.035072 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -3.688522 108.13305 ]\n [ -5.848242 111.81836 ]]", "nav_goal": "(-149.6844940185547, 216.34532165527344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 23.08678 -30.6333 ], 38.35881423950195 meters away.)"}
{"file_name": "images/scenario_819_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 9.2) m/s. Its current heading (yaw) is 1.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 25.7 meters away at (-0.9, -25.7). A vehicle with ID 1 is 56.8 meters away at (2.1, 56.8).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.1955064 15.23823  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -3.688522 108.13305 ]\n [ -5.848242 111.81836 ]]", "nav_goal": "(-149.6844940185547, 216.34532165527344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -0.87911177 -25.654446  ], 25.669504165649414 meters away.)"}
{"file_name": "images/scenario_819_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 7.1) m/s. Its current heading (yaw) is 1.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 12.9 meters away at (-0.7, -12.9). A vehicle with ID 1 is 40.9 meters away at (5.3, 40.5).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.74005  14.066375] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -3.688522 108.13305 ]\n [ -5.848242 111.81836 ]]", "nav_goal": "(-149.6844940185547, 216.34532165527344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -0.73353994 -12.874207  ], 12.895087242126465 meters away.)"}
{"file_name": "images/scenario_820_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -4.3) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A pedestrian with ID 71 is 8.6 meters away at (-7.7, -3.7). A unknown object with ID 63 is 8.7 meters away at (6.7, 5.5). A vehicle with ID 8 is 8.8 meters away at (-5.4, 7.0). A pedestrian with ID 69 is 9.2 meters away at (-8.9, -2.1). A pedestrian with ID 70 is 9.7 meters away at (-8.9, -3.8). A pedestrian with ID 73 is 9.7 meters away at (0.9, 9.7). A vehicle with ID 82 is 10.9 meters away at (7.3, -8.1). A pedestrian with ID 74 is 12.7 meters away at (-11.2, -6.0). A vehicle with ID 56 is 15.2 meters away at (4.7, 14.4). A vehicle with ID 34 is 16.4 meters away at (-13.6, 9.1).", "velocity_description": "The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.02158101  0.03923641] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 5.708062  -3.9475205] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.01852382  0.00952023] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.02233432  0.03038188] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.00433937  0.01564161] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.00577864 0.0142418 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-9.355413  6.66161 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 6.021926  -3.9857507] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.7039654  26.367659 ]\n [ -5.348776   -3.6086557]\n [ -4.0510454  -4.73166  ]\n [-11.084883    9.832712 ]\n [ -5.293512   -3.63698  ]\n [ -3.9020145  -4.956762 ]]", "nav_goal": "(214.10667419433594, -176.5451202392578)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-7.735337  -3.7109137], 8.579412460327148 meters away.)"}
{"file_name": "images/scenario_820_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -4.9) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 89 is 3.2 meters away at (-1.7, -2.7). A vehicle with ID 82 is 7.2 meters away at (-7.1, 1.0). A vehicle with ID 8 is 11.6 meters away at (-8.3, 8.1). A vehicle with ID 113 is 15.2 meters away at (6.4, 13.8). A unknown object with ID 63 is 16.7 meters away at (-7.9, 14.7). A vehicle with ID 34 is 18.9 meters away at (-16.0, 10.1). A vehicle with ID 16 is 19.0 meters away at (15.4, -11.2). A vehicle with ID 51 is 22.3 meters away at (-5.6, 21.6). A pedestrian with ID 71 is 23.0 meters away at (-22.4, 5.4). A pedestrian with ID 73 is 23.3 meters away at (-13.7, 18.8).", "velocity_description": "The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 6.3973823 -4.1888943] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [-7.8218436  4.9808917] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 6.302121  -4.1127586] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.763192  -5.3849244] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-8.027645  5.193649] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.01716594 -0.00866765] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.01597782 -0.0231334 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -5.348776   -3.6086557]\n [ -4.0510454  -4.73166  ]\n [-11.084883    9.832712 ]\n [ -5.293512   -3.63698  ]\n [ -3.9020145  -4.956762 ]]", "nav_goal": "(214.10667419433594, -176.5451202392578)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.7449398 -2.6533604], 3.175710439682007 meters away.)"}
{"file_name": "images/scenario_820_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -5.3) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A pedestrian with ID 107 is 8.3 meters away at (-0.9, -8.2). A pedestrian with ID 108 is 9.9 meters away at (-0.7, -9.9). A pedestrian with ID 114 is 12.6 meters away at (0.6, -12.6). A vehicle with ID 65 is 13.3 meters away at (2.3, 13.1). A vehicle with ID 8 is 13.5 meters away at (-9.5, 9.6). A vehicle with ID 55 is 15.5 meters away at (8.3, 13.1). A vehicle with ID 89 is 18.0 meters away at (-16.3, 7.7). A vehicle with ID 16 is 19.9 meters away at (16.2, -11.5). A vehicle with ID 34 is 22.3 meters away at (-18.4, 12.5). A pedestrian with ID 103 is 24.5 meters away at (9.7, 22.5).", "velocity_description": "The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.57337654  0.8024663 ] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.7621195   0.68129003] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [-1.3994259  0.9159997] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-12.558164   8.169102] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 7.0129766 -4.715425 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-8.815855  5.544186] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.823271  -5.1528897] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 5.5866904 -3.570865 ] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 0.02110747 -0.00711214] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 14.702761    9.094117 ]\n [ -5.348776   -3.6086557]\n [ -4.0510454  -4.73166  ]\n [-11.084883    9.832712 ]\n [ -5.293512   -3.63698  ]\n [ -3.9020145  -4.956762 ]]", "nav_goal": "(214.10667419433594, -176.5451202392578)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-0.87997437 -8.245781  ], 8.2926025390625 meters away.)"}
{"file_name": "images/scenario_820_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, -5.0) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A pedestrian with ID 24 is 11.8 meters away at (6.5, -9.9). A pedestrian with ID 23 is 12.8 meters away at (7.1, -10.6). A pedestrian with ID 21 is 13.8 meters away at (8.3, -11.1). A vehicle with ID 8 is 14.5 meters away at (-10.0, 10.4). A pedestrian with ID 114 is 16.6 meters away at (-16.6, -0.2). A pedestrian with ID 108 is 17.0 meters away at (-16.9, 2.1). A pedestrian with ID 107 is 17.3 meters away at (-17.0, 3.4). A vehicle with ID 16 is 20.9 meters away at (17.5, -11.4). A pedestrian with ID 41 is 23.1 meters away at (18.5, 13.8). A vehicle with ID 67 is 23.2 meters away at (-4.9, 22.7).", "velocity_description": "The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01464064  0.01676283] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.00374882  0.00224412] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.04748458 -0.02266353] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 7.1251397 -4.8785334] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [-1.2846534  1.1184479] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.88247114  0.8317633 ] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.8993884   0.61726105] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 8.026009 -5.087094] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [0.08616849 0.04669437] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-8.434485  5.378326] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.702761   9.094117 ]\n [-5.348776  -3.6086557]\n [-4.0510454 -4.73166  ]\n [-5.293512  -3.63698  ]\n [-3.9020145 -4.956762 ]\n [14.5366535  8.861351 ]]", "nav_goal": "(214.10667419433594, -176.5451202392578)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 6.4817047 -9.905758 ], 11.83792781829834 meters away.)"}
{"file_name": "images/scenario_821_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 3.4) m/s. Its current heading (yaw) is 0.81 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 27.4 meters away at (-27.3, -1.7). A vehicle with ID 30 is 31.4 meters away at (17.6, -26.0). A pedestrian with ID 34 is 36.0 meters away at (12.5, -33.7). A pedestrian with ID 6 is 42.3 meters away at (22.3, 36.0).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 4.600303  -2.3587146] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3012891   0.41289005] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.06034532 0.01118968] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-27.34127    -1.7185636], 27.395227432250977 meters away.)"}
{"file_name": "images/scenario_821_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 3.0) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 34.0 meters away at (16.6, 29.7). A pedestrian with ID 7 is 35.3 meters away at (12.8, 32.9). A pedestrian with ID 34 is 39.1 meters away at (4.3, -38.9). A vehicle with ID 30 is 42.5 meters away at (21.7, -36.6). A unknown object with ID 2 is 75.8 meters away at (49.9, 57.1). A unknown object with ID 3 is 77.4 meters away at (51.3, 58.0).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00883316  0.01364411] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.21942605  1.0671512 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.2769808  0.4949529] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 5.3441415 -2.11263  ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [16.620953 29.692825], 34.028221130371094 meters away.)"}
{"file_name": "images/scenario_821_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.3) m/s. Its current heading (yaw) is 0.82 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 26.0 meters away at (11.0, 23.6). A pedestrian with ID 7 is 28.9 meters away at (7.4, 28.0). A unknown object with ID 5 is 29.3 meters away at (9.5, 27.7). A pedestrian with ID 34 is 44.2 meters away at (-3.6, -44.0). A unknown object with ID 20 is 56.2 meters away at (14.5, 54.3). A unknown object with ID 2 is 67.5 meters away at (44.3, 51.0). A unknown object with ID 3 is 69.2 meters away at (45.7, 51.9).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00268386 -0.01968883] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.11716677 0.46430424] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.1943421  0.4928758] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [10.974995 23.621933], 26.047000885009766 meters away.)"}
{"file_name": "images/scenario_821_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 4.1) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 16.8 meters away at (4.3, 16.2). A unknown object with ID 5 is 20.5 meters away at (2.8, 20.3). A pedestrian with ID 7 is 20.8 meters away at (0.5, 20.7). A unknown object with ID 10 is 45.4 meters away at (5.1, 45.1). A unknown object with ID 18 is 46.0 meters away at (4.5, 45.7). A unknown object with ID 20 is 47.5 meters away at (7.9, 46.9). A unknown object with ID 25 is 48.4 meters away at (7.6, 47.8). A unknown object with ID 27 is 48.7 meters away at (7.4, 48.1). A unknown object with ID 2 is 57.6 meters away at (37.6, 43.6). A unknown object with ID 3 is 59.2 meters away at (38.9, 44.6).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.030302    0.07712571] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.00596164 0.0150157 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 4.301586 16.234846], 16.795053482055664 meters away.)"}
{"file_name": "images/scenario_822_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 3.7) m/s. Its current heading (yaw) is 1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 31.4 meters away at (1.6, -31.4). A vehicle with ID 10 is 35.5 meters away at (21.2, -28.5). A unknown object with ID 12 is 45.6 meters away at (-26.2, -37.4). A vehicle with ID 14 is 69.3 meters away at (-26.3, 64.2).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1483023  -0.10038078] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.9768544  2.440223 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.2664322  7.3763824] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [  1.6144719 -31.350735 ], 31.392276763916016 meters away.)"}
{"file_name": "images/scenario_822_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 3.0) m/s. Its current heading (yaw) is 2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 37.2 meters away at (20.4, -31.1). A pedestrian with ID 2 is 38.6 meters away at (2.8, -38.5). A vehicle with ID 14 is 76.5 meters away at (-24.6, 72.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.4756296  1.8117675] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1229402 -0.6576586] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.73555243  7.7603264 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 20.44336  -31.096016], 37.21415328979492 meters away.)"}
{"file_name": "images/scenario_822_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 2.1) m/s. Its current heading (yaw) is 2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 38.3 meters away at (18.2, -33.7). A pedestrian with ID 2 is 45.4 meters away at (4.4, -45.2).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.4399984  0.6750379] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0761819  -0.91244906] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 18.198322 -33.717808], 38.31539535522461 meters away.)"}
{"file_name": "images/scenario_822_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 0.7) m/s. Its current heading (yaw) is 2.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 8.5 meters away at (-6.1, -5.8). A vehicle with ID 10 is 40.0 meters away at (15.8, -36.8).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.36866   -1.1919527] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-6.1328325 -5.836241 ], 8.466011047363281 meters away.)"}
{"file_name": "images/scenario_823_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -3.1) m/s. Its current heading (yaw) is -1.69 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 31.3 meters away at (-7.0, -30.5). A unknown object with ID 7 is 34.2 meters away at (-33.6, 6.0). A pedestrian with ID 11 is 53.3 meters away at (18.9, 49.9). A pedestrian with ID 10 is 53.3 meters away at (19.6, 49.6). A vehicle with ID 1 is 74.0 meters away at (-72.1, 16.8).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.345613   -0.39849034] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.40183228 -0.8178819 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.3102702 -0.8049791] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.95456   -2.0637121] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -6.979685 -30.507017], 31.295272827148438 meters away.)"}
{"file_name": "images/scenario_823_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -1.5) m/s. Its current heading (yaw) is -1.43 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 27.3 meters away at (-4.5, -26.9). A unknown object with ID 7 is 35.5 meters away at (-33.9, 10.5). A unknown object with ID 2 is 37.4 meters away at (-35.7, 11.2). A unknown object with ID 8 is 54.9 meters away at (2.9, 54.8). A pedestrian with ID 10 is 56.0 meters away at (18.6, 52.8). A pedestrian with ID 11 is 56.0 meters away at (17.9, 53.1). A vehicle with ID 1 is 65.3 meters away at (-63.0, 17.4).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.284368  -0.5278403] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.51583445 -0.80119467] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.4981735  -0.80354035] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.1841426 -2.4278426] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -4.4572234 -26.943382 ], 27.309572219848633 meters away.)"}
{"file_name": "images/scenario_823_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 27.2 meters away at (-2.0, -27.1). A unknown object with ID 7 is 36.0 meters away at (-34.1, 11.4). A pedestrian with ID 10 is 55.2 meters away at (17.7, 52.2). A pedestrian with ID 11 is 55.2 meters away at (16.9, 52.5). A vehicle with ID 1 is 55.3 meters away at (-53.6, 13.9). A unknown object with ID 8 is 56.5 meters away at (2.4, 56.4).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.2487817  -0.28647023] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.33538392 -0.7492478 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.3227642 -0.7845145] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.9341564 -2.0555286] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -2.0274785 -27.118008 ], 27.193695068359375 meters away.)"}
{"file_name": "images/scenario_823_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 28.1 meters away at (0.6, -28.1). A unknown object with ID 7 is 36.0 meters away at (-34.1, 11.5). A vehicle with ID 1 is 45.3 meters away at (-44.2, 10.0). A pedestrian with ID 10 is 53.4 meters away at (16.8, 50.6). A pedestrian with ID 11 is 53.6 meters away at (16.2, 51.1). A unknown object with ID 8 is 56.7 meters away at (2.3, 56.7).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.3959026  -0.41221628] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.8854346 -2.053363 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.51830393 -0.629463  ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.53442395 -0.65090126] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  0.6113261 -28.134174 ], 28.14081382751465 meters away.)"}
{"file_name": "images/scenario_824_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, -9.2) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 8.7 meters away at (-1.8, 8.5). A vehicle with ID 46 is 9.6 meters away at (8.7, -4.1). A vehicle with ID 49 is 10.9 meters away at (5.5, -9.4). A vehicle with ID 44 is 11.4 meters away at (11.4, 0.8). A vehicle with ID 50 is 11.5 meters away at (-10.3, -5.0). A unknown object with ID 36 is 13.3 meters away at (2.3, 13.1). A vehicle with ID 37 is 14.5 meters away at (1.7, 14.4). A vehicle with ID 51 is 14.5 meters away at (2.5, -14.3). A unknown object with ID 34 is 15.9 meters away at (4.2, 15.3). A vehicle with ID 53 is 16.9 meters away at (-13.5, -10.1).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-93.51036834716797, -244.22549438476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.7649746  8.544623 ], 8.725006103515625 meters away.)"}
{"file_name": "images/scenario_824_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -9.3) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 6.1 meters away at (-4.8, 3.7). A pedestrian with ID 58 is 7.7 meters away at (5.7, -5.2). A cyclist with ID 59 is 8.0 meters away at (6.1, -5.2). A vehicle with ID 53 is 8.4 meters away at (-2.1, 8.2). A vehicle with ID 57 is 9.8 meters away at (7.7, -6.1). A vehicle with ID 54 is 10.7 meters away at (10.6, -1.3). A vehicle with ID 61 is 12.1 meters away at (4.5, -11.3). A vehicle with ID 50 is 13.2 meters away at (1.0, 13.2). A vehicle with ID 51 is 14.4 meters away at (13.8, 3.9). A vehicle with ID 62 is 16.2 meters away at (1.5, -16.1).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.5783264  0.92604566] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [0.6270948  0.97694504] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-93.51036834716797, -244.22549438476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.800308   3.6908264], 6.055176258087158 meters away.)"}
{"file_name": "images/scenario_824_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -9.5) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 6.2 meters away at (-5.5, 3.0). A vehicle with ID 63 is 7.9 meters away at (-2.6, 7.5). A vehicle with ID 67 is 8.6 meters away at (-8.4, -1.9). A vehicle with ID 64 is 10.0 meters away at (9.6, -2.6). A vehicle with ID 66 is 10.2 meters away at (6.7, -7.7). A vehicle with ID 62 is 13.1 meters away at (12.8, 2.4). A vehicle with ID 70 is 13.3 meters away at (3.3, -12.9). A vehicle with ID 71 is 13.5 meters away at (-11.6, -6.9). A vehicle with ID 61 is 17.5 meters away at (15.8, 7.4). A vehicle with ID 57 is 22.9 meters away at (19.1, 12.6).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-93.51036834716797, -244.22549438476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.489628   2.9758873], 6.244350910186768 meters away.)"}
{"file_name": "images/scenario_824_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -9.5) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 9.6 meters away at (7.5, -6.0). A vehicle with ID 71 is 11.9 meters away at (0.0, 11.9). A vehicle with ID 31 is 12.5 meters away at (4.3, -11.8). A vehicle with ID 70 is 15.9 meters away at (14.8, 5.8). A vehicle with ID 17 is 16.0 meters away at (-12.9, -9.6). A vehicle with ID 67 is 17.1 meters away at (3.2, 16.8). A vehicle with ID 19 is 20.1 meters away at (-1.1, -20.0). A vehicle with ID 18 is 20.7 meters away at (-15.5, -13.8). A vehicle with ID 66 is 21.3 meters away at (18.2, 11.1). A vehicle with ID 65 is 22.7 meters away at (6.2, 21.8).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-93.51036834716797, -244.22549438476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.4706764 -6.0160294], 9.591851234436035 meters away.)"}
{"file_name": "images/scenario_825_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -3.7) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 4.5 meters away at (-3.8, -2.4). A vehicle with ID 8 is 7.2 meters away at (0.8, -7.2). A vehicle with ID 15 is 8.3 meters away at (4.3, -7.1). A vehicle with ID 9 is 13.0 meters away at (5.6, -11.7). A pedestrian with ID 11 is 15.4 meters away at (7.2, -13.6). A vehicle with ID 12 is 16.8 meters away at (-14.5, 8.5). A pedestrian with ID 6 is 17.8 meters away at (-13.3, 11.8). A vehicle with ID 14 is 22.3 meters away at (-18.1, 13.0). A vehicle with ID 16 is 27.8 meters away at (-22.1, 17.0). A unknown object with ID 17 is 55.4 meters away at (-52.7, 17.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.6484711  1.3375114] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.02730345 -0.02526498] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.0198059  -0.09297346] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.8354526 -2.4207668], 4.535505294799805 meters away.)"}
{"file_name": "images/scenario_825_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -3.8) m/s. Its current heading (yaw) is -0.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 5.1 meters away at (-1.8, -4.8). A vehicle with ID 15 is 5.9 meters away at (-5.5, 2.1). A vehicle with ID 8 is 6.6 meters away at (-6.6, -0.3). A pedestrian with ID 11 is 6.7 meters away at (-0.2, -6.7). A vehicle with ID 10 is 12.2 meters away at (-11.3, 4.6). A pedestrian with ID 2 is 23.3 meters away at (20.8, -10.5). A pedestrian with ID 3 is 23.7 meters away at (21.7, -9.6). A pedestrian with ID 1 is 24.0 meters away at (21.2, -11.1). A vehicle with ID 12 is 26.9 meters away at (-22.0, 15.4). A vehicle with ID 14 is 32.5 meters away at (-25.6, 20.0).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.9185381  1.7822806] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00290813 -0.02765683] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0549855 -1.0268071] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.1516848 -1.0637326] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.1268063 -1.0578363] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.7621994 -4.7506514], 5.066955089569092 meters away.)"}
{"file_name": "images/scenario_825_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, -3.4) m/s. Its current heading (yaw) is -0.73 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 7.7 meters away at (-7.7, 0.4). A vehicle with ID 9 is 9.3 meters away at (-9.0, 2.3). A pedestrian with ID 3 is 13.5 meters away at (13.1, -3.1). A pedestrian with ID 2 is 13.6 meters away at (13.0, -4.0). A pedestrian with ID 1 is 14.0 meters away at (13.1, -4.9). A vehicle with ID 8 is 15.6 meters away at (-14.0, 6.9). A vehicle with ID 10 is 21.9 meters away at (-18.5, 11.7). A vehicle with ID 15 is 25.7 meters away at (-19.6, 16.7). A vehicle with ID 12 is 37.0 meters away at (-29.2, 22.7). A vehicle with ID 14 is 42.7 meters away at (-32.8, 27.3).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.02170347 -0.02950756] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.5818266   0.03883423] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.11254863 -0.0572424 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00926686 -0.04794759] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.9129963  5.3997974] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-7.676467   0.4035778], 7.687068462371826 meters away.)"}
{"file_name": "images/scenario_825_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.8) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 5.6 meters away at (5.1, 2.3). A pedestrian with ID 2 is 6.3 meters away at (6.2, 1.1). A pedestrian with ID 1 is 6.3 meters away at (6.3, 0.2). A pedestrian with ID 11 is 15.6 meters away at (-14.5, 5.6). A vehicle with ID 9 is 17.6 meters away at (-15.9, 7.6). A vehicle with ID 8 is 24.0 meters away at (-20.7, 12.2). A vehicle with ID 10 is 30.5 meters away at (-25.3, 17.1). A vehicle with ID 12 is 45.6 meters away at (-36.0, 28.0). A vehicle with ID 14 is 51.3 meters away at (-39.6, 32.6). A vehicle with ID 15 is 52.5 meters away at (-38.4, 35.8).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.4214572  -0.12602316] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00111052 -0.02173056] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00475716 -0.00776572] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00767308 -0.01154455] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.9187016  8.072739 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [5.0705643 2.3365612], 5.583022594451904 meters away.)"}
{"file_name": "images/scenario_826_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, -4.5) m/s. Its current heading (yaw) is -2.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 5.4 meters away at (4.1, -3.5). A pedestrian with ID 1 is 59.8 meters away at (-26.4, -53.6).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [3.671338 3.015694] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.01646321 0.7100664 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.5953174 -1.8295243]]", "nav_goal": "(62.4661979675293, -243.13853454589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.1456704 -3.4728127], 5.408050537109375 meters away.)"}
{"file_name": "images/scenario_826_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, -4.9) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 23.7 meters away at (21.5, 9.9).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0.60146755 0.72104657] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.5953174 -1.8295243]]", "nav_goal": "(62.4661979675293, -243.13853454589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [21.513283  9.935453], 23.69672203063965 meters away.)"}
{"file_name": "images/scenario_826_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, -6.6) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 40.3 meters away at (33.9, 21.8).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.5953174 -1.8295243]]", "nav_goal": "(62.4661979675293, -243.13853454589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [33.90835  21.828037], 40.32666015625 meters away.)"}
{"file_name": "images/scenario_826_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -8.6) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 57.3 meters away at (43.7, 37.1).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.5953174 -1.8295243]]", "nav_goal": "(62.4661979675293, -243.13853454589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [43.657513 37.08373 ], 57.28159713745117 meters away.)"}
{"file_name": "images/scenario_827_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -0.3) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 17.2 meters away at (14.5, 9.2). A pedestrian with ID 2 is 50.7 meters away at (-49.9, 9.3). A vehicle with ID 42 is 53.7 meters away at (33.1, 42.3). A vehicle with ID 4 is 62.9 meters away at (-60.6, 17.0). A unknown object with ID 21 is 76.2 meters away at (-74.8, -14.1).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.01062581 -0.01824599] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.6099722 -8.961107 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-73.83453   13.188736]\n [-75.98279   13.975369]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [14.467298  9.214471], 17.15252685546875 meters away.)"}
{"file_name": "images/scenario_827_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, -0.3) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 21.3 meters away at (20.5, 5.9). A unknown object with ID 35 is 29.2 meters away at (27.5, 9.8). A pedestrian with ID 2 is 38.2 meters away at (-36.9, 10.0). A unknown object with ID 34 is 46.6 meters away at (44.2, 14.8). A vehicle with ID 42 is 49.1 meters away at (41.1, 26.8). A vehicle with ID 4 is 50.7 meters away at (-47.6, 17.4). A unknown object with ID 21 is 63.3 meters away at (-61.8, -13.5). A vehicle with ID 32 is 69.8 meters away at (-69.7, -2.2).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.08014921 0.01389177] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.1108868 -6.932674 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 7.864724 12.816987] m/s.", "light_description": "There are active red lights at the following coordinates: [[-73.83453   13.188736]\n [-75.98279   13.975369]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [20.46219    5.8830886], 21.29112434387207 meters away.)"}
{"file_name": "images/scenario_827_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -0.3) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 26.8 meters away at (-24.6, 10.7). A vehicle with ID 4 is 39.7 meters away at (-35.4, 17.9). A unknown object with ID 35 is 41.2 meters away at (39.8, 10.5). A pedestrian with ID 1 is 43.4 meters away at (-41.8, -11.6). A vehicle with ID 42 is 52.1 meters away at (49.8, 15.5).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.04487934 0.08820129] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.9723683 0.751075 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.5859758 -4.8202357] m/s.", "light_description": "There are active red lights at the following coordinates: [[-73.83453   13.188736]\n [-75.98279   13.975369]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-24.571846  10.688508], 26.7958927154541 meters away.)"}
{"file_name": "images/scenario_827_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -0.3) m/s. Its current heading (yaw) is -3.08 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 18.1 meters away at (-14.1, 11.3). A vehicle with ID 4 is 31.0 meters away at (-24.9, 18.5). A pedestrian with ID 1 is 31.1 meters away at (-29.4, -10.1). A unknown object with ID 5 is 45.4 meters away at (-41.6, 18.0). A unknown object with ID 6 is 45.4 meters away at (-40.9, 19.8). A unknown object with ID 9 is 45.6 meters away at (-39.8, 22.2). A unknown object with ID 10 is 45.8 meters away at (-40.6, 21.2). A unknown object with ID 7 is 46.7 meters away at (-43.5, 17.1). A unknown object with ID 8 is 47.3 meters away at (-44.4, 16.3). A unknown object with ID 35 is 51.5 meters away at (50.3, 10.9).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.13271356  0.09791515] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.1066991  0.45509964] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -73.83453     13.188736 ]\n [ -75.98279     13.975369 ]\n [-107.024994    -2.9825468]\n [-106.77496     -2.9812086]\n [-106.7807      -2.8620594]\n [-106.78092     -2.858301 ]\n [-106.777214    -2.927916 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-14.110508  11.259509], 18.052228927612305 meters away.)"}
{"file_name": "images/scenario_828_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.1, 1.5). A pedestrian with ID 16 is 12.6 meters away at (4.4, 11.8). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.5). A vehicle with ID 9 is 26.5 meters away at (0.6, 26.5). A vehicle with ID 22 is 29.4 meters away at (-19.9, -21.7). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0). A pedestrian with ID 24 is 32.1 meters away at (-2.8, -31.9). A pedestrian with ID 19 is 34.7 meters away at (-18.1, -29.6). A pedestrian with ID 25 is 35.0 meters away at (-18.9, -29.4).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00807458  0.01802574] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.1151806  -0.37203345] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.01493614 0.00646173] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 9.952185  -3.1353934] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00228558 -0.00055433] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.4978155 1.2595153] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.54993695 1.269143  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.521156 35.2338  ]\n [ 8.324167 35.275326]]", "nav_goal": "(-162.52610778808594, -68.972900390625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [8.077132  1.4675558], 8.209371566772461 meters away.)"}
{"file_name": "images/scenario_828_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.0, 1.5). A pedestrian with ID 16 is 12.8 meters away at (6.2, 11.2). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.4). A vehicle with ID 9 is 28.2 meters away at (19.3, 20.5). A vehicle with ID 22 is 29.4 meters away at (-19.9, -21.7). A vehicle with ID 1 is 30.8 meters away at (-8.9, 29.5). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0). A pedestrian with ID 19 is 31.9 meters away at (-17.3, -26.9). A pedestrian with ID 24 is 32.1 meters away at (-2.8, -31.9).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.01405222 -0.00223324] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.83613473 -0.38029712] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.0017165  -0.00536204] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 9.291786  -2.9883757] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 9.468862  -2.9402444] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.498894  1.2995118] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00468064  0.00047838] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.521156  35.2338   ]\n [ 8.324167  35.275326 ]\n [ 1.7294174 24.062778 ]]", "nav_goal": "(-162.52610778808594, -68.972900390625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [8.015899  1.5493643], 8.164260864257812 meters away.)"}
{"file_name": "images/scenario_828_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.1, 1.5). A pedestrian with ID 16 is 13.2 meters away at (7.8, 10.6). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.4). A vehicle with ID 1 is 25.6 meters away at (9.6, 23.7). A vehicle with ID 22 is 29.4 meters away at (-19.8, -21.7). A pedestrian with ID 19 is 29.4 meters away at (-16.6, -24.3). A pedestrian with ID 25 is 29.9 meters away at (-17.5, -24.3). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0). A pedestrian with ID 24 is 32.0 meters away at (-2.8, -31.9).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00122971  0.00106524] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.6085696  -0.10012428] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.00017883 0.0008067 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.786982 -2.794118] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.24360275 1.2753408 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.23599467 1.2524694 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00242662 -0.00094459] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.521156  35.2338   ]\n [ 8.324167  35.275326 ]\n [ 1.7294174 24.062778 ]]", "nav_goal": "(-162.52610778808594, -68.972900390625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [8.051095  1.5412375], 8.197288513183594 meters away.)"}
{"file_name": "images/scenario_828_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.1, 1.5). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 16 is 13.8 meters away at (9.0, 10.5). A unknown object with ID 5 is 20.8 meters away at (13.7, 15.6). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.4). A vehicle with ID 7 is 25.4 meters away at (3.8, 25.1). A pedestrian with ID 19 is 27.1 meters away at (-16.7, -21.4). A pedestrian with ID 25 is 27.8 meters away at (-17.3, -21.9). A vehicle with ID 22 is 29.4 meters away at (-19.8, -21.7). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.1052909e-04  1.3484629e-05] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.689241   -0.21976845] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00470391 -0.00209208] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 8.228488  -2.6184998] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.10243929  1.3299813 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.14036359 1.3202633 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.521156 35.2338  ]\n [ 8.324167 35.275326]]", "nav_goal": "(-162.52610778808594, -68.972900390625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [8.053591  1.5479641], 8.201006889343262 meters away.)"}
{"file_name": "images/scenario_829_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 10.1) m/s. Its current heading (yaw) is 1.95 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-117.6391372680664, 277.6750793457031)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_829_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 9.8) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-117.6391372680664, 277.6750793457031)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_829_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.0) m/s. Its current heading (yaw) is 1.97 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-117.6391372680664, 277.6750793457031)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_829_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.1) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 24.4 meters away at (-16.2, 18.3).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-117.6391372680664, 277.6750793457031)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-16.186169  18.286186], 24.420825958251953 meters away.)"}
{"file_name": "images/scenario_830_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -0.7) m/s. Its current heading (yaw) is -0.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 20.7 meters away at (14.2, -15.1). A pedestrian with ID 19 is 22.0 meters away at (14.4, -16.6). A vehicle with ID 15 is 22.9 meters away at (-21.6, -7.5). A unknown object with ID 21 is 24.9 meters away at (16.3, -18.9). A unknown object with ID 26 is 28.7 meters away at (20.2, -20.5). A pedestrian with ID 11 is 28.9 meters away at (28.8, 2.3). A unknown object with ID 16 is 30.8 meters away at (22.2, -21.3). A pedestrian with ID 17 is 32.7 meters away at (23.8, -22.4). A unknown object with ID 22 is 37.3 meters away at (-25.0, 27.6). A unknown object with ID 25 is 38.2 meters away at (-24.4, 29.4).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.0120942 0.0150074] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.10665412 -4.693124  ] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00206541  0.01310496] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.9735122  -0.08299686] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 14.226736 -15.082393], 20.7335147857666 meters away.)"}
{"file_name": "images/scenario_830_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -0.1) m/s. Its current heading (yaw) is -0.03 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 16.7 meters away at (8.7, -14.2). A pedestrian with ID 19 is 18.1 meters away at (8.8, -15.8). A unknown object with ID 21 is 21.0 meters away at (10.8, -18.0). A pedestrian with ID 11 is 23.5 meters away at (23.3, 3.2). A unknown object with ID 26 is 24.5 meters away at (14.7, -19.7). A unknown object with ID 16 is 26.4 meters away at (16.7, -20.4). A pedestrian with ID 17 is 28.8 meters away at (18.6, -21.9). A unknown object with ID 1 is 31.6 meters away at (23.7, -21.0). A vehicle with ID 15 is 34.1 meters away at (-29.5, -17.2). A unknown object with ID 22 is 41.7 meters away at (-30.6, 28.4).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.00479589 0.00598701] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01182227 -0.00127124] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.04093089 -0.17162839] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.8198401 -5.5380774] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [  8.718943 -14.236074], 16.693883895874023 meters away.)"}
{"file_name": "images/scenario_830_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 0.3) m/s. Its current heading (yaw) is 0.15 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 15.1 meters away at (4.0, -14.6). A pedestrian with ID 19 is 16.7 meters away at (4.1, -16.1). A pedestrian with ID 11 is 18.8 meters away at (18.6, 2.8). A unknown object with ID 21 is 19.3 meters away at (6.1, -18.3). A unknown object with ID 26 is 22.3 meters away at (10.0, -19.9). A unknown object with ID 16 is 23.9 meters away at (12.0, -20.7). A pedestrian with ID 17 is 26.2 meters away at (13.9, -22.3). A unknown object with ID 1 is 28.5 meters away at (19.0, -21.3). A vehicle with ID 32 is 41.2 meters away at (35.5, -20.8).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.00920103 0.00091599] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.01686552  0.00405292] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.01943466 0.01701145] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [  4.025875 -14.55124 ], 15.097888946533203 meters away.)"}
{"file_name": "images/scenario_830_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 0.0) m/s. Its current heading (yaw) is 0.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 14.5 meters away at (14.3, 2.4). A unknown object with ID 12 is 15.0 meters away at (-0.2, -15.0). A pedestrian with ID 19 is 16.6 meters away at (-0.1, -16.6). A unknown object with ID 21 is 18.8 meters away at (1.9, -18.7). A unknown object with ID 26 is 21.1 meters away at (5.8, -20.3). A unknown object with ID 16 is 22.5 meters away at (7.8, -21.1). A pedestrian with ID 17 is 24.5 meters away at (9.6, -22.5). A unknown object with ID 1 is 26.2 meters away at (14.8, -21.6). A vehicle with ID 32 is 37.8 meters away at (31.3, -21.2). A vehicle with ID 28 is 77.3 meters away at (68.2, -36.4).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01796084 -0.00305445] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.02161074 -0.01134936] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.05557961 -0.12037819] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [14.308447   2.4297748], 14.513285636901855 meters away.)"}
{"file_name": "images/scenario_831_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -10.9) m/s. Its current heading (yaw) is -1.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 22.2 meters away at (7.2, 21.0). A vehicle with ID 13 is 25.6 meters away at (24.9, 5.8). A vehicle with ID 17 is 30.8 meters away at (-5.3, -30.3). A vehicle with ID 14 is 31.1 meters away at (30.6, 5.7). A vehicle with ID 15 is 36.1 meters away at (35.7, 5.4). A vehicle with ID 18 is 38.7 meters away at (38.6, 2.2). A pedestrian with ID 19 is 43.5 meters away at (6.5, -43.0). A vehicle with ID 16 is 43.9 meters away at (43.6, 5.2). A vehicle with ID 20 is 48.1 meters away at (-7.2, -47.5). A vehicle with ID 11 is 54.0 meters away at (-7.7, -53.4).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-7.6434183   0.22859976] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00254766  1.20363   ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(8.146267890930176, -299.1385498046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.1669703 20.970125 ], 22.161039352416992 meters away.)"}
{"file_name": "images/scenario_831_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -11.4) m/s. Its current heading (yaw) is -1.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 8.7 meters away at (-3.8, -7.9). A pedestrian with ID 19 is 19.4 meters away at (8.2, -17.6). A vehicle with ID 20 is 25.6 meters away at (-5.6, -25.0). A vehicle with ID 11 is 31.5 meters away at (-6.1, -30.9). A vehicle with ID 18 is 36.9 meters away at (27.2, 25.0). A vehicle with ID 13 is 38.7 meters away at (26.6, 28.1). A vehicle with ID 14 is 42.8 meters away at (32.4, 28.0). A vehicle with ID 12 is 44.3 meters away at (8.9, 43.4). A vehicle with ID 15 is 46.5 meters away at (37.4, 27.7). A vehicle with ID 16 is 53.0 meters away at (45.4, 27.4).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.05814368 1.4539025 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-5.4433064   0.19411442] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(8.146267890930176, -299.1385498046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.758654  -7.8912544], 8.740674018859863 meters away.)"}
{"file_name": "images/scenario_831_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -11.5) m/s. Its current heading (yaw) is -1.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 3.9 meters away at (-3.4, -2.0). A vehicle with ID 11 is 8.7 meters away at (-4.0, -7.8). A pedestrian with ID 19 is 13.5 meters away at (10.6, 8.3). A vehicle with ID 17 is 15.0 meters away at (-1.6, 14.9). A vehicle with ID 6 is 49.1 meters away at (-7.4, -48.5). A vehicle with ID 18 is 52.8 meters away at (21.1, 48.3). A vehicle with ID 5 is 56.2 meters away at (-7.5, -55.7). A unknown object with ID 8 is 57.5 meters away at (2.9, 57.4). A vehicle with ID 4 is 63.9 meters away at (-7.6, -63.5). A vehicle with ID 12 is 67.4 meters away at (11.2, 66.4).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.21789074 1.3357689 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-2.76102     0.07628624] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(8.146267890930176, -299.1385498046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.377037  -1.9947815], 3.922184467315674 meters away.)"}
{"file_name": "images/scenario_831_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -12.0) m/s. Its current heading (yaw) is -1.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 15.8 meters away at (-1.7, 15.7). A vehicle with ID 20 is 21.7 meters away at (-1.0, 21.7). A vehicle with ID 6 is 25.3 meters away at (-4.9, -24.8). A vehicle with ID 5 is 32.4 meters away at (-5.1, -32.0). A pedestrian with ID 19 is 37.1 meters away at (13.0, 34.7). A vehicle with ID 17 is 38.6 meters away at (0.8, 38.6). A vehicle with ID 4 is 40.2 meters away at (-5.2, -39.8). A vehicle with ID 3 is 45.3 meters away at (3.8, -45.1). A vehicle with ID 2 is 59.2 meters away at (3.5, -59.1). A vehicle with ID 18 is 74.9 meters away at (20.2, 72.1).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.013187  1.1756105] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.1292782   0.03936255] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(8.146267890930176, -299.1385498046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.6547904 15.71595  ], 15.80282974243164 meters away.)"}
{"file_name": "images/scenario_832_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 4.0) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 6.7 meters away at (6.7, -0.6).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.163833   -0.82010454]\n [11.218661   -0.7542515 ]\n [11.158479   -0.8259028 ]]", "nav_goal": "(32.64840316772461, 105.19384765625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.699807   -0.57391834], 6.724343776702881 meters away.)"}
{"file_name": "images/scenario_832_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.7) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 18.8 meters away at (16.3, -9.3). A pedestrian with ID 3 is 32.7 meters away at (-32.5, 3.9).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00478621  0.00682788] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.163833   -0.82010454]\n [11.218661   -0.7542515 ]\n [11.158479   -0.8259028 ]]", "nav_goal": "(32.64840316772461, 105.19384765625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.333775 -9.265896], 18.77895164489746 meters away.)"}
{"file_name": "images/scenario_832_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.9) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 33.5 meters away at (27.6, -18.9).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.163833   -0.82010454]\n [11.218661   -0.7542515 ]\n [11.158479   -0.8259028 ]]", "nav_goal": "(32.64840316772461, 105.19384765625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 27.613321 -18.904842], 33.46473693847656 meters away.)"}
{"file_name": "images/scenario_832_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.1) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 18.1 meters away at (-9.1, -15.6). A pedestrian with ID 5 is 18.8 meters away at (-9.7, -16.1). A vehicle with ID 10 is 51.7 meters away at (41.5, -30.8).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.04359098 -0.00263512] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.00211358 0.01816657] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.2632067 -2.1579514] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(32.64840316772461, 105.19384765625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -9.114544 -15.624683], 18.08882713317871 meters away.)"}
{"file_name": "images/scenario_833_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-12.1, -0.2) m/s. Its current heading (yaw) is -3.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 111 is 21.8 meters away at (21.0, 5.6). A unknown object with ID 113 is 23.6 meters away at (-22.9, 5.8). A unknown object with ID 103 is 33.7 meters away at (31.5, 12.0).", "velocity_description": "The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-300.8882751464844, -6.005397319793701)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [21.03093   5.643447], 21.77495002746582 meters away.)"}
{"file_name": "images/scenario_833_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.7, -0.1) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 90 is 32.0 meters away at (-31.5, 6.1). A unknown object with ID 100 is 33.0 meters away at (-32.5, 6.1). A unknown object with ID 112 is 34.0 meters away at (-33.5, 6.0). A unknown object with ID 111 is 45.3 meters away at (44.9, 5.9). A unknown object with ID 88 is 46.3 meters away at (45.9, 5.9). A unknown object with ID 69 is 47.2 meters away at (46.8, 5.9). A unknown object with ID 105 is 48.8 meters away at (48.4, 5.9). A unknown object with ID 65 is 50.8 meters away at (50.4, 5.9). A unknown object with ID 120 is 51.7 meters away at (51.4, 5.9). A vehicle with ID 54 is 63.5 meters away at (-62.9, 8.3).", "velocity_description": "The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-300.8882751464844, -6.005397319793701)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-31.45625     6.1067834], 32.043540954589844 meters away.)"}
{"file_name": "images/scenario_833_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.5, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 100 is 11.0 meters away at (-9.1, 6.1). A unknown object with ID 112 is 12.6 meters away at (-11.0, 6.1). A unknown object with ID 73 is 29.4 meters away at (28.8, 5.9). A unknown object with ID 84 is 33.3 meters away at (32.8, 5.9). A unknown object with ID 125 is 34.3 meters away at (33.8, 5.8). A unknown object with ID 71 is 35.3 meters away at (34.8, 5.8). A unknown object with ID 75 is 36.2 meters away at (35.7, 5.8). A vehicle with ID 54 is 40.5 meters away at (-39.7, 8.3). A unknown object with ID 50 is 47.1 meters away at (-46.7, 6.2). A unknown object with ID 126 is 48.0 meters away at (-47.6, 6.2).", "velocity_description": "The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-300.8882751464844, -6.005397319793701)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-9.1479645  6.111234 ], 11.001474380493164 meters away.)"}
{"file_name": "images/scenario_833_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.4, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 112 is 13.2 meters away at (11.8, 5.9). A unknown object with ID 100 is 14.8 meters away at (13.6, 5.9). A vehicle with ID 54 is 18.7 meters away at (-16.8, 8.2). A unknown object with ID 50 is 24.6 meters away at (-23.8, 6.1). A unknown object with ID 106 is 33.6 meters away at (-33.1, 6.1). A unknown object with ID 92 is 35.7 meters away at (-35.1, 6.2). A unknown object with ID 83 is 36.6 meters away at (-36.1, 6.2). A vehicle with ID 24 is 37.0 meters away at (-36.4, -6.7). A unknown object with ID 93 is 37.5 meters away at (-37.0, 6.2). A unknown object with ID 102 is 38.6 meters away at (-38.0, 6.2).", "velocity_description": "The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-300.8882751464844, -6.005397319793701)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [11.812897  5.900201], 13.204427719116211 meters away.)"}
{"file_name": "images/scenario_834_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 3.1) m/s. Its current heading (yaw) is 2.67 ", "actor_description": " The most relevant actors are: A pedestrian with ID 90 is 3.8 meters away at (-2.9, -2.4). A pedestrian with ID 92 is 5.3 meters away at (-4.5, -2.7). A pedestrian with ID 93 is 5.9 meters away at (-4.7, -3.6). A pedestrian with ID 91 is 7.3 meters away at (-4.6, -5.6). A pedestrian with ID 94 is 15.0 meters away at (4.1, 14.4). A vehicle with ID 95 is 18.4 meters away at (18.0, 3.5). A unknown object with ID 98 is 19.4 meters away at (-18.2, -6.6). A unknown object with ID 99 is 20.5 meters away at (-19.5, -6.2). A pedestrian with ID 97 is 21.7 meters away at (2.1, 21.6). A unknown object with ID 57 is 22.7 meters away at (-5.6, 22.0).", "velocity_description": "The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.5016082 1.35865  ] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.38164756 0.62762845] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [0.3480589  0.56682223] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.16993816 1.3131307 ] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.41267717 -0.86319774] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [10.314024  -4.5430226] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [-0.02248311  0.00189253] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-2.9090757 -2.4399843], 3.796873092651367 meters away.)"}
{"file_name": "images/scenario_834_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 3.4) m/s. Its current heading (yaw) is 2.70 ", "actor_description": " The most relevant actors are: A pedestrian with ID 92 is 11.5 meters away at (9.8, -6.0). A pedestrian with ID 90 is 12.2 meters away at (10.9, -5.5). A pedestrian with ID 93 is 12.3 meters away at (9.6, -7.7). A pedestrian with ID 91 is 13.1 meters away at (9.5, -9.0). A unknown object with ID 98 is 13.7 meters away at (-5.6, -12.6). A unknown object with ID 99 is 14.1 meters away at (-6.7, -12.4). A pedestrian with ID 94 is 16.3 meters away at (15.6, 5.0). A unknown object with ID 57 is 17.3 meters away at (7.3, 15.7). A unknown object with ID 71 is 17.6 meters away at (5.1, 16.8). A unknown object with ID 23 is 18.1 meters away at (3.0, 17.8).", "velocity_description": "The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.65572536 1.7073325 ] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.56828344 1.5388296 ] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [0.608732  1.4871821] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.69051665 1.615512  ] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.9163596 -1.6622838] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 9.838239 -5.99532 ], 11.521059036254883 meters away.)"}
{"file_name": "images/scenario_834_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 3.3) m/s. Its current heading (yaw) is 2.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 49 is 9.4 meters away at (-8.6, -3.7). A unknown object with ID 66 is 9.5 meters away at (-8.6, -4.1). A unknown object with ID 35 is 10.9 meters away at (-10.0, -4.4). A unknown object with ID 53 is 12.1 meters away at (-11.5, -3.5). A unknown object with ID 99 is 20.5 meters away at (7.5, -19.0). A unknown object with ID 23 is 20.5 meters away at (17.2, 11.2). A unknown object with ID 71 is 21.8 meters away at (19.3, 10.2). A unknown object with ID 57 is 23.4 meters away at (21.5, 9.2). A pedestrian with ID 107 is 23.6 meters away at (-5.0, 23.1). A pedestrian with ID 92 is 27.0 meters away at (25.3, -9.3).", "velocity_description": "The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.0658828   0.00984398] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.3659395 1.3762892] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.64539  -3.720129], 9.411808013916016 meters away.)"}
{"file_name": "images/scenario_834_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 3.3) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 11.2 meters away at (4.2, 10.4). A unknown object with ID 35 is 12.0 meters away at (4.9, -11.0). A unknown object with ID 49 is 12.3 meters away at (6.4, -10.5). A unknown object with ID 66 is 12.5 meters away at (6.4, -10.7). A pedestrian with ID 107 is 19.0 meters away at (9.8, 16.3). A pedestrian with ID 110 is 26.0 meters away at (-7.3, 25.0). A unknown object with ID 23 is 32.5 meters away at (32.1, 4.5). A vehicle with ID 73 is 32.7 meters away at (-13.7, -29.8). A unknown object with ID 71 is 34.4 meters away at (34.3, 3.6). A vehicle with ID 17 is 34.9 meters away at (-1.1, -34.9).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [12.353184  -5.0981703] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.03097804 -0.00994486] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-1.289575    0.59827715] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.213745 10.360588], 11.184696197509766 meters away.)"}
{"file_name": "images/scenario_835_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 8.3) m/s. Its current heading (yaw) is 1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 7.3 meters away at (-6.8, 2.8). A unknown object with ID 7 is 10.2 meters away at (-9.5, -3.5). A vehicle with ID 2 is 21.0 meters away at (-1.4, -21.0). A vehicle with ID 11 is 33.7 meters away at (21.2, -26.3). A vehicle with ID 12 is 35.1 meters away at (24.4, -25.3). A vehicle with ID 13 is 44.9 meters away at (30.1, -33.3).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [4.2117243 4.8004284] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-3.963049  10.281793 ]\n [14.454107  -4.2005734]\n [-2.3437302 11.103187 ]\n [15.654693  -3.0546799]]", "nav_goal": "(-173.5832977294922, 237.1728515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.766945   2.7648573], 7.309991836547852 meters away.)"}
{"file_name": "images/scenario_835_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 8.8) m/s. Its current heading (yaw) is 2.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 14.2 meters away at (2.4, -14.0). A unknown object with ID 7 is 20.5 meters away at (-0.2, -20.5). A vehicle with ID 2 is 28.0 meters away at (12.8, -24.9). A vehicle with ID 11 is 52.8 meters away at (30.5, -43.2). A vehicle with ID 12 is 54.0 meters away at (33.7, -42.2). A vehicle with ID 6 is 60.5 meters away at (-39.6, 45.8).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-0.02886098  7.837922  ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 6.9858737 -8.823267 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-3.963049  10.281793 ]\n [14.454107  -4.2005734]\n [-2.3437302 11.103187 ]\n [15.654693  -3.0546799]]", "nav_goal": "(-173.5832977294922, 237.1728515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  2.4095654 -14.00786  ], 14.213590621948242 meters away.)"}
{"file_name": "images/scenario_835_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 9.7) m/s. Its current heading (yaw) is 2.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 17.1 meters away at (-13.1, 11.0). A vehicle with ID 2 is 34.2 meters away at (21.5, -26.6). A vehicle with ID 10 is 36.2 meters away at (16.4, -32.3). A vehicle with ID 11 is 75.9 meters away at (44.4, -61.6).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.667521  -7.3134756] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-4.886508  8.69878 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-3.963049  10.281793 ]\n [14.454107  -4.2005734]\n [-2.3437302 11.103187 ]\n [15.654693  -3.0546799]]", "nav_goal": "(-173.5832977294922, 237.1728515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-13.138741  11.01791 ], 17.147035598754883 meters away.)"}
{"file_name": "images/scenario_835_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 10.5) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 25.9 meters away at (13.0, -22.4). A vehicle with ID 2 is 37.7 meters away at (25.0, -28.3). A vehicle with ID 10 is 61.9 meters away at (32.4, -52.8).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.277837  -5.5334888] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.2789783 10.2645   ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-3.963049  10.281793 ]\n [-2.3437302 11.103187 ]]", "nav_goal": "(-173.5832977294922, 237.1728515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 12.988497 -22.391079], 25.88554573059082 meters away.)"}
{"file_name": "images/scenario_836_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 8.6 meters away at (-5.8, -6.4). A vehicle with ID 26 is 18.6 meters away at (-12.2, -14.0). A vehicle with ID 21 is 20.8 meters away at (-16.5, -12.6). A pedestrian with ID 23 is 26.0 meters away at (-12.2, -23.0). A unknown object with ID 33 is 43.6 meters away at (5.1, 43.3). A unknown object with ID 34 is 45.1 meters away at (6.8, 44.6). A unknown object with ID 35 is 47.2 meters away at (9.2, 46.3). A unknown object with ID 36 is 49.5 meters away at (11.8, 48.1). A unknown object with ID 3 is 51.7 meters away at (14.1, 49.8). A pedestrian with ID 5 is 52.0 meters away at (-52.0, -0.7).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2773186  -0.14533728] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.3701922  -0.22153488] m/s.", "light_description": "There are active red lights at the following coordinates: [[-59.54908  -32.40172 ]\n [-55.932148 -32.981678]\n [-29.446703 -22.321693]\n [-52.065063 -34.10549 ]\n [-25.710817 -23.029648]\n [-20.964764 -23.584196]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.818438  -6.3983674], 8.648313522338867 meters away.)"}
{"file_name": "images/scenario_836_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 8.7 meters away at (-5.8, -6.4). A vehicle with ID 26 is 18.7 meters away at (-12.2, -14.1). A vehicle with ID 21 is 20.8 meters away at (-16.5, -12.6). A pedestrian with ID 23 is 27.4 meters away at (-14.0, -23.5). A vehicle with ID 13 is 40.4 meters away at (29.2, 28.0). A unknown object with ID 33 is 43.5 meters away at (4.8, 43.2). A unknown object with ID 34 is 45.0 meters away at (6.7, 44.5). A unknown object with ID 35 is 47.2 meters away at (9.2, 46.3). A unknown object with ID 36 is 49.5 meters away at (11.8, 48.1). A unknown object with ID 37 is 53.7 meters away at (16.2, 51.2).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0089178  -0.14625934] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-11.11217    -7.7950897] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-59.54908  -32.40172 ]\n [-55.932148 -32.981678]\n [-29.446703 -22.321693]\n [-52.065063 -34.10549 ]\n [-25.710817 -23.029648]\n [-20.964764 -23.584196]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.827922  -6.3997645], 8.655730247497559 meters away.)"}
{"file_name": "images/scenario_836_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 8.6 meters away at (-5.8, -6.4). A vehicle with ID 13 is 16.7 meters away at (9.9, 13.4). A vehicle with ID 26 is 19.3 meters away at (-12.6, -14.6). A vehicle with ID 21 is 20.7 meters away at (-16.5, -12.5). A pedestrian with ID 23 is 28.5 meters away at (-15.1, -24.2). A pedestrian with ID 12 is 32.5 meters away at (-17.0, 27.8). A unknown object with ID 33 is 43.5 meters away at (4.9, 43.3). A vehicle with ID 11 is 45.0 meters away at (31.7, 32.0). A unknown object with ID 34 is 45.0 meters away at (6.7, 44.5). A vehicle with ID 14 is 45.5 meters away at (29.1, 35.1).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.9133983 -6.5881457] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.33416492 -0.3797641 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.03727519 -0.17592083] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.548773   0.21661362] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-10.484628   -7.6952906] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-11.626773   -7.9945397] m/s.", "light_description": "There are active red lights at the following coordinates: [[-59.54908  -32.40172 ]\n [-53.219635 -20.583498]\n [-55.932148 -32.981678]\n [-29.446703 -22.321693]\n [-52.065063 -34.10549 ]\n [-25.710817 -23.029648]\n [-53.58882  -21.558434]\n [-20.964764 -23.584196]\n [-59.16744  -22.701265]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.81882   -6.3976336], 8.648027420043945 meters away.)"}
{"file_name": "images/scenario_836_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 3.1 meters away at (-2.1, 2.3). A vehicle with ID 15 is 8.7 meters away at (-5.8, -6.4). A vehicle with ID 26 is 19.8 meters away at (-13.0, -15.0). A vehicle with ID 21 is 20.8 meters away at (-16.5, -12.6). A vehicle with ID 14 is 20.9 meters away at (7.6, 19.5). A vehicle with ID 11 is 23.1 meters away at (14.2, 18.2). A pedestrian with ID 23 is 28.7 meters away at (-15.2, -24.4). A pedestrian with ID 12 is 31.4 meters away at (-13.8, 28.3). A vehicle with ID 17 is 40.3 meters away at (27.7, 29.3). A unknown object with ID 33 is 43.6 meters away at (5.0, 43.3).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [-4.3729844 -4.3522224] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-9.915232  -7.5054126] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.209517  -6.0921082] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.00060762 -0.00821302] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.3569514 -0.1150947] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-9.984925 -7.231817] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-59.54908  -32.40172 ]\n [-53.219635 -20.583498]\n [-55.932148 -32.981678]\n [-29.446703 -22.321693]\n [-52.065063 -34.10549 ]\n [-25.710817 -23.029648]\n [-53.58882  -21.558434]\n [-20.964764 -23.584196]\n [-59.16744  -22.701265]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.0637836  2.2911727], 3.0836141109466553 meters away.)"}
{"file_name": "images/scenario_837_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 9.0) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-117.63581085205078, 244.28370666503906)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_837_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 9.3) m/s. Its current heading (yaw) is 1.90 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-117.63581085205078, 244.28370666503906)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_837_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 9.3) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-117.63581085205078, 244.28370666503906)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_837_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 8.9) m/s. Its current heading (yaw) is 1.98 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-117.63581085205078, 244.28370666503906)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_838_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.2) m/s. Its current heading (yaw) is 1.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 13.6 meters away at (-12.3, 5.7). A unknown object with ID 51 is 27.0 meters away at (4.2, 26.6). A unknown object with ID 52 is 27.5 meters away at (2.3, 27.4). A unknown object with ID 50 is 28.1 meters away at (-25.9, 10.9). A unknown object with ID 53 is 28.2 meters away at (0.7, 28.2). A pedestrian with ID 40 is 30.9 meters away at (-0.4, 30.9). A vehicle with ID 56 is 46.6 meters away at (-46.0, -7.6). A vehicle with ID 35 is 48.5 meters away at (-47.7, -9.2). A vehicle with ID 4 is 65.4 meters away at (61.2, -23.1).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.5534365 -0.5358813] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-9.486643   3.8973694] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-12.292181   5.72321 ], 13.559234619140625 meters away.)"}
{"file_name": "images/scenario_838_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.4) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 51 is 21.9 meters away at (7.0, 20.8). A unknown object with ID 52 is 22.2 meters away at (5.2, 21.6). A unknown object with ID 53 is 22.7 meters away at (3.5, 22.4). A unknown object with ID 50 is 23.7 meters away at (-23.2, 5.3). A unknown object with ID 10 is 24.5 meters away at (-23.9, 5.7). A pedestrian with ID 40 is 25.0 meters away at (5.7, 24.3). A unknown object with ID 21 is 25.1 meters away at (-24.4, 6.0). A unknown object with ID 25 is 27.2 meters away at (7.0, 26.3). A vehicle with ID 56 is 45.3 meters away at (-43.3, -13.5). A vehicle with ID 35 is 47.3 meters away at (-44.8, -15.1).", "velocity_description": "The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.181392   -0.31733617] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 7.0250216 20.773857 ], 21.92952537536621 meters away.)"}
{"file_name": "images/scenario_838_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 2.8) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 5.0 meters away at (0.8, -5.0). A unknown object with ID 50 is 12.9 meters away at (-12.9, 0.0). A unknown object with ID 10 is 13.6 meters away at (-13.6, 0.3). A unknown object with ID 21 is 14.0 meters away at (-14.0, 0.5). A unknown object with ID 8 is 14.7 meters away at (-14.7, 1.1). A unknown object with ID 53 is 22.1 meters away at (13.6, 17.4). A unknown object with ID 36 is 22.3 meters away at (22.0, -3.7). A unknown object with ID 52 is 22.7 meters away at (15.2, 16.8). A unknown object with ID 51 is 23.4 meters away at (17.1, 15.9). A pedestrian with ID 40 is 27.0 meters away at (19.2, 19.0).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.7320391  -0.15974192] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 0.81993294 -4.9659376 ], 5.033172607421875 meters away.)"}
{"file_name": "images/scenario_838_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 3.8) m/s. Its current heading (yaw) is 2.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 8 is 5.9 meters away at (-0.3, -5.9). A unknown object with ID 21 is 6.3 meters away at (0.4, -6.2). A unknown object with ID 10 is 6.5 meters away at (0.8, -6.4). A unknown object with ID 50 is 6.7 meters away at (1.1, -6.6). A unknown object with ID 20 is 19.0 meters away at (15.1, -11.5). A pedestrian with ID 39 is 29.0 meters away at (-8.6, 27.6). A pedestrian with ID 26 is 29.3 meters away at (-8.0, 28.1). A vehicle with ID 56 is 31.5 meters away at (-18.7, -25.4). A vehicle with ID 35 is 33.8 meters away at (-20.1, -27.2). A vehicle with ID 27 is 34.8 meters away at (-27.9, -20.8).", "velocity_description": "The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.1450512   0.56188214] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.1256353   0.52919346] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.25130653 -5.920768  ], 5.926098823547363 meters away.)"}
{"file_name": "images/scenario_839_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -6.2) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 9.0 meters away at (-7.1, 5.5). A vehicle with ID 27 is 12.2 meters away at (-11.0, 5.5). A vehicle with ID 29 is 15.2 meters away at (-15.1, 1.9). A vehicle with ID 25 is 23.0 meters away at (-9.3, 21.1). A pedestrian with ID 28 is 29.7 meters away at (-0.4, 29.7). A unknown object with ID 14 is 45.2 meters away at (8.2, 44.4). A unknown object with ID 13 is 46.0 meters away at (9.8, 45.0). A pedestrian with ID 7 is 64.4 meters away at (13.5, 63.0). A pedestrian with ID 33 is 78.5 meters away at (18.7, 76.3).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0.38606712 2.4136944 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-9.715496  -0.5546442] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [1.037039  0.5399555] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.25304952 -0.6396146 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.17366047 0.5889047 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.077888  -10.779424 ]\n [ -8.324464    4.15125  ]\n [ -8.081517    3.9848316]\n [-20.789629  -10.926674 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.0745025  5.535418 ], 8.9827299118042 meters away.)"}
{"file_name": "images/scenario_839_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -6.5) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 18.4 meters away at (-0.1, 18.4). A vehicle with ID 27 is 18.8 meters away at (-3.9, 18.4). A vehicle with ID 29 is 20.1 meters away at (-7.9, 18.5). A vehicle with ID 25 is 39.7 meters away at (-22.3, 32.8). A pedestrian with ID 28 is 44.8 meters away at (8.6, 43.9). A pedestrian with ID 4 is 58.7 meters away at (-45.4, -37.3). A unknown object with ID 14 is 59.3 meters away at (15.4, 57.2).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.07633398  1.0824915 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-10.115875   -0.5700776] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [1.0660067  0.69096655] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.6672792  -0.97369444] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.077888  -10.779424 ]\n [ -8.324464    4.15125  ]\n [ -8.081517    3.9848316]\n [-20.789629  -10.926674 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.08985519 18.38232   ], 18.382539749145508 meters away.)"}
{"file_name": "images/scenario_839_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -6.4) m/s. Its current heading (yaw) is -2.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 31.3 meters away at (2.9, 31.1). A vehicle with ID 26 is 31.9 meters away at (6.7, 31.2). A vehicle with ID 29 is 32.2 meters away at (-1.0, 32.2). A pedestrian with ID 4 is 47.6 meters away at (-39.5, -26.7). A vehicle with ID 10 is 56.6 meters away at (-48.6, -28.8). A pedestrian with ID 19 is 67.1 meters away at (-62.6, -24.3).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.7570504 -0.9802265] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.0072906 -2.022208 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.15549244 -0.516311  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.077888  -10.779424 ]\n [ -8.324464    4.15125  ]\n [ -8.081517    3.9848316]\n [-20.789629  -10.926674 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.9198322 31.140495 ], 31.277082443237305 meters away.)"}
{"file_name": "images/scenario_839_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -6.3) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 4 is 37.7 meters away at (-34.1, -16.0). A vehicle with ID 27 is 44.7 meters away at (9.4, 43.7). A vehicle with ID 29 is 45.2 meters away at (5.6, 44.8). A vehicle with ID 26 is 45.7 meters away at (13.3, 43.8). A vehicle with ID 10 is 50.3 meters away at (-45.6, -21.2). A pedestrian with ID 22 is 57.2 meters away at (-56.1, -11.4).", "velocity_description": "The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.69380015 -0.8908905 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.4551222 -2.693239 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00663947 0.0069707 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-21.077888  -10.779424 ]\n [ -8.324464    4.15125  ]\n [ -8.081517    3.9848316]\n [-20.789629  -10.926674 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-34.12536  -16.035606], 37.70518112182617 meters away.)"}
{"file_name": "images/scenario_840_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.04 ", "actor_description": " The most relevant actors are: A cyclist with ID 22 is 4.3 meters away at (-0.6, -4.3). A pedestrian with ID 56 is 4.6 meters away at (3.7, -2.7). A cyclist with ID 25 is 5.6 meters away at (-2.2, -5.1). A vehicle with ID 57 is 6.3 meters away at (-5.9, 2.0). A vehicle with ID 59 is 10.1 meters away at (-9.3, -3.9). A vehicle with ID 61 is 14.4 meters away at (-11.8, -8.2). A pedestrian with ID 60 is 15.9 meters away at (-13.9, -7.7). A vehicle with ID 67 is 21.0 meters away at (20.9, 2.1). A unknown object with ID 68 is 21.2 meters away at (19.9, -7.2). A pedestrian with ID 65 is 22.6 meters away at (22.4, -3.4).", "velocity_description": "The cyclist with ID 22 is traveling at a (x, y) velocity of [-0.00908729 -0.02038346] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.70231783 -1.1794668 ] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-0.01484215 -0.00752136] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.74365705 -1.3601167 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.6934201 0.8327206] m/s.", "light_description": "There are active red lights at the following coordinates: [[3.9578054 6.612602 ]\n [6.8903446 2.3404915]]", "nav_goal": "(-52.1421012878418, 140.1449737548828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-0.5859499 -4.25705  ], 4.297186374664307 meters away.)"}
{"file_name": "images/scenario_840_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 2.2) m/s. Its current heading (yaw) is 1.06 ", "actor_description": " The most relevant actors are: A cyclist with ID 22 is 6.1 meters away at (-1.7, -5.9). A vehicle with ID 57 is 7.3 meters away at (-7.3, -0.3). A pedestrian with ID 56 is 7.7 meters away at (0.8, -7.6). A cyclist with ID 25 is 8.2 meters away at (-3.4, -7.4). A vehicle with ID 59 is 12.4 meters away at (-10.8, -6.2). A vehicle with ID 61 is 16.9 meters away at (-13.2, -10.5). A vehicle with ID 67 is 19.6 meters away at (19.6, -0.3). A unknown object with ID 68 is 20.9 meters away at (18.5, -9.6). A pedestrian with ID 60 is 21.0 meters away at (-16.7, -12.8). A pedestrian with ID 65 is 22.9 meters away at (22.5, -4.1).", "velocity_description": "The cyclist with ID 22 is traveling at a (x, y) velocity of [0.29050234 1.1819245 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.74233556 -1.2742158 ] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [0.2493348 0.3535065] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.71646065 -1.3412429 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.87933993 0.8045714 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 9.447602  23.230185 ]\n [ 7.619516  25.206154 ]\n [ 6.8903446  2.3404915]]", "nav_goal": "(-52.1421012878418, 140.1449737548828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-1.7169313 -5.870286 ], 6.116217136383057 meters away.)"}
{"file_name": "images/scenario_840_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 2.9) m/s. Its current heading (yaw) is 1.06 ", "actor_description": " The most relevant actors are: A cyclist with ID 22 is 8.0 meters away at (-3.2, -7.3). A cyclist with ID 25 is 11.1 meters away at (-5.0, -9.9). A vehicle with ID 57 is 11.8 meters away at (-10.4, -5.6). A pedestrian with ID 56 is 15.9 meters away at (-3.7, -15.5). A vehicle with ID 67 is 17.4 meters away at (16.5, -5.7). A vehicle with ID 59 is 18.0 meters away at (-13.8, -11.5). A vehicle with ID 13 is 21.0 meters away at (-11.1, 17.9). A unknown object with ID 68 is 21.5 meters away at (15.5, -15.0). A pedestrian with ID 65 is 22.0 meters away at (20.1, -8.9). A vehicle with ID 61 is 22.7 meters away at (-16.3, -15.9).", "velocity_description": "The cyclist with ID 22 is traveling at a (x, y) velocity of [1.0474817 2.1844478] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [0.9576648 1.5455992] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.63962525 -1.2205123 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.17446145 -0.17154591] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 9.447602 23.230185]\n [ 7.619516 25.206154]]", "nav_goal": "(-52.1421012878418, 140.1449737548828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-3.1825209 -7.334063 ], 7.994805812835693 meters away.)"}
{"file_name": "images/scenario_840_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 3.3) m/s. Its current heading (yaw) is 1.43 ", "actor_description": " The most relevant actors are: A cyclist with ID 22 is 9.5 meters away at (-3.7, -8.7). A cyclist with ID 25 is 12.3 meters away at (-4.9, -11.3). A vehicle with ID 57 is 17.1 meters away at (-12.9, -11.2). A pedestrian with ID 33 is 17.4 meters away at (14.6, -9.4). A vehicle with ID 67 is 18.2 meters away at (14.0, -11.6). A vehicle with ID 13 is 18.2 meters away at (-13.4, 12.3). A vehicle with ID 19 is 19.6 meters away at (8.8, 17.5). A unknown object with ID 50 is 21.8 meters away at (-6.0, 21.0). A pedestrian with ID 65 is 22.8 meters away at (16.4, -15.9). A vehicle with ID 11 is 23.3 meters away at (-17.1, 15.8).", "velocity_description": "The cyclist with ID 22 is traveling at a (x, y) velocity of [1.138758 2.266573] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [1.1725456 1.9818894] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.08300769 -0.0009526 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.78977966 -1.2900262 ] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.67928505 -0.65535367] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-52.1421012878418, 140.1449737548828)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-3.673597 -8.728881], 9.470410346984863 meters away.)"}
{"file_name": "images/scenario_841_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 7.8 meters away at (4.9, 6.0). A unknown object with ID 52 is 9.1 meters away at (-8.9, 1.4). A unknown object with ID 53 is 11.0 meters away at (-0.9, 11.0). A vehicle with ID 55 is 17.4 meters away at (-16.9, -4.1). A vehicle with ID 14 is 18.3 meters away at (11.7, 14.1). A vehicle with ID 54 is 18.4 meters away at (9.0, 16.0). A vehicle with ID 56 is 20.5 meters away at (-17.6, 10.4). A vehicle with ID 57 is 21.3 meters away at (-21.2, -2.0). A vehicle with ID 58 is 27.3 meters away at (-27.1, 3.3). A vehicle with ID 59 is 28.9 meters away at (-21.5, -19.4).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [2.528249  3.0312245] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [2.1003544 3.0983088] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.670366 23.611372]\n [20.477215 30.362883]\n [10.617847 20.992622]\n [16.92516  16.090523]\n [19.090378 32.07559 ]\n [20.408583 30.727093]\n [16.93067  15.054608]]", "nav_goal": "(195.97315979003906, 191.8271942138672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.9128838 6.002924 ], 7.757030487060547 meters away.)"}
{"file_name": "images/scenario_841_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 0.8) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 9.4 meters away at (5.9, 7.3). A unknown object with ID 53 is 10.3 meters away at (-1.6, 10.2). A vehicle with ID 55 is 18.3 meters away at (-17.6, -5.0). A vehicle with ID 56 is 20.7 meters away at (-18.3, 9.6). A vehicle with ID 57 is 22.1 meters away at (-21.9, -2.8). A vehicle with ID 43 is 25.0 meters away at (23.2, -9.3). A vehicle with ID 54 is 27.6 meters away at (11.4, 25.1). A vehicle with ID 58 is 27.9 meters away at (-27.8, 2.5). A vehicle with ID 14 is 29.7 meters away at (19.0, 22.8). A vehicle with ID 59 is 30.0 meters away at (-22.2, -20.3).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [1.965501  2.5885882] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.409928  6.204064] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [5.0855117 6.2014303] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.670366 23.611372]\n [20.477215 30.362883]\n [10.617847 20.992622]\n [19.090378 32.07559 ]\n [20.408583 30.727093]]", "nav_goal": "(195.97315979003906, 191.8271942138672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.910072  7.3226624], 9.410118103027344 meters away.)"}
{"file_name": "images/scenario_841_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 3.4) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 53 is 7.9 meters away at (-5.0, 6.2). A vehicle with ID 51 is 13.1 meters away at (8.9, 9.6). A unknown object with ID 44 is 13.4 meters away at (-12.9, -3.3). A vehicle with ID 56 is 22.4 meters away at (-21.6, 5.7). A vehicle with ID 28 is 22.7 meters away at (19.7, -11.4). A vehicle with ID 55 is 22.8 meters away at (-20.9, -8.9). A vehicle with ID 43 is 23.8 meters away at (19.8, -13.2). A vehicle with ID 57 is 26.2 meters away at (-25.3, -6.7). A vehicle with ID 60 is 28.8 meters away at (-3.0, 28.6). A vehicle with ID 58 is 31.2 meters away at (-31.2, -1.5).", "velocity_description": "The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [4.466378  2.4139974] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.670366 23.611372]\n [20.477215 30.362883]\n [10.617847 20.992622]\n [19.090378 32.07559 ]\n [20.408583 30.727093]]", "nav_goal": "(195.97315979003906, 191.8271942138672)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.968154  6.161617], 7.915053844451904 meters away.)"}
{"file_name": "images/scenario_841_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.2) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 12.4 meters away at (12.3, 1.6). A unknown object with ID 53 is 12.5 meters away at (-12.3, -2.6). A vehicle with ID 60 is 22.4 meters away at (-10.3, 19.8). A vehicle with ID 26 is 24.4 meters away at (14.1, -19.9). A vehicle with ID 43 is 25.3 meters away at (12.5, -22.0). A vehicle with ID 56 is 29.1 meters away at (-28.9, -3.2). A vehicle with ID 55 is 33.4 meters away at (-28.3, -17.8). A vehicle with ID 15 is 33.6 meters away at (23.6, 24.0). A pedestrian with ID 16 is 34.2 meters away at (-4.6, 33.9). A vehicle with ID 49 is 36.1 meters away at (17.2, 31.7).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [ 6.0350924 -1.8397727] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.1952182 -0.5930869] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.670366 23.611372]\n [20.477215 30.362883]\n [10.617847 20.992622]\n [19.090378 32.07559 ]\n [20.408583 30.727093]]", "nav_goal": "(195.97315979003906, 191.8271942138672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.293353   1.6067038], 12.397904396057129 meters away.)"}
{"file_name": "images/scenario_842_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.6) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 43.4 meters away at (-34.8, 25.9).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(45.586753845214844, 92.0057373046875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-34.782284  25.925201], 43.381141662597656 meters away.)"}
{"file_name": "images/scenario_842_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.9) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 29.3 meters away at (-24.1, 16.5).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(45.586753845214844, 92.0057373046875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-24.142553  16.518938], 29.253002166748047 meters away.)"}
{"file_name": "images/scenario_842_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 5.2) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 14.3 meters away at (-12.8, 6.4).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(45.586753845214844, 92.0057373046875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.823639   6.357397], 14.313008308410645 meters away.)"}
{"file_name": "images/scenario_842_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 4.9) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 3.9 meters away at (-1.1, -3.8). A unknown object with ID 5 is 38.8 meters away at (21.3, -32.4).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(45.586753845214844, 92.0057373046875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.0789833 -3.777874 ], 3.9289357662200928 meters away.)"}
{"file_name": "images/scenario_843_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 26.7 meters away at (7.1, 25.8). A unknown object with ID 5 is 59.9 meters away at (-34.9, -48.6). A vehicle with ID 12 is 62.7 meters away at (51.9, -35.1).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 11.452919  -15.7254925] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [  8.943791 -12.70302 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[9.057722 8.220527]]", "nav_goal": "(-155.99818420410156, 237.28915405273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.0963545 25.761478 ], 26.72100257873535 meters away.)"}
{"file_name": "images/scenario_843_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 30.2 meters away at (29.7, -5.5).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 11.191252 -15.435595] m/s.", "light_description": "There are active red lights at the following coordinates: [[9.057722 8.220527]]", "nav_goal": "(-155.99818420410156, 237.28915405273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [29.728277  -5.5118666], 30.23493194580078 meters away.)"}
{"file_name": "images/scenario_843_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 63.0 meters away at (51.8, -35.9).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 11.07125 -14.95425] m/s.", "light_description": "There are active red lights at the following coordinates: [[9.057722 8.220527]]", "nav_goal": "(-155.99818420410156, 237.28915405273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 51.77795  -35.916946], 63.0157356262207 meters away.)"}
{"file_name": "images/scenario_843_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.62 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are active red lights at the following coordinates: [[9.057722 8.220527]]", "nav_goal": "(-155.99818420410156, 237.28915405273438)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_844_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 3.4) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 4.8 meters away at (4.7, 0.5). A vehicle with ID 59 is 5.1 meters away at (0.1, -5.1). A vehicle with ID 62 is 6.7 meters away at (-5.6, 3.6). A vehicle with ID 57 is 10.1 meters away at (-9.9, -1.9). A vehicle with ID 52 is 11.7 meters away at (-4.5, -10.8). A vehicle with ID 55 is 16.0 meters away at (-14.3, -7.3). A vehicle with ID 60 is 19.2 meters away at (-9.3, -16.9). A vehicle with ID 61 is 22.0 meters away at (-18.3, -12.1). A unknown object with ID 54 is 23.7 meters away at (0.3, 23.7). A unknown object with ID 74 is 23.8 meters away at (5.6, 23.1).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [4.745786   0.54522705], 4.777002811431885 meters away.)"}
{"file_name": "images/scenario_844_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 0.4) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 3.6 meters away at (1.8, -3.1). A vehicle with ID 62 is 8.5 meters away at (-8.5, -0.0). A vehicle with ID 59 is 9.2 meters away at (-2.9, -8.8). A vehicle with ID 57 is 14.0 meters away at (-12.9, -5.5). A vehicle with ID 52 is 16.3 meters away at (-7.5, -14.5). A unknown object with ID 74 is 19.7 meters away at (2.6, 19.5). A unknown object with ID 54 is 20.3 meters away at (-2.7, 20.1). A vehicle with ID 55 is 20.4 meters away at (-17.2, -10.9). A vehicle with ID 16 is 23.2 meters away at (23.1, 1.7). A vehicle with ID 60 is 23.9 meters away at (-12.2, -20.5).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-3.7583756  2.9159274] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.8397684 -3.0548048], 3.5660312175750732 meters away.)"}
{"file_name": "images/scenario_844_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.5) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 3.8 meters away at (1.5, -3.5). A vehicle with ID 62 is 8.8 meters away at (-8.8, -0.4). A vehicle with ID 59 is 9.7 meters away at (-3.1, -9.2). A vehicle with ID 57 is 14.4 meters away at (-13.2, -6.0). A vehicle with ID 52 is 16.7 meters away at (-7.7, -14.8). A vehicle with ID 16 is 19.1 meters away at (18.6, 4.5). A unknown object with ID 74 is 19.3 meters away at (2.4, 19.2). A unknown object with ID 54 is 19.9 meters away at (-3.0, 19.7). A vehicle with ID 55 is 20.8 meters away at (-17.4, -11.4). A vehicle with ID 77 is 21.2 meters away at (-13.2, -16.6).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.85339046  0.44739002] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [3.2734792 3.8395195] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.5429583 -3.456562 ], 3.785305976867676 meters away.)"}
{"file_name": "images/scenario_844_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 1.3) m/s. Its current heading (yaw) is 0.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 7.0 meters away at (-2.4, -6.5). A vehicle with ID 62 is 13.2 meters away at (-12.7, -3.6). A vehicle with ID 16 is 14.0 meters away at (13.9, 2.0). A vehicle with ID 59 is 14.2 meters away at (-7.1, -12.3). A unknown object with ID 74 is 16.1 meters away at (-1.9, 16.0). A vehicle with ID 77 is 17.2 meters away at (-11.4, -12.8). A unknown object with ID 54 is 18.0 meters away at (-7.2, 16.5). A vehicle with ID 57 is 19.3 meters away at (-17.0, -9.1). A pedestrian with ID 12 is 20.0 meters away at (15.8, -12.2). A unknown object with ID 8 is 20.2 meters away at (20.2, 0.2).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [2.486693  3.0386803] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.0964199  0.7455609] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.3681097 -6.546939 ], 6.96206521987915 meters away.)"}
{"file_name": "images/scenario_845_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -4.1) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 13.0 meters away at (-10.5, -7.6). A vehicle with ID 33 is 15.8 meters away at (-4.0, -15.3). A vehicle with ID 30 is 18.2 meters away at (-13.9, -11.8). A pedestrian with ID 45 is 18.9 meters away at (-16.4, -9.3). A vehicle with ID 35 is 23.1 meters away at (-8.8, -21.4). A vehicle with ID 40 is 24.1 meters away at (-16.0, 17.9). A vehicle with ID 31 is 24.8 meters away at (-18.1, -16.9). A vehicle with ID 36 is 29.4 meters away at (-13.0, -26.3). A vehicle with ID 34 is 29.6 meters away at (-21.1, -20.8). A vehicle with ID 37 is 34.6 meters away at (-24.1, -24.8).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.7674955 1.193539 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-5.4927535  3.8470166] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.0626983642578, -244.02235412597656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.534197  -7.638575], 13.012191772460938 meters away.)"}
{"file_name": "images/scenario_845_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -3.8) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 4.3 meters away at (-4.3, 0.3). A vehicle with ID 33 is 7.8 meters away at (2.3, -7.4). A vehicle with ID 30 is 8.5 meters away at (-7.6, -3.8). A pedestrian with ID 45 is 8.6 meters away at (-8.5, 1.3). A vehicle with ID 35 is 13.8 meters away at (-2.5, -13.5). A vehicle with ID 31 is 14.8 meters away at (-11.8, -9.0). A vehicle with ID 34 is 19.6 meters away at (-14.8, -12.9). A vehicle with ID 36 is 19.6 meters away at (-6.7, -18.4). A vehicle with ID 37 is 24.6 meters away at (-17.8, -16.9). A vehicle with ID 38 is 25.1 meters away at (-10.2, -22.9).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.82124865 1.2555213 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.0626983642578, -244.02235412597656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.2884874   0.27165604], 4.297082901000977 meters away.)"}
{"file_name": "images/scenario_845_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -2.6) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 3.6 meters away at (-2.3, 2.8). A vehicle with ID 31 is 6.8 meters away at (-6.4, -2.3). A vehicle with ID 29 is 6.9 meters away at (1.0, 6.8). A vehicle with ID 35 is 7.4 meters away at (2.9, -6.8). A vehicle with ID 33 is 7.6 meters away at (7.6, -0.8). A pedestrian with ID 45 is 10.9 meters away at (-1.7, 10.7). A vehicle with ID 34 is 11.2 meters away at (-9.4, -6.1). A vehicle with ID 36 is 11.8 meters away at (-1.3, -11.8). A vehicle with ID 37 is 16.1 meters away at (-12.4, -10.1). A vehicle with ID 38 is 16.9 meters away at (-4.7, -16.2).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0.71171784 1.3131669 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.0626983642578, -244.02235412597656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.3174992  2.8032227], 3.6371498107910156 meters away.)"}
{"file_name": "images/scenario_845_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.2) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 3.7 meters away at (-3.4, 1.5). A vehicle with ID 30 is 6.5 meters away at (0.6, 6.5). A vehicle with ID 34 is 6.7 meters away at (-6.3, -2.3). A vehicle with ID 35 is 6.7 meters away at (6.0, -3.0). A vehicle with ID 36 is 8.2 meters away at (1.8, -8.0). A vehicle with ID 33 is 11.0 meters away at (10.6, 2.8). A vehicle with ID 37 is 11.3 meters away at (-9.3, -6.3). A vehicle with ID 29 is 11.4 meters away at (4.0, 10.6). A vehicle with ID 38 is 12.5 meters away at (-1.6, -12.4). A vehicle with ID 41 is 17.2 meters away at (-5.1, -16.4).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-167.0626983642578, -244.02235412597656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.3827229  1.4577255], 3.6834464073181152 meters away.)"}
{"file_name": "images/scenario_846_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.7) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 6.7 meters away at (-6.6, -0.8). A vehicle with ID 5 is 8.9 meters away at (-8.4, 2.9). A vehicle with ID 55 is 10.6 meters away at (-8.4, 6.5). A vehicle with ID 49 is 13.5 meters away at (-13.4, 1.6). A vehicle with ID 62 is 15.1 meters away at (14.2, 5.2). A vehicle with ID 21 is 17.5 meters away at (3.5, -17.1). A vehicle with ID 54 is 19.2 meters away at (-18.9, 3.5). A vehicle with ID 70 is 20.4 meters away at (-16.5, 11.9). A vehicle with ID 6 is 20.9 meters away at (15.2, 14.3). A unknown object with ID 66 is 21.4 meters away at (16.4, -13.7).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 3.5268738 -1.2287327] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-9.309186   2.9325595] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-2.2991197 -2.6199615] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(109.6344223022461, 51.84840774536133)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.644317   -0.79019654], 6.691140174865723 meters away.)"}
{"file_name": "images/scenario_846_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.1) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 5.9 meters away at (-5.6, 1.9). A vehicle with ID 62 is 6.6 meters away at (6.0, 2.9). A vehicle with ID 43 is 7.8 meters away at (-7.8, -0.4). A vehicle with ID 49 is 14.8 meters away at (-14.7, 2.1). A vehicle with ID 73 is 16.9 meters away at (16.7, -2.7). A vehicle with ID 72 is 17.3 meters away at (-16.3, 5.7). A vehicle with ID 14 is 18.4 meters away at (3.1, -18.1). A vehicle with ID 57 is 19.4 meters away at (15.9, 11.1). A unknown object with ID 66 is 20.3 meters away at (15.3, -13.3). A vehicle with ID 6 is 20.4 meters away at (14.0, 14.8).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ 0.44819036 -0.14375551] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-4.744918    0.25076237] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-3.0815964  1.6761156] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 4.417104  -1.5640756] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-0.4339353 -0.9963014] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(109.6344223022461, 51.84840774536133)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.5575895  1.9170384], 5.878931522369385 meters away.)"}
{"file_name": "images/scenario_846_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.1) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 6.4 meters away at (6.2, 1.7). A vehicle with ID 5 is 8.6 meters away at (-8.1, 2.9). A vehicle with ID 43 is 10.6 meters away at (-10.5, 0.7). A vehicle with ID 62 is 10.8 meters away at (-8.5, 6.7). A vehicle with ID 72 is 15.1 meters away at (-14.2, 5.0). A vehicle with ID 57 is 17.0 meters away at (12.8, 11.3). A vehicle with ID 14 is 17.1 meters away at (0.4, -17.1). A unknown object with ID 66 is 17.5 meters away at (12.5, -12.2). A vehicle with ID 49 is 17.6 meters away at (-17.4, 3.1). A unknown object with ID 65 is 18.0 meters away at (10.4, -14.8).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [-4.636837   1.6820952] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-7.1281476  1.9309558] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 0.8645404  -0.30119863] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-0.2025351  -0.34449062] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(109.6344223022461, 51.84840774536133)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.2208605 1.6744057], 6.442262172698975 meters away.)"}
{"file_name": "images/scenario_846_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -2.8) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 66 is 9.4 meters away at (4.1, -8.4). A vehicle with ID 78 is 10.0 meters away at (9.9, -1.1). A vehicle with ID 57 is 13.5 meters away at (3.7, 13.0). A vehicle with ID 42 is 14.1 meters away at (4.8, -13.3). A vehicle with ID 47 is 14.3 meters away at (14.3, -0.8). A vehicle with ID 5 is 14.8 meters away at (-13.7, 5.7). A vehicle with ID 14 is 15.5 meters away at (-7.9, -13.4). A vehicle with ID 73 is 15.6 meters away at (-12.8, 9.0). A vehicle with ID 43 is 19.5 meters away at (-19.0, 4.4). A vehicle with ID 50 is 19.6 meters away at (19.1, -4.5).", "velocity_description": "The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-0.80645716 -2.4250844 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 2.1380513 -0.8439414] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-6.1003075  1.9075704] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(109.6344223022461, 51.84840774536133)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 4.0865917 -8.440427 ], 9.37768840789795 meters away.)"}
{"file_name": "images/scenario_847_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 8.8) m/s. Its current heading (yaw) is 1.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 19.8 meters away at (-10.4, -16.8).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [ -1.8734655 -12.214725 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-66.93206787109375, 235.3207550048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.443695 -16.804688], 19.78555679321289 meters away.)"}
{"file_name": "images/scenario_847_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 6.2) m/s. Its current heading (yaw) is 0.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 61.0 meters away at (-20.8, -57.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [  3.0175881 -12.401764 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-66.93206787109375, 235.3207550048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-20.785885 -57.347298], 60.998077392578125 meters away.)"}
{"file_name": "images/scenario_847_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 4.2) m/s. Its current heading (yaw) is 0.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 47.2 meters away at (33.1, 33.7). A vehicle with ID 8 is 49.3 meters away at (49.0, 5.7).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-9.646336  13.3657675] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-66.93206787109375, 235.3207550048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [33.054237 33.671886], 47.184513092041016 meters away.)"}
{"file_name": "images/scenario_847_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 2.1) m/s. Its current heading (yaw) is 0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 33.0 meters away at (21.0, 25.5). A vehicle with ID 4 is 57.6 meters away at (52.8, -23.1).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.467626 12.943706] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-9.469501 12.822927] m/s.", "light_description": "There are active red lights at the following coordinates: [[52.269325 62.42134 ]]", "nav_goal": "(-66.93206787109375, 235.3207550048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [20.955284 25.545269], 33.040653228759766 meters away.)"}
{"file_name": "images/scenario_848_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.3) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 9.1 meters away at (9.1, -0.1). A vehicle with ID 43 is 20.1 meters away at (-20.0, 1.8). A vehicle with ID 41 is 21.1 meters away at (18.4, 10.3). A vehicle with ID 35 is 21.3 meters away at (-21.2, -2.1). A vehicle with ID 46 is 24.7 meters away at (6.0, 24.0). A vehicle with ID 34 is 26.4 meters away at (10.9, -24.1). A vehicle with ID 53 is 27.4 meters away at (22.7, 15.3). A vehicle with ID 61 is 34.1 meters away at (27.3, 20.4). A vehicle with ID 47 is 34.6 meters away at (-28.0, -20.4). A vehicle with ID 48 is 35.6 meters away at (-30.2, -18.9).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-1.7773976  1.5056974] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.63444  -13.660515]\n [-12.021277 -11.947807]\n [-10.703072 -13.296304]]", "nav_goal": "(192.43055725097656, -199.71400451660156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.116718   -0.11483622], 9.117441177368164 meters away.)"}
{"file_name": "images/scenario_848_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 10.1 meters away at (10.1, 1.0). A vehicle with ID 43 is 19.3 meters away at (-19.0, 2.9). A vehicle with ID 41 is 22.5 meters away at (19.4, 11.5). A vehicle with ID 35 is 22.9 meters away at (-22.8, 1.3). A vehicle with ID 34 is 25.9 meters away at (11.9, -23.0). A vehicle with ID 46 is 26.0 meters away at (7.0, 25.0). A vehicle with ID 32 is 27.5 meters away at (8.6, -26.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 47 is 33.2 meters away at (-27.0, -19.3). A vehicle with ID 48 is 34.2 meters away at (-29.2, -17.7).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.7394657   0.60155886] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-5.166721  4.450114] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.63444   -13.660515 ]\n [ -9.053779  -19.641308 ]\n [-12.021277  -11.947807 ]\n [ -6.4710727 -17.609333 ]\n [-10.703072  -13.296304 ]]", "nav_goal": "(192.43055725097656, -199.71400451660156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.067289   1.0268297], 10.11952018737793 meters away.)"}
{"file_name": "images/scenario_848_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 10.2 meters away at (10.1, 1.1). A vehicle with ID 32 is 17.7 meters away at (-1.0, -17.7). A vehicle with ID 43 is 19.3 meters away at (-19.0, 3.1). A vehicle with ID 41 is 22.6 meters away at (19.4, 11.5). A vehicle with ID 35 is 23.1 meters away at (-23.1, 1.6). A vehicle with ID 34 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 46 is 26.1 meters away at (7.1, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 47 is 33.0 meters away at (-26.9, -19.2). A vehicle with ID 48 is 34.1 meters away at (-29.1, -17.7).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.5217896  3.9519565] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.63444  -13.660515]\n [-12.021277 -11.947807]\n [-10.703072 -13.296304]]", "nav_goal": "(192.43055725097656, -199.71400451660156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.102255   1.0533891], 10.157026290893555 meters away.)"}
{"file_name": "images/scenario_848_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 10.2 meters away at (10.1, 1.1). A vehicle with ID 32 is 14.0 meters away at (-9.0, -10.8). A vehicle with ID 43 is 19.3 meters away at (-19.0, 3.1). A vehicle with ID 41 is 22.6 meters away at (19.4, 11.5). A vehicle with ID 19 is 24.4 meters away at (-23.4, -7.0). A vehicle with ID 34 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 46 is 26.1 meters away at (7.1, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 47 is 33.1 meters away at (-27.0, -19.2). A vehicle with ID 48 is 34.0 meters away at (-29.1, -17.6).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-3.4682257  3.0362797] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 9.675347 -8.315132] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.63444  -13.660515]\n [-12.021277 -11.947807]\n [-10.703072 -13.296304]]", "nav_goal": "(192.43055725097656, -199.71400451660156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.119042   1.0731573], 10.175788879394531 meters away.)"}
{"file_name": "images/scenario_849_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 5.5) m/s. Its current heading (yaw) is 1.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 12.1 meters away at (10.1, -6.6). A vehicle with ID 58 is 15.3 meters away at (13.6, -7.1). A vehicle with ID 60 is 18.1 meters away at (-13.2, -12.5). A vehicle with ID 62 is 45.6 meters away at (-23.6, -39.0). A vehicle with ID 24 is 48.8 meters away at (-24.1, -42.5). A vehicle with ID 65 is 52.1 meters away at (-13.9, -50.3). A vehicle with ID 38 is 55.7 meters away at (-36.0, -42.4). A pedestrian with ID 43 is 59.7 meters away at (-34.0, -49.1). A pedestrian with ID 66 is 62.9 meters away at (-37.9, -50.2). A vehicle with ID 3 is 70.0 meters away at (25.3, 65.3).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-7.8866515  2.728208 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 3.0031126  -0.13225575] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 9.630784  -3.2040496] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 8.47344   -3.0349708] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.02491497 -0.00315498] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 1.1751255 -0.5147941] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(157.39390563964844, 143.23486328125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.065665  -6.6414785], 12.059305191040039 meters away.)"}
{"file_name": "images/scenario_849_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 5.6) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 19.1 meters away at (6.9, -17.8). A vehicle with ID 58 is 21.0 meters away at (10.4, -18.3). A vehicle with ID 60 is 28.9 meters away at (-16.4, -23.8). A vehicle with ID 24 is 54.1 meters away at (-19.8, -50.4). A vehicle with ID 3 is 58.4 meters away at (21.9, 54.2). A vehicle with ID 38 is 63.6 meters away at (-21.5, -59.8).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [4.337648 4.338459] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 9.22826   -2.9514186] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(157.39390563964844, 143.23486328125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  6.90283  -17.826824], 19.116607666015625 meters away.)"}
{"file_name": "images/scenario_849_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.9) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 17.4 meters away at (9.8, 14.3). A vehicle with ID 31 is 29.4 meters away at (18.9, -22.5). A vehicle with ID 60 is 39.6 meters away at (-19.8, -34.3). A vehicle with ID 32 is 39.8 meters away at (37.3, 13.9). A vehicle with ID 4 is 44.6 meters away at (-6.1, 44.2). A vehicle with ID 3 is 47.5 meters away at (18.4, 43.8). A vehicle with ID 24 is 50.3 meters away at (-15.8, -47.8). A pedestrian with ID 36 is 71.7 meters away at (15.2, 70.0). A pedestrian with ID 19 is 71.8 meters away at (14.6, 70.3). A vehicle with ID 21 is 76.8 meters away at (18.8, 74.4).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [3.1813238 8.445725 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.01499776 -0.00168159] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.03730986 -0.01358491] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(157.39390563964844, 143.23486328125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 9.814835 14.338486], 17.37593650817871 meters away.)"}
{"file_name": "images/scenario_849_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 3.8) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 18.4 meters away at (2.8, -18.2). A vehicle with ID 1 is 24.7 meters away at (-10.6, 22.3). A vehicle with ID 2 is 26.9 meters away at (-14.1, 22.9). A vehicle with ID 31 is 35.2 meters away at (15.8, -31.5). A vehicle with ID 4 is 36.4 meters away at (-9.2, 35.2). A vehicle with ID 3 is 38.1 meters away at (15.3, 34.8). A vehicle with ID 24 is 40.3 meters away at (-12.7, -38.2). A vehicle with ID 60 is 48.9 meters away at (-22.8, -43.2). A pedestrian with ID 19 is 63.2 meters away at (13.2, 61.8). A vehicle with ID 21 is 67.3 meters away at (15.7, 65.5).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [3.0648289 9.445406 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.3273259  -0.02018755] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(157.39390563964844, 143.23486328125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  2.8018227 -18.178198 ], 18.392854690551758 meters away.)"}
{"file_name": "images/scenario_850_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -3.8) m/s. Its current heading (yaw) is -2.16 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 5.7 meters away at (5.0, 2.9). A cyclist with ID 43 is 17.5 meters away at (-17.4, -1.8). A unknown object with ID 12 is 20.9 meters away at (-15.4, -14.0). A unknown object with ID 45 is 53.2 meters away at (8.6, 52.5). A vehicle with ID 47 is 70.0 meters away at (18.3, 67.5). A pedestrian with ID 33 is 71.4 meters away at (18.8, 68.9). A pedestrian with ID 4 is 74.7 meters away at (21.4, 71.6).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.6597392   0.22104724] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-8.782417  -1.2651529] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.2872831  0.96820694] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-265.9062194824219, 67.81065368652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [4.974386  2.8613644], 5.73863410949707 meters away.)"}
{"file_name": "images/scenario_850_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -2.3) m/s. Its current heading (yaw) is -2.68 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 14.6 meters away at (9.9, 10.7). A cyclist with ID 43 is 32.3 meters away at (-31.1, 8.6). A pedestrian with ID 33 is 79.8 meters away at (25.5, 75.6).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.0749972  0.6585407] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-11.126496   4.384974] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.15120183 -0.29394013] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-265.9062194824219, 67.81065368652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 9.930096 10.671011], 14.576600074768066 meters away.)"}
{"file_name": "images/scenario_850_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 0.6) m/s. Its current heading (yaw) is 3.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 23.0 meters away at (18.5, 13.7). A unknown object with ID 26 is 49.8 meters away at (34.7, 35.8). A cyclist with ID 43 is 51.6 meters away at (-46.7, 22.1). A unknown object with ID 41 is 56.6 meters away at (24.5, 51.0). A unknown object with ID 40 is 60.0 meters away at (24.6, 54.7). A unknown object with ID 14 is 60.6 meters away at (24.7, 55.4). A unknown object with ID 27 is 61.9 meters away at (24.9, 56.6). A unknown object with ID 39 is 62.7 meters away at (25.1, 57.4).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.1105273   0.49680784] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-14.301015    6.0250726] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-265.9062194824219, 67.81065368652344)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [18.481495 13.706067], 23.009170532226562 meters away.)"}
{"file_name": "images/scenario_850_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 2.4) m/s. Its current heading (yaw) is 2.76 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 29.8 meters away at (27.5, 11.3). A pedestrian with ID 29 is 30.0 meters away at (0.4, 30.0). A cyclist with ID 20 is 51.3 meters away at (-39.4, 32.8). A unknown object with ID 41 is 59.5 meters away at (35.8, 47.5). A unknown object with ID 17 is 60.3 meters away at (35.8, 48.5). A unknown object with ID 30 is 60.9 meters away at (35.8, 49.4). A unknown object with ID 40 is 62.1 meters away at (35.9, 50.7). A unknown object with ID 14 is 62.7 meters away at (36.0, 51.3). A unknown object with ID 27 is 63.4 meters away at (36.1, 52.1). A unknown object with ID 25 is 64.3 meters away at (36.3, 53.0).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.9679185   0.42425317] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.8420516 -0.8201964] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ 9.151034  -4.0809774] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-265.9062194824219, 67.81065368652344)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [27.544506 11.291412], 29.769041061401367 meters away.)"}
{"file_name": "images/scenario_851_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 9.5 meters away at (8.0, 5.1). A vehicle with ID 7 is 10.8 meters away at (-8.9, -6.2). A vehicle with ID 57 is 12.4 meters away at (-1.5, -12.3). A vehicle with ID 61 is 13.5 meters away at (9.1, 10.0). A pedestrian with ID 44 is 14.3 meters away at (-4.4, -13.6). A pedestrian with ID 60 is 14.4 meters away at (8.2, -11.9). A pedestrian with ID 62 is 15.2 meters away at (8.1, -12.9). A vehicle with ID 53 is 15.8 meters away at (15.3, 4.3). A pedestrian with ID 64 is 16.0 meters away at (7.9, -13.9). A pedestrian with ID 58 is 16.1 meters away at (15.8, -3.2).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [1.4614056 0.9263048] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.23839635  0.44216526] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.40382886 -0.02052667] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.09542776 -0.02996896] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.22051284 0.0992478 ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [2.0043852 1.855214 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [8.012654  5.0758805], 9.485103607177734 meters away.)"}
{"file_name": "images/scenario_851_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.4) m/s. Its current heading (yaw) is 0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 8.9 meters away at (7.5, 4.8). A vehicle with ID 7 is 11.3 meters away at (-9.3, -6.5). A vehicle with ID 57 is 12.9 meters away at (-2.2, -12.7). A pedestrian with ID 44 is 14.2 meters away at (-5.3, -13.1). A pedestrian with ID 60 is 15.1 meters away at (8.1, -12.7). A vehicle with ID 53 is 15.1 meters away at (14.6, 3.9). A pedestrian with ID 62 is 15.3 meters away at (7.4, -13.3). A pedestrian with ID 64 is 16.1 meters away at (7.3, -14.3). A vehicle with ID 55 is 16.2 meters away at (13.8, 8.6). A pedestrian with ID 63 is 17.0 meters away at (10.2, -13.6).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0.35367814 0.22717965] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.1185373  -0.09165385] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.15601291 -0.05161404] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01898018 -0.00490878] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.0058893  0.00922038] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.01463539 0.01480565] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [7.5101013 4.7763286], 8.900277137756348 meters away.)"}
{"file_name": "images/scenario_851_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 0.8) m/s. Its current heading (yaw) is 0.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 8.2 meters away at (6.9, 4.4). A pedestrian with ID 42 is 9.0 meters away at (9.0, 0.8). A pedestrian with ID 48 is 9.9 meters away at (9.8, 1.2). A vehicle with ID 7 is 12.0 meters away at (-9.8, -6.9). A vehicle with ID 53 is 13.2 meters away at (12.9, 2.8). A vehicle with ID 57 is 14.2 meters away at (-3.8, -13.7). A pedestrian with ID 60 is 15.2 meters away at (6.5, -13.7). A pedestrian with ID 44 is 15.2 meters away at (-6.5, -13.8). A pedestrian with ID 62 is 15.4 meters away at (5.7, -14.3). A pedestrian with ID 64 is 16.3 meters away at (5.6, -15.3).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [1.1702178  0.72766936] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.00553394  0.00063485] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.03616173 0.00994181] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.0151155 0.6399445] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.08921745 -0.02308365] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.7271843  0.47435957] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.11409372 -0.01982779] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.06110374 -0.00660047] m/s.", "light_description": "There are active red lights at the following coordinates: [[63.10212  44.294247]\n [61.84647  45.62278 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [6.9124894 4.423882 ], 8.206902503967285 meters away.)"}
{"file_name": "images/scenario_851_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 1.4) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 6.0 meters away at (5.9, -1.2). A vehicle with ID 51 is 6.8 meters away at (6.3, -2.6). A vehicle with ID 5 is 10.0 meters away at (8.5, 5.4). A vehicle with ID 53 is 10.0 meters away at (10.0, 1.0). A vehicle with ID 7 is 12.8 meters away at (-10.5, -7.4). A pedestrian with ID 60 is 16.0 meters away at (3.6, -15.6). A pedestrian with ID 62 is 16.4 meters away at (2.9, -16.1). A pedestrian with ID 44 is 16.5 meters away at (-7.9, -14.5). A vehicle with ID 57 is 17.0 meters away at (-6.8, -15.6). A pedestrian with ID 63 is 17.3 meters away at (5.4, -16.5).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.04106284 -0.03536629] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [3.3892803 2.1146348] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.398456   0.86819655] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.04145161 -0.00640836] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01324812 -0.00477399] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.5535665 0.5310431] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.02585623 -0.02456685] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 5.9331813 -1.1818256], 6.049739837646484 meters away.)"}
{"file_name": "images/scenario_852_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -8.7) m/s. Its current heading (yaw) is -2.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 20.9 meters away at (-14.7, 14.9). A vehicle with ID 38 is 21.3 meters away at (-15.3, -14.8). A vehicle with ID 43 is 22.7 meters away at (20.2, -10.3). A vehicle with ID 37 is 31.7 meters away at (9.6, 30.2). A vehicle with ID 8 is 31.9 meters away at (13.2, 29.1). A unknown object with ID 40 is 41.9 meters away at (41.9, 0.8). A vehicle with ID 45 is 42.3 meters away at (34.3, -24.8). A vehicle with ID 39 is 42.5 meters away at (-23.9, -35.1). A unknown object with ID 41 is 42.6 meters away at (42.6, -1.1). A vehicle with ID 34 is 42.8 meters away at (-36.5, -22.4).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [ 5.4869847 12.072432 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ -9.468796 -16.286049] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-4.680493   2.7860856] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -7.2365203 -17.298922 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.7618604 -9.052189 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-3.6091957  6.716923 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -9.1248665 -13.928585 ] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 7.851862 12.694415] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-124.39494323730469, -254.529541015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-14.694557  14.900099], 20.927085876464844 meters away.)"}
{"file_name": "images/scenario_852_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -8.4) m/s. Its current heading (yaw) is -2.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 14.3 meters away at (3.2, 13.9). A vehicle with ID 25 is 16.5 meters away at (-14.1, 8.6). A vehicle with ID 43 is 22.1 meters away at (20.1, 9.2). A vehicle with ID 34 is 24.2 meters away at (-12.5, 20.7). A vehicle with ID 8 is 31.6 meters away at (14.4, 28.2). A vehicle with ID 45 is 37.0 meters away at (36.6, 5.2). A vehicle with ID 38 is 40.0 meters away at (-26.9, -29.5). A unknown object with ID 14 is 41.8 meters away at (39.5, -13.9). A vehicle with ID 36 is 43.9 meters away at (16.4, 40.7). A vehicle with ID 33 is 47.8 meters away at (-40.0, -26.2).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [ -8.331266 -15.979689] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 7.045954 12.523804] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-4.238403  -0.1395017] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 6.757736 13.134649] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.31317  -9.091037] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-3.235086  6.124796] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-11.137537 -15.760925] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ -7.280342 -16.930647] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 8.545924 12.104194] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.1174755  32.939556 ]\n [ -5.8365617  29.95936  ]\n [ -9.285468   30.706705 ]]", "nav_goal": "(-124.39494323730469, -254.529541015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.1706352 13.918144 ], 14.274721145629883 meters away.)"}
{"file_name": "images/scenario_852_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -7.8) m/s. Its current heading (yaw) is -2.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 3.9 meters away at (-3.7, 1.2). A vehicle with ID 33 is 20.3 meters away at (-13.4, 15.1). A vehicle with ID 36 is 27.7 meters away at (11.0, 25.5). A vehicle with ID 8 is 30.9 meters away at (15.4, 26.8). A vehicle with ID 43 is 34.3 meters away at (23.7, 24.8). A unknown object with ID 14 is 49.5 meters away at (49.5, 2.6). A vehicle with ID 25 is 51.6 meters away at (9.0, 50.8). A vehicle with ID 45 is 52.5 meters away at (40.7, 33.1). A vehicle with ID 38 is 59.1 meters away at (-39.7, -43.8). A vehicle with ID 19 is 63.7 meters away at (45.1, -45.0).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [ -8.834667 -13.780748] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.8991675 12.768253 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ -8.541907 -15.26358 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.9521074 -8.931456 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.996851   -0.59068334] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 5.7299585 13.120803 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.6479516  4.7187867] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-11.733206 -15.625662] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[2.6050205 2.7843525]\n [3.9731927 6.3750978]]", "nav_goal": "(-124.39494323730469, -254.529541015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.7268085  1.2139702], 3.919543981552124 meters away.)"}
{"file_name": "images/scenario_852_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -6.3) m/s. Its current heading (yaw) is -2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 10.2 meters away at (2.3, 9.9). A vehicle with ID 37 is 16.8 meters away at (-12.3, -11.4). A vehicle with ID 8 is 27.8 meters away at (15.1, 23.3). A vehicle with ID 43 is 49.4 meters away at (31.4, 38.2). A cyclist with ID 26 is 52.0 meters away at (-45.9, -24.5). A vehicle with ID 33 is 56.7 meters away at (11.2, 55.6). A vehicle with ID 21 is 57.6 meters away at (-45.9, -34.9). A unknown object with ID 14 is 61.3 meters away at (59.0, 16.7). A vehicle with ID 19 is 63.0 meters away at (54.9, -30.9).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [ -9.612476 -14.100158] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -9.774095  -13.4016285] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.0333533 -8.487893 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [10.045503 13.978321] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 6.890015 13.615991] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [10.395778 13.94005 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-124.39494323730469, -254.529541015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.3288307 9.932083 ], 10.201457023620605 meters away.)"}
{"file_name": "images/scenario_853_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.9) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 105 is 13.4 meters away at (-12.3, -5.2). A vehicle with ID 86 is 13.6 meters away at (-11.3, -7.6). A vehicle with ID 54 is 20.8 meters away at (-15.8, 13.5). A unknown object with ID 110 is 21.6 meters away at (-21.5, 2.5). A unknown object with ID 112 is 21.8 meters away at (-21.8, 1.7). A unknown object with ID 121 is 22.6 meters away at (-22.4, 3.2). A unknown object with ID 56 is 23.1 meters away at (-22.9, 3.4). A unknown object with ID 108 is 28.5 meters away at (-28.0, 5.3). A vehicle with ID 46 is 29.1 meters away at (21.4, -19.7). A vehicle with ID 124 is 35.0 meters away at (35.0, 1.0).", "velocity_description": "The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-0.03039016 -0.4842795 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-7.023363   5.7883916] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.8339505  4.301245 ] m/s.The vehicle with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.93569   26.100245]\n [-46.897053  33.517147]\n [ 51.142963 -53.468014]\n [-49.58896   31.054335]\n [ 50.096317 -55.117382]\n [-25.39878   20.766272]\n [-27.681618  22.981165]\n [-25.598335  20.835735]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-12.292244  -5.211485], 13.351360321044922 meters away.)"}
{"file_name": "images/scenario_853_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.3) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A pedestrian with ID 80 is 10.7 meters away at (8.8, 6.1). A pedestrian with ID 122 is 11.6 meters away at (9.3, 6.9). A unknown object with ID 110 is 12.8 meters away at (-10.2, -7.7). A unknown object with ID 103 is 13.0 meters away at (-10.9, -7.1). A unknown object with ID 67 is 13.1 meters away at (-10.3, -8.1). A unknown object with ID 112 is 13.2 meters away at (-10.5, -7.9). A unknown object with ID 121 is 13.4 meters away at (-11.4, -7.0). A unknown object with ID 56 is 13.6 meters away at (-11.8, -6.7). A unknown object with ID 105 is 15.5 meters away at (-1.1, -15.5). A vehicle with ID 72 is 16.1 meters away at (2.5, 15.9).", "velocity_description": "The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.00440712 -0.0029924 ] m/s.The pedestrian with ID 122 is traveling at a (x, y) velocity of [0.02001581 0.00943697] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.266533  25.415487]\n [-28.93569   26.100245]\n [-46.897053  33.517147]\n [-53.215202  24.980955]\n [-49.58896   31.054335]\n [-25.39878   20.766272]\n [-27.681618  22.981165]\n [-25.598335  20.835735]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [8.777897 6.088127], 10.682544708251953 meters away.)"}
{"file_name": "images/scenario_853_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.3) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A pedestrian with ID 55 is 14.4 meters away at (-6.5, 12.8). A pedestrian with ID 51 is 15.6 meters away at (-9.6, 12.2). A unknown object with ID 108 is 15.9 meters away at (-4.2, -15.4). A vehicle with ID 72 is 16.2 meters away at (15.3, 5.2). A unknown object with ID 56 is 17.4 meters away at (0.9, -17.4). A unknown object with ID 113 is 17.6 meters away at (1.4, -17.5). A unknown object with ID 121 is 17.8 meters away at (1.0, -17.8). A unknown object with ID 103 is 17.9 meters away at (1.7, -17.8). A unknown object with ID 110 is 18.3 meters away at (2.2, -18.1). A unknown object with ID 67 is 18.6 meters away at (2.5, -18.4).", "velocity_description": "The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.75624025  0.64891577] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.01193304 -0.0056398 ] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.266533  25.415487]\n [-28.93569   26.100245]\n [-46.897053  33.517147]\n [-53.215202  24.980955]\n [-49.58896   31.054335]\n [-25.39878   20.766272]\n [-27.681618  22.981165]\n [-25.598335  20.835735]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.493122 12.803656], 14.355981826782227 meters away.)"}
{"file_name": "images/scenario_853_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 5.7) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 51 is 4.1 meters away at (3.9, 1.2). A vehicle with ID 48 is 5.3 meters away at (-4.8, -2.1). A pedestrian with ID 55 is 6.2 meters away at (5.7, 2.4). A vehicle with ID 47 is 8.6 meters away at (-8.5, -1.7). A pedestrian with ID 60 is 9.9 meters away at (-2.6, 9.6). A vehicle with ID 74 is 13.6 meters away at (-13.5, -1.5). A vehicle with ID 39 is 19.7 meters away at (-19.0, 5.0). A vehicle with ID 36 is 24.2 meters away at (-22.5, 9.1). A vehicle with ID 46 is 27.3 meters away at (20.8, -17.6). A unknown object with ID 108 is 28.0 meters away at (9.4, -26.3).", "velocity_description": "The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.01957769  0.00099108] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.61045796  0.03431123] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.7161715 -1.6792847] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-6.7844815  5.6481624] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.266533  25.415487]\n [-46.897053  33.517147]\n [-53.215202  24.980955]\n [-49.58896   31.054335]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [3.879631  1.2439384], 4.074177265167236 meters away.)"}
{"file_name": "images/scenario_854_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.5) m/s. Its current heading (yaw) is 0.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 11.0 meters away at (-10.9, -0.8). A unknown object with ID 47 is 20.1 meters away at (13.8, 14.7). A unknown object with ID 48 is 20.4 meters away at (14.2, 14.7). A vehicle with ID 50 is 20.4 meters away at (20.1, 3.9). A unknown object with ID 49 is 20.6 meters away at (14.5, 14.7). A vehicle with ID 51 is 23.0 meters away at (23.0, 1.3). A vehicle with ID 52 is 26.1 meters away at (22.6, 13.1). A vehicle with ID 17 is 30.5 meters away at (24.5, -18.1). A pedestrian with ID 53 is 36.6 meters away at (33.4, -14.8). A unknown object with ID 55 is 44.1 meters away at (40.8, -17.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.7056694 -0.5581209] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 0.05207096 -0.5034696 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.0469544  0.7870995] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.00113858 0.02445179] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[27.96014   -7.932287 ]\n [24.71868   -6.084814 ]\n [21.6207    -5.178779 ]\n [29.929174  -7.6795053]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-10.948587    -0.75575244], 10.974639892578125 meters away.)"}
{"file_name": "images/scenario_854_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 3.5) m/s. Its current heading (yaw) is 1.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 11.3 meters away at (-9.6, -6.0). A unknown object with ID 47 is 12.9 meters away at (8.4, 9.8). A unknown object with ID 48 is 13.2 meters away at (8.9, 9.7). A unknown object with ID 49 is 13.4 meters away at (9.3, 9.7). A vehicle with ID 50 is 14.9 meters away at (14.8, -1.0). A vehicle with ID 51 is 18.1 meters away at (17.7, -3.7). A vehicle with ID 52 is 18.7 meters away at (17.3, 7.1). A pedestrian with ID 37 is 24.8 meters away at (21.3, 12.8). A vehicle with ID 17 is 26.5 meters away at (15.4, -21.5). A unknown object with ID 55 is 41.6 meters away at (35.4, -21.9).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [3.5145695 0.5960255] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.0127424  0.00683726] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.2073321  1.1175727] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[27.96014   -7.932287 ]\n [24.71868   -6.084814 ]\n [21.6207    -5.178779 ]\n [29.929174  -7.6795053]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-9.641357  -5.9613204], 11.335480690002441 meters away.)"}
{"file_name": "images/scenario_854_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 4.6) m/s. Its current heading (yaw) is 1.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 6.6 meters away at (6.4, 1.7). A unknown object with ID 49 is 7.3 meters away at (7.1, 1.5). A vehicle with ID 3 is 12.2 meters away at (-4.6, -11.3). A vehicle with ID 52 is 15.2 meters away at (15.2, -1.0). A vehicle with ID 50 is 15.6 meters away at (12.7, -9.2). A pedestrian with ID 37 is 19.7 meters away at (19.1, 4.7). A vehicle with ID 17 is 26.2 meters away at (7.6, -25.1). A cyclist with ID 25 is 28.0 meters away at (15.6, 23.2). A pedestrian with ID 5 is 40.2 meters away at (7.4, 39.5). A pedestrian with ID 4 is 40.7 meters away at (7.6, 39.9).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [3.3016908 2.5835667] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00851602  0.00544778] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.984974  3.784489] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-1.0103316 -7.903981 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.7528788  0.4054424] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.7659302  0.3682609] m/s.", "light_description": "There are active red lights at the following coordinates: [[24.71868  -6.084814]\n [21.6207   -5.178779]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [6.401553  1.6875534], 6.620250701904297 meters away.)"}
{"file_name": "images/scenario_854_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 5.1) m/s. Its current heading (yaw) is 1.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 9.9 meters away at (5.9, -8.0). A unknown object with ID 49 is 10.5 meters away at (6.6, -8.2). A cyclist with ID 25 is 13.5 meters away at (13.4, -0.7). A vehicle with ID 3 is 13.6 meters away at (-0.6, -13.6). A vehicle with ID 52 is 18.2 meters away at (14.7, -10.7). A pedestrian with ID 37 is 19.3 meters away at (18.6, -5.0). A vehicle with ID 50 is 22.6 meters away at (12.2, -19.0). A vehicle with ID 17 is 24.8 meters away at (3.1, -24.6). A vehicle with ID 41 is 26.4 meters away at (15.0, -21.6). A pedestrian with ID 5 is 30.6 meters away at (6.8, 29.8).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-0.8292257 -6.2594113] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.9777417 4.39433  ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00363148  0.01968303] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.75709414  6.115304  ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.00590156 0.00977626] m/s.", "light_description": "There are active red lights at the following coordinates: [[27.96014   -7.932287 ]\n [24.71868   -6.084814 ]\n [21.6207    -5.178779 ]\n [29.929174  -7.6795053]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 5.88291  -8.013054], 9.940707206726074 meters away.)"}
{"file_name": "images/scenario_855_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.1) m/s. Its current heading (yaw) is 1.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 69.2 meters away at (17.6, -66.9).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 17.592236 -66.92358 ], 69.19719696044922 meters away.)"}
{"file_name": "images/scenario_855_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 2.9) m/s. Its current heading (yaw) is 0.50 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 34.5 meters away at (-22.4, -26.3).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-22.42278 -26.28147], 34.547019958496094 meters away.)"}
{"file_name": "images/scenario_855_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, 1.4) m/s. Its current heading (yaw) is 0.22 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_855_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, 1.1) m/s. Its current heading (yaw) is 0.18 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": ""}
{"file_name": "images/scenario_856_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 8.5) m/s. Its current heading (yaw) is 1.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 11.7 meters away at (-3.3, -11.2). A unknown object with ID 19 is 12.1 meters away at (-9.3, 7.6). A unknown object with ID 13 is 12.7 meters away at (-9.9, 7.9). A unknown object with ID 16 is 13.3 meters away at (-10.5, 8.0). A unknown object with ID 24 is 23.0 meters away at (-13.9, 18.3). A vehicle with ID 21 is 27.1 meters away at (1.1, -27.1). A vehicle with ID 25 is 61.5 meters away at (16.2, -59.3).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -3.2622366 -11.209839 ], 11.674873352050781 meters away.)"}
{"file_name": "images/scenario_856_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 7.8) m/s. Its current heading (yaw) is 1.94 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 8.5 meters away at (-8.2, 2.3). A unknown object with ID 13 is 9.1 meters away at (-4.1, -8.1). A unknown object with ID 19 is 9.1 meters away at (-3.7, -8.3). A unknown object with ID 18 is 9.2 meters away at (-4.4, -8.1). A unknown object with ID 16 is 9.3 meters away at (-4.9, -7.9). A vehicle with ID 20 is 27.3 meters away at (2.5, -27.2). A vehicle with ID 21 is 43.7 meters away at (6.9, -43.1). A vehicle with ID 25 is 78.4 meters away at (21.7, -75.3).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.192057  2.328228], 8.516480445861816 meters away.)"}
{"file_name": "images/scenario_856_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 7.2) m/s. Its current heading (yaw) is 2.07 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 12.9 meters away at (-1.6, -12.8). A unknown object with ID 15 is 18.1 meters away at (-3.0, 17.8). A unknown object with ID 18 is 23.2 meters away at (1.7, -23.1). A unknown object with ID 13 is 23.3 meters away at (2.2, -23.2). A unknown object with ID 16 is 23.4 meters away at (2.5, -23.3). A unknown object with ID 19 is 23.7 meters away at (2.9, -23.5). A vehicle with ID 20 is 43.3 meters away at (9.0, -42.4). A vehicle with ID 21 is 60.0 meters away at (13.5, -58.4). A vehicle with ID 5 is 69.0 meters away at (15.8, -67.2).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ -1.6431484 -12.8271675], 12.931982040405273 meters away.)"}
{"file_name": "images/scenario_856_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 8.0) m/s. Its current heading (yaw) is 1.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 38.8 meters away at (10.3, -37.4). A unknown object with ID 13 is 38.9 meters away at (10.5, -37.4). A unknown object with ID 16 is 39.1 meters away at (11.0, -37.5). A unknown object with ID 19 is 39.5 meters away at (11.6, -37.8). A vehicle with ID 20 is 59.5 meters away at (18.0, -56.7). A vehicle with ID 1 is 67.5 meters away at (-30.8, 60.0). A vehicle with ID 21 is 76.0 meters away at (21.7, -72.8).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 10.289605 -37.39305 ], 38.782936096191406 meters away.)"}
{"file_name": "images/scenario_857_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -2.2) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 18.3 meters away at (-13.2, 12.7). A vehicle with ID 19 is 20.7 meters away at (15.0, -14.3). A vehicle with ID 18 is 21.7 meters away at (-17.7, 12.5). A vehicle with ID 9 is 25.5 meters away at (24.6, 6.8). A pedestrian with ID 24 is 27.5 meters away at (21.5, -17.2). A unknown object with ID 17 is 30.2 meters away at (-14.8, 26.4). A vehicle with ID 25 is 34.6 meters away at (-20.3, 28.0). A unknown object with ID 29 is 36.7 meters away at (34.4, -12.7). A vehicle with ID 30 is 40.5 meters away at (-24.9, 31.9). A vehicle with ID 33 is 47.3 meters away at (-30.2, 36.4).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 3.6246898 -3.2665598] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [2.8854105 3.3825989] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.926428 -9.092986] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.5022872 0.7053201] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 16.261873  -14.269586 ]\n [ 17.40066   -13.161682 ]\n [ 17.648712  -12.538396 ]\n [ 22.636667   -6.6375504]\n [ 13.912504  -15.516714 ]\n [ 17.577923  -12.63598  ]]", "nav_goal": "(-56.41679763793945, 174.6885528564453)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-13.205999  12.652342], 18.288799285888672 meters away.)"}
{"file_name": "images/scenario_857_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.7) m/s. Its current heading (yaw) is -0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 10.7 meters away at (6.1, -8.8). A vehicle with ID 15 is 14.1 meters away at (-10.0, 9.9). A vehicle with ID 19 is 18.9 meters away at (18.5, -4.1). A pedestrian with ID 24 is 23.6 meters away at (20.0, -12.6). A vehicle with ID 18 is 25.6 meters away at (-20.5, 15.3). A unknown object with ID 29 is 33.1 meters away at (31.6, -9.9). A unknown object with ID 17 is 34.1 meters away at (-17.6, 29.2). A vehicle with ID 25 is 38.5 meters away at (-23.1, 30.8). A vehicle with ID 30 is 44.4 meters away at (-27.7, 34.7). A vehicle with ID 3 is 44.9 meters away at (-24.0, -37.9).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.6801786 -9.506118 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.456041  -2.2678626] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.5846174 4.138266 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.0735196 0.8362576] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 16.261873 -14.269586]\n [ 17.40066  -13.161682]\n [ 17.648712 -12.538396]\n [ 13.912504 -15.516714]\n [ 17.577923 -12.63598 ]]", "nav_goal": "(-56.41679763793945, 174.6885528564453)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.0841913 -8.802884 ], 10.700847625732422 meters away.)"}
{"file_name": "images/scenario_857_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 9.0 meters away at (-6.3, 6.5). A pedestrian with ID 24 is 24.0 meters away at (21.6, -10.5). A vehicle with ID 18 is 26.1 meters away at (-20.9, 15.6). A vehicle with ID 19 is 27.0 meters away at (26.4, 5.7). A vehicle with ID 23 is 27.1 meters away at (-2.1, -27.0). A vehicle with ID 9 is 28.8 meters away at (-9.0, -27.3). A unknown object with ID 29 is 32.7 meters away at (31.2, -9.7). A unknown object with ID 17 is 34.5 meters away at (-17.8, 29.5). A vehicle with ID 25 is 39.0 meters away at (-23.5, 31.2). A vehicle with ID 30 is 44.9 meters away at (-28.0, 35.0).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.4452745 -1.3648211] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.896202  0.9560735] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [4.1815877 4.8449955] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [7.5448174 8.678943 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.1177197 -9.164986 ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 16.261873 -14.269586]\n [ 17.40066  -13.161682]\n [ 17.648712 -12.538396]\n [ 21.045164 -16.3692  ]\n [ 22.908566 -17.270576]\n [ 13.912504 -15.516714]\n [ 17.577923 -12.63598 ]]", "nav_goal": "(-56.41679763793945, 174.6885528564453)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.2807817  6.4833884], 9.02676773071289 meters away.)"}
{"file_name": "images/scenario_857_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-5.0, 5.3). A vehicle with ID 23 is 16.0 meters away at (12.3, -10.3). A pedestrian with ID 24 is 24.9 meters away at (23.4, -8.5). A vehicle with ID 18 is 26.1 meters away at (-20.9, 15.7). A unknown object with ID 29 is 32.7 meters away at (31.2, -9.6). A vehicle with ID 19 is 38.5 meters away at (35.1, 15.9). A vehicle with ID 25 is 39.0 meters away at (-23.5, 31.2). A vehicle with ID 16 is 40.1 meters away at (-11.6, -38.4). A vehicle with ID 30 is 44.8 meters away at (-28.0, 35.0). A vehicle with ID 9 is 49.9 meters away at (-22.6, -44.5).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [6.6569242 7.7957535] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.96676767 0.85641664] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [4.809637  5.6190834] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [7.171964 8.319557] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.10861  -7.578073] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 16.261873 -14.269586]\n [ 17.40066  -13.161682]\n [ 17.648712 -12.538396]\n [ 13.912504 -15.516714]\n [ 17.577923 -12.63598 ]]", "nav_goal": "(-56.41679763793945, 174.6885528564453)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.002262  5.333394], 7.312162399291992 meters away.)"}
{"file_name": "images/scenario_858_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 2.3) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 4.9 meters away at (-1.4, 4.7). A vehicle with ID 71 is 5.1 meters away at (4.1, 3.1). A vehicle with ID 69 is 9.1 meters away at (-6.8, 6.0). A vehicle with ID 82 is 10.8 meters away at (-4.5, -9.8). A vehicle with ID 79 is 11.8 meters away at (7.8, -8.9). A vehicle with ID 80 is 12.0 meters away at (2.0, -11.9). A pedestrian with ID 83 is 12.6 meters away at (-7.0, 10.5). A pedestrian with ID 37 is 12.8 meters away at (-8.0, 9.9). A unknown object with ID 85 is 14.0 meters away at (-11.6, -7.7). A unknown object with ID 86 is 14.3 meters away at (-12.9, -6.2).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [ 1.1518228  -0.18378808] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.2402225   0.43397567] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.2216015   0.45786363] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.587687 -12.381043]\n [ 23.42945  -14.213674]\n [ 14.408803 -14.250648]]", "nav_goal": "(-43.20039749145508, -99.5453109741211)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.4402943  4.687993 ], 4.9042558670043945 meters away.)"}
{"file_name": "images/scenario_858_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 2.2) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 3.8 meters away at (1.2, 3.7). A vehicle with ID 41 is 6.9 meters away at (-4.5, 5.2). A vehicle with ID 69 is 7.5 meters away at (7.2, 1.9). A pedestrian with ID 37 is 7.6 meters away at (3.8, 6.6). A pedestrian with ID 83 is 8.3 meters away at (4.7, 6.8). A unknown object with ID 77 is 9.6 meters away at (-1.9, -9.4). A unknown object with ID 86 is 10.4 meters away at (1.3, -10.3). A vehicle with ID 99 is 10.6 meters away at (6.5, -8.3). A unknown object with ID 85 is 12.1 meters away at (2.5, -11.8). A vehicle with ID 81 is 12.6 meters away at (12.6, 0.6).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.1695546   0.41668174] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.2132591   0.40645176] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [ 3.4109073 -0.8903646] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.587687  -12.381043 ]\n [ 16.856956   -6.9805   ]\n [ 21.200542   -3.0796263]\n [ 14.408803  -14.250648 ]]", "nav_goal": "(-43.20039749145508, -99.5453109741211)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.2062569 3.6503286], 3.844470500946045 meters away.)"}
{"file_name": "images/scenario_858_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 2.2) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 4.2 meters away at (3.0, 3.0). A vehicle with ID 41 is 9.3 meters away at (9.3, 1.1). A vehicle with ID 74 is 10.4 meters away at (-0.5, -10.4). A vehicle with ID 72 is 11.8 meters away at (-8.5, -8.2). A unknown object with ID 62 is 12.7 meters away at (3.8, -12.1). A unknown object with ID 63 is 12.9 meters away at (5.7, -11.5). A vehicle with ID 43 is 15.2 meters away at (15.2, -0.5). A pedestrian with ID 96 is 15.3 meters away at (4.1, -14.8). A unknown object with ID 57 is 15.3 meters away at (8.8, -12.5). A pedestrian with ID 37 is 15.8 meters away at (15.4, 3.3).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [0.03036734 0.06168066] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.1491014  0.4488998] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.587687 -12.381043]\n [ 16.856956  -6.9805  ]\n [ 14.408803 -14.250648]]", "nav_goal": "(-43.20039749145508, -99.5453109741211)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.9947586 2.9938707], 4.23460054397583 meters away.)"}
{"file_name": "images/scenario_858_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 1.8) m/s. Its current heading (yaw) is 2.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 9.8 meters away at (-3.0, 9.3). A vehicle with ID 73 is 9.8 meters away at (-4.6, -8.7). A pedestrian with ID 17 is 10.0 meters away at (-4.1, 9.1). A pedestrian with ID 47 is 10.7 meters away at (-3.7, 10.0). A unknown object with ID 45 is 12.8 meters away at (2.3, -12.6). A vehicle with ID 72 is 13.0 meters away at (5.3, -11.9). A vehicle with ID 75 is 13.0 meters away at (-11.3, -6.5). A vehicle with ID 35 is 14.4 meters away at (11.2, -9.0). A vehicle with ID 70 is 15.3 meters away at (-13.0, 8.2). A vehicle with ID 32 is 16.9 meters away at (-16.9, -0.3).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00053096  0.02666947] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.00110543 0.01458896] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.01037394 0.02378936] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 8.027786  -2.2371993] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 9.509097  -2.7570689] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.856956 -6.9805  ]]", "nav_goal": "(-43.20039749145508, -99.5453109741211)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-3.011238  9.277714], 9.754154205322266 meters away.)"}
{"file_name": "images/scenario_859_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -3.2) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 7.7 meters away at (0.4, -7.7). A pedestrian with ID 4 is 9.1 meters away at (-2.3, 8.8). A pedestrian with ID 27 is 13.0 meters away at (-13.0, -0.7). A pedestrian with ID 29 is 41.0 meters away at (40.6, 5.7). A unknown object with ID 32 is 47.5 meters away at (41.3, 23.4). A pedestrian with ID 33 is 53.6 meters away at (-23.5, 48.1). A cyclist with ID 20 is 53.6 meters away at (-23.5, 48.2). A unknown object with ID 31 is 53.8 meters away at (-50.7, 18.1). A pedestrian with ID 34 is 54.2 meters away at (-24.7, 48.2). A vehicle with ID 1 is 68.4 meters away at (54.8, -41.0).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.06689365 -0.0422409 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.2874659  -0.78289294] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00054107 -0.0001107 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.42565623 0.08974003] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [1.8620701 2.0753417] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [2.0493615 2.089202 ] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [1.6997149 2.1792362] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(242.62295532226562, -169.60816955566406)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 0.3753128 -7.701732 ], 7.71087121963501 meters away.)"}
{"file_name": "images/scenario_859_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -3.1) m/s. Its current heading (yaw) is -0.52 ", "actor_description": " The most relevant actors are: A pedestrian with ID 4 is 17.6 meters away at (-11.1, 13.7). A pedestrian with ID 29 is 32.6 meters away at (30.3, 11.9). A unknown object with ID 12 is 41.4 meters away at (2.3, 41.3). A unknown object with ID 32 is 42.2 meters away at (29.9, 29.8). A vehicle with ID 1 is 55.5 meters away at (43.3, -34.7). A unknown object with ID 31 is 66.6 meters away at (-61.9, 24.6). A pedestrian with ID 33 is 67.3 meters away at (-31.4, 59.5). A cyclist with ID 20 is 67.6 meters away at (-31.2, 60.0). A pedestrian with ID 34 is 67.9 meters away at (-32.8, 59.5). A vehicle with ID 10 is 76.5 meters away at (76.4, 3.0).", "velocity_description": "The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.3148408 -0.7279132] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.634002   -0.01570476] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [1.4372475 2.594776 ] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [1.6072812 3.0758543] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.7504948 2.6535459] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(242.62295532226562, -169.60816955566406)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-11.1296015  13.66368  ], 17.622831344604492 meters away.)"}
{"file_name": "images/scenario_859_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -2.1) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A pedestrian with ID 4 is 24.8 meters away at (-17.5, 17.6). A pedestrian with ID 29 is 28.3 meters away at (22.6, 17.0). A unknown object with ID 17 is 38.4 meters away at (26.8, 27.5). A unknown object with ID 32 is 40.7 meters away at (20.9, 34.9). A vehicle with ID 1 is 45.1 meters away at (34.2, -29.4). A unknown object with ID 21 is 60.4 meters away at (-43.0, 42.4). A vehicle with ID 10 is 67.9 meters away at (67.3, 8.3). A vehicle with ID 5 is 69.8 meters away at (69.5, 5.9).", "velocity_description": "The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.47769   -0.6760199] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.86261064 -0.20413043] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(242.62295532226562, -169.60816955566406)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-17.466969  17.628204], 24.81629753112793 meters away.)"}
{"file_name": "images/scenario_859_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -0.8) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 29 is 27.4 meters away at (19.1, 19.6). A pedestrian with ID 4 is 27.5 meters away at (-19.7, 19.2). A vehicle with ID 2 is 34.4 meters away at (3.2, -34.3). A unknown object with ID 17 is 37.4 meters away at (22.0, 30.3). A vehicle with ID 1 is 39.5 meters away at (29.2, -26.6). A unknown object with ID 32 is 41.1 meters away at (16.0, 37.8). A vehicle with ID 3 is 41.5 meters away at (12.3, -39.7). A vehicle with ID 10 is 63.4 meters away at (62.4, 11.2). A vehicle with ID 5 is 65.3 meters away at (64.7, 8.9). A unknown object with ID 21 is 65.8 meters away at (-47.8, 45.3).", "velocity_description": "The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.51946044 -0.44559902] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.2841992  -0.67130876] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(242.62295532226562, -169.60816955566406)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [19.131672 19.597046], 27.38731575012207 meters away.)"}
{"file_name": "images/scenario_860_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.5) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-143.31300354003906, -126.36351013183594)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_860_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -1.3) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 75.4 meters away at (-8.8, -74.9).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0.01344773 1.1045232 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-143.31300354003906, -126.36351013183594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -8.804686 -74.92954 ], 75.44507598876953 meters away.)"}
{"file_name": "images/scenario_860_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.5) m/s. Its current heading (yaw) is -2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 69.6 meters away at (-6.8, -69.3).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.05278894  2.3041043 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-143.31300354003906, -126.36351013183594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -6.817481 -69.31283 ], 69.64730072021484 meters away.)"}
{"file_name": "images/scenario_860_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.2) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 30.7 meters away at (15.2, -26.7). A pedestrian with ID 5 is 61.0 meters away at (3.3, -60.9). A vehicle with ID 4 is 63.3 meters away at (-5.3, -63.1).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.01168492 -0.00150718] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.03138726  2.356087  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-143.31300354003906, -126.36351013183594)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 15.236959 -26.660372], 30.707334518432617 meters away.)"}
{"file_name": "images/scenario_861_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 5.0) m/s. Its current heading (yaw) is 1.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 110 is 13.0 meters away at (-10.0, 8.3). A vehicle with ID 109 is 14.0 meters away at (-12.6, -5.9). A vehicle with ID 108 is 15.4 meters away at (-12.3, -9.3). A vehicle with ID 111 is 17.7 meters away at (-17.3, 4.1). A vehicle with ID 112 is 20.3 meters away at (-19.9, 3.7). A vehicle with ID 119 is 21.2 meters away at (18.4, 10.7). A vehicle with ID 115 is 22.9 meters away at (-22.6, 3.7). A vehicle with ID 122 is 24.8 meters away at (22.5, 10.4). A pedestrian with ID 41 is 27.2 meters away at (6.9, 26.3). A vehicle with ID 113 is 27.6 meters away at (-26.1, -8.9).", "velocity_description": "The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [1.4273766  0.02313673] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.98004150390625, 26.210054397583008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.971325  8.300842], 12.974255561828613 meters away.)"}
{"file_name": "images/scenario_861_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 1.7) m/s. Its current heading (yaw) is 1.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 110 is 10.6 meters away at (-10.5, 1.6). A vehicle with ID 111 is 17.9 meters away at (-17.7, -2.7). A vehicle with ID 109 is 18.3 meters away at (-13.1, -12.7). A vehicle with ID 119 is 18.3 meters away at (17.9, 4.0). A vehicle with ID 108 is 20.5 meters away at (-12.7, -16.1). A vehicle with ID 112 is 20.6 meters away at (-20.4, -2.7). A pedestrian with ID 41 is 21.7 meters away at (9.5, 19.5). A pedestrian with ID 106 is 22.3 meters away at (9.4, 20.3). A vehicle with ID 122 is 22.5 meters away at (22.2, 3.7). A vehicle with ID 115 is 23.2 meters away at (-23.0, -3.0).", "velocity_description": "The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [1.6474048 0.0328714] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [1.6301265  0.05745342] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.98004150390625, 26.210054397583008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-10.509928    1.5669003], 10.62608814239502 meters away.)"}
{"file_name": "images/scenario_861_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 110 is 10.7 meters away at (-10.7, 0.3). A vehicle with ID 119 is 17.8 meters away at (17.7, 2.6). A vehicle with ID 111 is 18.4 meters away at (-18.0, -4.0). A vehicle with ID 109 is 19.4 meters away at (-13.4, -14.0). A vehicle with ID 112 is 21.1 meters away at (-20.7, -4.1). A vehicle with ID 108 is 21.7 meters away at (-12.9, -17.4). A cyclist with ID 77 is 21.7 meters away at (21.7, 0.6). A pedestrian with ID 41 is 22.0 meters away at (12.4, 18.1). A pedestrian with ID 106 is 22.6 meters away at (12.4, 18.9). A vehicle with ID 115 is 23.6 meters away at (-23.2, -4.1).", "velocity_description": "The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 77 is traveling at a (x, y) velocity of [6.6696124e-08 5.1521035e-08] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.431318   -0.20327257] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.4625846  -0.20450899] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.98004150390625, 26.210054397583008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-10.709064     0.30008888], 10.71326732635498 meters away.)"}
{"file_name": "images/scenario_861_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.2) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A unknown object with ID 110 is 11.3 meters away at (-11.2, -1.8). A vehicle with ID 119 is 17.2 meters away at (17.2, 0.7). A vehicle with ID 111 is 19.4 meters away at (-18.4, -6.1). A vehicle with ID 109 is 21.2 meters away at (-13.8, -16.1). A vehicle with ID 112 is 21.9 meters away at (-21.1, -6.0). A pedestrian with ID 41 is 22.0 meters away at (14.9, 16.1). A pedestrian with ID 106 is 22.6 meters away at (14.9, 17.0). A vehicle with ID 108 is 23.6 meters away at (-13.3, -19.5). A vehicle with ID 115 is 24.4 meters away at (-23.7, -5.9). A pedestrian with ID 75 is 25.5 meters away at (15.0, 20.6).", "velocity_description": "The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.537825   -0.01370674] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [1.5397905  0.05269894] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.00187958  0.00520884] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.98004150390625, 26.210054397583008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-11.16703    -1.8030281], 11.311652183532715 meters away.)"}
{"file_name": "images/scenario_862_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.5) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 3.6 meters away at (-2.5, 2.6). A vehicle with ID 48 is 6.2 meters away at (-6.0, -1.8). A vehicle with ID 46 is 11.7 meters away at (4.3, 10.9). A vehicle with ID 17 is 17.1 meters away at (7.8, 15.2). A vehicle with ID 53 is 21.9 meters away at (-21.6, -3.4). A vehicle with ID 55 is 22.2 meters away at (1.5, -22.1). A vehicle with ID 54 is 23.7 meters away at (-20.3, -12.3). A vehicle with ID 68 is 27.3 meters away at (-7.5, -26.3). A vehicle with ID 56 is 27.8 meters away at (-25.1, -11.9). A vehicle with ID 59 is 29.9 meters away at (-3.2, -29.8).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 2.2016926 -1.7725241] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.542118 60.674656]\n [53.885113 62.919132]\n [55.547626 59.63874 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.5104342  2.6367817], 3.6407275199890137 meters away.)"}
{"file_name": "images/scenario_862_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 4.2) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 3.6 meters away at (-2.8, 2.3). A vehicle with ID 17 is 6.5 meters away at (0.7, 6.4). A vehicle with ID 47 is 11.4 meters away at (-9.6, -6.2). A vehicle with ID 48 is 16.8 meters away at (-13.1, -10.6). A vehicle with ID 49 is 22.5 meters away at (5.5, 21.8). A pedestrian with ID 15 is 24.0 meters away at (9.9, 21.9). A pedestrian with ID 16 is 24.2 meters away at (9.3, 22.4). A pedestrian with ID 2 is 25.1 meters away at (9.9, 23.0). A vehicle with ID 7 is 26.7 meters away at (-0.4, 26.7). A vehicle with ID 9 is 28.4 meters away at (-2.3, 28.3).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.93093216 1.049685  ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.90917826 1.0398208 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.8803931 1.0421779] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.542118 60.674656]\n [53.885113 62.919132]\n [55.547626 59.63874 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.7530575  2.2691898], 3.567708969116211 meters away.)"}
{"file_name": "images/scenario_862_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 6.2 meters away at (-5.9, -1.8). A vehicle with ID 46 is 11.2 meters away at (-9.5, -6.1). A vehicle with ID 49 is 13.6 meters away at (-1.2, 13.5). A pedestrian with ID 15 is 16.6 meters away at (5.1, 15.8). A pedestrian with ID 16 is 16.9 meters away at (4.4, 16.3). A pedestrian with ID 2 is 17.6 meters away at (5.1, 16.9). A vehicle with ID 7 is 19.7 meters away at (-7.1, 18.3). A vehicle with ID 47 is 21.9 meters away at (-16.3, -14.6). A vehicle with ID 9 is 22.0 meters away at (-9.1, 20.1). A vehicle with ID 10 is 24.8 meters away at (-11.2, 22.1).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [1.0488818 1.0148557] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [1.0112945 1.0262809] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.9856311  0.98728687] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.542118 60.674656]\n [53.885113 62.919132]\n [55.547626 59.63874 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.938244  -1.7699032], 6.196393966674805 meters away.)"}
{"file_name": "images/scenario_862_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 3.5) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 9.4 meters away at (-7.5, 5.7). A pedestrian with ID 15 is 10.3 meters away at (0.6, 10.3). A pedestrian with ID 16 is 10.8 meters away at (0.0, 10.8). A pedestrian with ID 2 is 11.4 meters away at (0.6, 11.4). A unknown object with ID 22 is 12.9 meters away at (0.8, 12.8). A unknown object with ID 38 is 13.1 meters away at (1.0, 13.0). A vehicle with ID 17 is 15.4 meters away at (-12.1, -9.5). A vehicle with ID 7 is 17.1 meters away at (-13.3, 10.6). A vehicle with ID 51 is 17.2 meters away at (-1.9, 17.0). A vehicle with ID 52 is 19.2 meters away at (-4.1, 18.7).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.8616579 1.170123 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.8977143 1.1381873] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.8797501 1.1194788] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[55.542118 60.674656]\n [53.885113 62.919132]\n [55.547626 59.63874 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-7.4769726  5.7356453], 9.423521041870117 meters away.)"}
{"file_name": "images/scenario_863_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.1) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 8.8 meters away at (4.4, -7.6). A vehicle with ID 9 is 16.5 meters away at (9.6, -13.5). A unknown object with ID 2 is 24.6 meters away at (0.6, -24.6). A vehicle with ID 8 is 24.8 meters away at (0.6, 24.7). A vehicle with ID 13 is 27.2 meters away at (-8.5, -25.9). A unknown object with ID 5 is 28.8 meters away at (-18.8, -21.8). A vehicle with ID 14 is 29.3 meters away at (23.2, -18.0). A vehicle with ID 16 is 36.5 meters away at (32.6, -16.5). A vehicle with ID 12 is 40.1 meters away at (29.8, -26.9). A pedestrian with ID 22 is 41.6 meters away at (-40.2, 10.7).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.5931579 -1.129502 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [1.1317625 6.474386 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.501837   0.8740459] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.5643616 -1.9177008] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.668123   -0.40375566] m/s.", "light_description": "There are active red lights at the following coordinates: [[3.460648  4.81143  ]\n [5.2428803 7.4566817]]", "nav_goal": "(136.8579559326172, 201.84165954589844)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 4.36737  -7.619036], 8.78200626373291 meters away.)"}
{"file_name": "images/scenario_863_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 4.5) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 14.0 meters away at (-4.9, 13.1). A pedestrian with ID 11 is 22.2 meters away at (-2.5, -22.0). A vehicle with ID 9 is 25.5 meters away at (3.9, -25.2). A vehicle with ID 13 is 28.9 meters away at (-16.4, -23.8). A vehicle with ID 42 is 45.9 meters away at (5.3, 45.6). A vehicle with ID 39 is 47.2 meters away at (-43.9, -17.4). A vehicle with ID 38 is 60.2 meters away at (-25.4, -54.6). A vehicle with ID 47 is 65.8 meters away at (-27.0, -60.1). A vehicle with ID 10 is 79.3 meters away at (-28.5, -74.0).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.56148934 -1.3740495 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.6228008  6.4824824] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 5.0690255 -1.6052959] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.3457377 -7.6877003] m/s.", "light_description": "There are active red lights at the following coordinates: [[-5.7579646   1.2771027 ]\n [-6.936848   -0.59250134]\n [ 3.460648    4.81143   ]\n [ 5.2428803   7.4566817 ]]", "nav_goal": "(136.8579559326172, 201.84165954589844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.8711677 13.125372 ], 14.000130653381348 meters away.)"}
{"file_name": "images/scenario_863_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.6) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 10.0 meters away at (-8.1, 5.9). A vehicle with ID 1 is 15.1 meters away at (12.9, 7.9). A pedestrian with ID 11 is 32.8 meters away at (-7.0, -32.1). A vehicle with ID 42 is 38.3 meters away at (2.1, 38.3). A vehicle with ID 6 is 47.0 meters away at (-38.1, -27.5). A vehicle with ID 39 is 47.4 meters away at (-38.7, -27.4). A vehicle with ID 38 is 68.2 meters away at (-28.8, -61.9). A vehicle with ID 47 is 73.8 meters away at (-30.3, -67.2).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.46448174 -1.3305396 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 3.2006726 -0.9638014] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 2.6870174 -0.9103917] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-5.7579646   1.2771027 ]\n [-6.936848   -0.59250134]]", "nav_goal": "(136.8579559326172, 201.84165954589844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.134966  5.892605], 10.044922828674316 meters away.)"}
{"file_name": "images/scenario_863_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 9.6 meters away at (-9.0, 3.5). A vehicle with ID 1 is 12.9 meters away at (11.7, 5.4). A vehicle with ID 42 is 35.8 meters away at (1.3, 35.8). A pedestrian with ID 11 is 38.2 meters away at (-8.6, -37.2). A vehicle with ID 6 is 46.3 meters away at (-34.0, -31.4). A vehicle with ID 39 is 47.9 meters away at (-36.9, -30.5). A vehicle with ID 38 is 70.7 meters away at (-29.7, -64.1). A vehicle with ID 47 is 76.3 meters away at (-31.2, -69.6).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.514391  -1.3429317] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 1.5963405 -0.5366403] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-5.7579646   1.2771027 ]\n [-6.936848   -0.59250134]]", "nav_goal": "(136.8579559326172, 201.84165954589844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.976408   3.4985924], 9.634108543395996 meters away.)"}
{"file_name": "images/scenario_864_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 4.3) m/s. Its current heading (yaw) is 0.81 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 19.5 meters away at (18.8, -5.2). A unknown object with ID 19 is 19.9 meters away at (19.6, -3.8). A unknown object with ID 20 is 20.3 meters away at (20.0, -3.3). A unknown object with ID 21 is 21.0 meters away at (21.0, -1.6). A unknown object with ID 22 is 22.5 meters away at (22.5, -0.4). A unknown object with ID 15 is 26.3 meters away at (14.1, 22.3). A unknown object with ID 16 is 26.5 meters away at (13.4, 22.8). A unknown object with ID 8 is 27.3 meters away at (13.7, 23.6). A unknown object with ID 2 is 27.3 meters away at (14.7, 23.0). A unknown object with ID 17 is 42.4 meters away at (37.9, 19.0).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(1.2994872331619263, 222.5736083984375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [18.750162 -5.246653], 19.470386505126953 meters away.)"}
{"file_name": "images/scenario_864_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 4.5) m/s. Its current heading (yaw) is 0.81 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 14.3 meters away at (5.3, 13.3). A unknown object with ID 16 is 14.6 meters away at (4.7, 13.8). A unknown object with ID 2 is 15.2 meters away at (5.9, 14.1). A unknown object with ID 8 is 15.4 meters away at (5.1, 14.5). A unknown object with ID 21 is 16.2 meters away at (12.3, -10.5). A unknown object with ID 22 is 16.6 meters away at (13.8, -9.4). A unknown object with ID 20 is 16.7 meters away at (11.3, -12.3). A unknown object with ID 10 is 17.4 meters away at (10.1, -14.1). A unknown object with ID 18 is 17.5 meters away at (10.1, -14.3). A unknown object with ID 12 is 29.4 meters away at (28.5, 7.4).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(1.2994872331619263, 222.5736083984375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 5.316822 13.276924], 14.301934242248535 meters away.)"}
{"file_name": "images/scenario_864_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.0) m/s. Its current heading (yaw) is 0.81 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 5.5 meters away at (-2.8, 4.8). A unknown object with ID 2 is 6.0 meters away at (-2.2, 5.6). A unknown object with ID 16 is 6.4 meters away at (-3.5, 5.4). A unknown object with ID 8 is 6.8 meters away at (-3.1, 6.0). A unknown object with ID 22 is 18.7 meters away at (5.6, -17.8). A unknown object with ID 21 is 19.4 meters away at (4.1, -19.0). A unknown object with ID 12 is 20.3 meters away at (20.3, -1.1). A unknown object with ID 20 is 21.0 meters away at (3.2, -20.7). A unknown object with ID 17 is 21.0 meters away at (20.9, 1.6). A unknown object with ID 18 is 22.8 meters away at (1.7, -22.7).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(1.2994872331619263, 222.5736083984375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.8148575  4.7750435], 5.542965412139893 meters away.)"}
{"file_name": "images/scenario_864_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 9.8 meters away at (-9.5, -2.5). A unknown object with ID 8 is 10.5 meters away at (-10.3, -2.0). A unknown object with ID 15 is 10.6 meters away at (-10.1, -3.2). A unknown object with ID 16 is 10.9 meters away at (-10.6, -2.7). A unknown object with ID 17 is 15.1 meters away at (13.7, -6.5). A unknown object with ID 12 is 15.9 meters away at (13.0, -9.1). A unknown object with ID 14 is 16.1 meters away at (15.1, -5.8). A unknown object with ID 22 is 25.9 meters away at (-1.6, -25.9). A unknown object with ID 21 is 27.2 meters away at (-3.2, -27.0). A unknown object with ID 18 is 31.3 meters away at (-5.5, -30.8).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(1.2994872331619263, 222.5736083984375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.505547  -2.4611435], 9.81899356842041 meters away.)"}
{"file_name": "images/scenario_865_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.8) m/s. Its current heading (yaw) is -1.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 22.4 meters away at (-9.1, 20.5). A vehicle with ID 14 is 32.7 meters away at (-5.3, 32.3). A vehicle with ID 16 is 68.3 meters away at (-1.1, 68.3). A vehicle with ID 18 is 68.7 meters away at (-2.7, -68.7). A vehicle with ID 3 is 75.2 meters away at (-2.7, -75.2).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.02395691 -1.5195266 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.8964080810547, 38.31608581542969)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-9.110981 20.457949], 22.395036697387695 meters away.)"}
{"file_name": "images/scenario_865_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.50 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 20.1 meters away at (-9.2, 17.8). A vehicle with ID 14 is 33.1 meters away at (-5.4, 32.7). A vehicle with ID 18 is 68.3 meters away at (-2.8, -68.3). A vehicle with ID 16 is 68.8 meters away at (-1.2, 68.8). A vehicle with ID 3 is 74.7 meters away at (-2.8, -74.7).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.01599211 -1.4527789 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.8964080810547, 38.31608581542969)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-9.197492 17.842548], 20.073623657226562 meters away.)"}
{"file_name": "images/scenario_865_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -1.7) m/s. Its current heading (yaw) is -1.48 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 18.6 meters away at (-9.4, 16.1). A vehicle with ID 14 is 34.3 meters away at (-5.4, 33.9). A pedestrian with ID 1 is 61.4 meters away at (-60.7, 9.6). A vehicle with ID 18 is 67.1 meters away at (-2.9, -67.0). A vehicle with ID 16 is 70.0 meters away at (-1.2, 69.9). A vehicle with ID 3 is 73.7 meters away at (-2.8, -73.6). A cyclist with ID 2 is 75.8 meters away at (67.3, -34.8). A vehicle with ID 10 is 76.3 meters away at (-2.3, 76.2).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.09642288 -1.4378337 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.3001189   0.00197255] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-3.0667233  7.658166 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.6478089 -0.9764791] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.8964080810547, 38.31608581542969)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-9.369808 16.103539], 18.63108253479004 meters away.)"}
{"file_name": "images/scenario_865_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.3) m/s. Its current heading (yaw) is -1.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 21.8 meters away at (-11.0, 18.8). A vehicle with ID 14 is 40.3 meters away at (-7.2, 39.6). A vehicle with ID 18 is 61.5 meters away at (-4.7, -61.3). A pedestrian with ID 1 is 66.4 meters away at (-64.6, 15.6). A vehicle with ID 3 is 68.1 meters away at (-4.7, -67.9). A vehicle with ID 16 is 75.7 meters away at (-2.7, 75.6). A vehicle with ID 10 is 78.2 meters away at (-5.9, 78.0).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.07776041 -1.5208039 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.0952804   0.10518981] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.89738727 -3.3003256 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.8964080810547, 38.31608581542969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-10.999964  18.812592], 21.79249382019043 meters away.)"}
{"file_name": "images/scenario_866_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 7.4 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A vehicle with ID 20 is 10.4 meters away at (-3.1, -10.0). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A pedestrian with ID 36 is 11.4 meters away at (10.9, 3.1). A unknown object with ID 12 is 11.4 meters away at (-7.6, -8.5). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A pedestrian with ID 28 is 13.7 meters away at (13.0, 4.2).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.1410795 -0.7743207] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0997573  0.3924896] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 32.40268  -19.49579 ]\n [ 38.33241  -20.307703]\n [ 41.29145  -22.46216 ]\n [ 36.94789  -20.063492]]", "nav_goal": "(-7.043519496917725, -110.984130859375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.8480535  2.6958463], 7.359580039978027 meters away.)"}
{"file_name": "images/scenario_866_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A vehicle with ID 20 is 10.5 meters away at (-3.0, -10.0). A vehicle with ID 37 is 10.5 meters away at (5.9, -8.7). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A pedestrian with ID 28 is 11.9 meters away at (10.7, 5.3). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A pedestrian with ID 36 is 13.8 meters away at (13.6, 1.9).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [12.263661  -4.0914354] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.1266246   0.55887145] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.3675961  -0.57125247] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 32.40268  -19.49579 ]\n [ 38.33241  -20.307703]\n [ 41.29145  -22.46216 ]\n [ 36.94789  -20.063492]]", "nav_goal": "(-7.043519496917725, -110.984130859375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.7993383  2.6719162], 7.305487155914307 meters away.)"}
{"file_name": "images/scenario_866_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A vehicle with ID 20 is 10.5 meters away at (-3.0, -10.0). A pedestrian with ID 28 is 10.6 meters away at (8.4, 6.5). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A vehicle with ID 29 is 14.4 meters away at (13.8, -4.3). A vehicle with ID 49 is 15.0 meters away at (-14.9, -1.6).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0969017  0.5989843] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [10.309537  -3.4366724] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 38.33241  -20.307703]\n [ 41.29145  -22.46216 ]\n [ 36.94789  -20.063492]]", "nav_goal": "(-7.043519496917725, -110.984130859375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.810056   2.6777036], 7.3175787925720215 meters away.)"}
{"file_name": "images/scenario_866_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A pedestrian with ID 28 is 9.8 meters away at (6.1, 7.6). A vehicle with ID 20 is 10.5 meters away at (-3.0, -10.0). A vehicle with ID 49 is 11.1 meters away at (6.7, -8.8). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A vehicle with ID 29 is 14.4 meters away at (13.8, -4.3).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2543912   0.65299207] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [11.025119  -3.6898985] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 38.33241  -20.307703]\n [ 41.29145  -22.46216 ]\n [ 36.94789  -20.063492]]", "nav_goal": "(-7.043519496917725, -110.984130859375)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.7992024  2.671413 ], 7.305176258087158 meters away.)"}
{"file_name": "images/scenario_867_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -2.3) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 3.6 meters away at (-0.4, 3.6). A vehicle with ID 62 is 12.2 meters away at (-3.0, -11.8). A vehicle with ID 59 is 14.7 meters away at (12.5, -7.8). A vehicle with ID 60 is 17.8 meters away at (17.7, 1.0). A vehicle with ID 63 is 19.3 meters away at (-5.2, -18.5). A vehicle with ID 65 is 25.5 meters away at (-7.0, -24.5). A vehicle with ID 36 is 27.7 meters away at (25.2, -11.5). A vehicle with ID 61 is 29.6 meters away at (29.5, -2.6). A vehicle with ID 67 is 56.9 meters away at (-52.1, 22.8). A vehicle with ID 68 is 66.3 meters away at (-61.0, 25.9).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [-7.4692535  2.164351 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(249.99371337890625, -156.244873046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.3568411  3.5949745], 3.6126413345336914 meters away.)"}
{"file_name": "images/scenario_867_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -2.2) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 3.8 meters away at (-0.7, -3.7). A vehicle with ID 60 is 6.7 meters away at (4.4, 5.1). A vehicle with ID 36 is 14.0 meters away at (11.9, -7.4). A vehicle with ID 61 is 16.2 meters away at (16.2, 1.5). A vehicle with ID 62 is 18.0 meters away at (-16.3, -7.6). A vehicle with ID 64 is 31.3 meters away at (-28.9, 12.1). A vehicle with ID 2 is 64.4 meters away at (60.3, -22.8). A vehicle with ID 1 is 69.9 meters away at (65.5, -24.5). A vehicle with ID 67 is 70.8 meters away at (-65.4, 27.1). A pedestrian with ID 7 is 72.2 meters away at (66.3, -28.6).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-7.5265365  1.9969158] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.1393197 -0.4412714] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(249.99371337890625, -156.244873046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.70627403 -3.732419  ], 3.798654317855835 meters away.)"}
{"file_name": "images/scenario_867_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -1.8) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 3.7 meters away at (0.1, -3.7). A vehicle with ID 61 is 6.7 meters away at (4.2, 5.2). A vehicle with ID 60 is 11.4 meters away at (-7.3, 8.7). A vehicle with ID 59 is 12.6 meters away at (-12.6, -0.0). A vehicle with ID 21 is 26.0 meters away at (12.6, -22.8). A vehicle with ID 19 is 36.2 meters away at (18.8, -31.0). A unknown object with ID 44 is 36.8 meters away at (35.7, 8.8). A unknown object with ID 5 is 46.4 meters away at (46.3, 2.1). A vehicle with ID 2 is 52.0 meters away at (48.3, -19.1). A vehicle with ID 1 is 57.4 meters away at (53.6, -20.5).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(249.99371337890625, -156.244873046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.0945549 -3.7457542], 3.7469475269317627 meters away.)"}
{"file_name": "images/scenario_867_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 8.2 meters away at (-8.1, -1.1). A vehicle with ID 61 is 8.8 meters away at (-4.0, 7.9). A vehicle with ID 60 is 19.3 meters away at (-15.6, 11.4). A vehicle with ID 21 is 20.4 meters away at (4.4, -19.9). A vehicle with ID 59 is 21.0 meters away at (-20.9, 2.6). A vehicle with ID 19 is 30.1 meters away at (10.6, -28.2). A unknown object with ID 5 is 38.4 meters away at (38.1, 4.8). A vehicle with ID 43 is 43.1 meters away at (-1.4, -43.0). A vehicle with ID 2 is 43.3 meters away at (40.1, -16.4). A vehicle with ID 1 is 48.6 meters away at (45.2, -17.9).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(249.99371337890625, -156.244873046875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.096863  -1.1079302], 8.17231273651123 meters away.)"}
{"file_name": "images/scenario_868_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -4.8) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 32.5 meters away at (-13.8, 29.5). A vehicle with ID 26 is 41.7 meters away at (-21.6, 35.6). A vehicle with ID 25 is 51.0 meters away at (47.5, -18.6). A vehicle with ID 28 is 61.9 meters away at (-38.7, 48.3). A vehicle with ID 27 is 64.7 meters away at (58.9, -26.9).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-213.96788024902344, 52.32540512084961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-13.822764  29.454065], 32.53630065917969 meters away.)"}
{"file_name": "images/scenario_868_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -6.3) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 41.6 meters away at (-6.8, 41.0). A vehicle with ID 26 is 49.3 meters away at (-14.6, 47.1). A vehicle with ID 25 is 55.2 meters away at (54.8, -6.8). A vehicle with ID 27 is 67.6 meters away at (65.9, -15.1). A vehicle with ID 28 is 67.6 meters away at (-31.6, 59.8).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-213.96788024902344, 52.32540512084961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.7658215 41.016304 ], 41.57058334350586 meters away.)"}
{"file_name": "images/scenario_868_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -6.8) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 54.5 meters away at (0.6, 54.5). A vehicle with ID 26 is 61.0 meters away at (-7.2, 60.6). A vehicle with ID 25 is 62.7 meters away at (62.3, 6.8). A unknown object with ID 2 is 66.1 meters away at (-35.1, -56.0). A pedestrian with ID 10 is 71.9 meters away at (13.4, -70.6). A vehicle with ID 27 is 73.4 meters away at (73.4, -1.0). A vehicle with ID 28 is 76.8 meters away at (-24.2, 72.9).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.8333002 -1.6051509] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-213.96788024902344, 52.32540512084961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.60277367 54.464233  ], 54.467567443847656 meters away.)"}
{"file_name": "images/scenario_868_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -6.2) m/s. Its current heading (yaw) is -2.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 50.8 meters away at (-27.1, -43.0). A pedestrian with ID 10 is 65.6 meters away at (25.0, -60.7). A unknown object with ID 18 is 66.6 meters away at (-36.5, -55.7). A vehicle with ID 24 is 68.1 meters away at (8.5, 67.6). A vehicle with ID 26 is 73.5 meters away at (0.9, 73.5).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.497793  -1.4306506] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-213.96788024902344, 52.32540512084961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-27.080158 -42.965755], 50.78770446777344 meters away.)"}
{"file_name": "images/scenario_869_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -6.6) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A pedestrian with ID 41 is 11.4 meters away at (-11.4, 0.7). A pedestrian with ID 43 is 11.8 meters away at (-11.8, 0.2). A vehicle with ID 44 is 16.4 meters away at (-3.4, 16.1). A pedestrian with ID 57 is 23.2 meters away at (22.4, 6.0). A vehicle with ID 40 is 25.5 meters away at (-10.5, 23.3). A vehicle with ID 42 is 34.0 meters away at (-16.4, 29.7). A pedestrian with ID 68 is 37.1 meters away at (37.0, -2.1). A vehicle with ID 45 is 37.3 meters away at (-14.9, 34.2). A vehicle with ID 46 is 41.1 meters away at (-21.2, 35.1). A vehicle with ID 48 is 44.0 meters away at (-19.9, 39.2).", "velocity_description": "The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.7915863  0.736412 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.80827624  0.755897  ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-1.3569303  1.3129048] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 1.0675902 -0.814699 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.8632319   0.69221973] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.947433  34.198864]\n [-17.972778  35.577427]\n [-21.055422  34.123333]\n [-20.708302  34.37718 ]\n [-15.72671   38.481304]\n [-17.955032  35.901928]]", "nav_goal": "(235.6232452392578, -119.89232635498047)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-11.402739    0.7372227], 11.426546096801758 meters away.)"}
{"file_name": "images/scenario_869_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -6.4) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A pedestrian with ID 57 is 19.0 meters away at (7.5, 17.4). A pedestrian with ID 68 is 22.0 meters away at (18.1, 12.4). A pedestrian with ID 72 is 26.3 meters away at (17.3, -19.8). A pedestrian with ID 41 is 33.6 meters away at (-30.0, 15.2). A pedestrian with ID 43 is 33.8 meters away at (-30.4, 14.7). A pedestrian with ID 38 is 36.0 meters away at (35.9, -1.7). A pedestrian with ID 39 is 36.4 meters away at (36.4, -0.9). A vehicle with ID 44 is 37.3 meters away at (-21.7, 30.3). A pedestrian with ID 24 is 44.6 meters away at (43.7, -8.9). A pedestrian with ID 23 is 45.4 meters away at (44.5, -8.8).", "velocity_description": "The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.9724613 -0.7348676] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.98883647  0.74460006] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.0733744   0.90918684] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.8381244  0.7667623] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.8328299  0.7684893] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.0925791  0.8090397] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0861121   0.75809705] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.74159294 -0.55297244] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.71167934 -0.6401937 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-20.947433  34.198864]\n [-17.972778  35.577427]\n [-21.055422  34.123333]\n [-20.708302  34.37718 ]\n [-15.72671   38.481304]\n [-17.955032  35.901928]]", "nav_goal": "(235.6232452392578, -119.89232635498047)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 7.498459 17.44265 ], 18.98612403869629 meters away.)"}
{"file_name": "images/scenario_869_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -6.0) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A pedestrian with ID 72 is 6.1 meters away at (-2.3, -5.6). A pedestrian with ID 38 is 20.6 meters away at (16.5, 12.4). A pedestrian with ID 39 is 21.4 meters away at (16.9, 13.2). A pedestrian with ID 68 is 26.3 meters away at (-1.3, 26.3). A pedestrian with ID 24 is 27.5 meters away at (27.4, 2.7). A pedestrian with ID 23 is 28.4 meters away at (28.2, 3.0). A pedestrian with ID 57 is 29.8 meters away at (-8.0, 28.7). A pedestrian with ID 15 is 31.4 meters away at (21.2, -23.2). A pedestrian with ID 17 is 31.6 meters away at (31.6, 1.0). A pedestrian with ID 13 is 38.4 meters away at (26.9, -27.5).", "velocity_description": "The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.96944094  0.7708394 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.0119795  0.8708304] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0489277  0.8093352] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.9301771   0.71936375] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.741506  -0.6497724] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.7572647  -0.62060905] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.9635933 -0.6488195] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.5111097 -0.9374989] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.3961926 -1.0919285] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.064237  -0.6938786] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(235.6232452392578, -119.89232635498047)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-2.3285599 -5.6198006], 6.083119869232178 meters away.)"}
{"file_name": "images/scenario_869_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -6.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 14.4 meters away at (7.0, -12.6). A pedestrian with ID 24 is 17.9 meters away at (11.1, 14.0). A pedestrian with ID 23 is 18.7 meters away at (12.1, 14.3). A pedestrian with ID 31 is 18.9 meters away at (9.1, -16.6). A pedestrian with ID 17 is 19.8 meters away at (16.6, 10.8). A pedestrian with ID 13 is 20.2 meters away at (11.8, -16.4). A pedestrian with ID 14 is 20.7 meters away at (11.1, -17.5). A pedestrian with ID 72 is 23.3 meters away at (-21.9, 8.0). A pedestrian with ID 35 is 23.7 meters away at (13.8, -19.2). A pedestrian with ID 19 is 24.3 meters away at (15.2, -18.9).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.4584645  -0.80597985] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.6979925  -0.48654217] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.7123317  -0.53344434] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.8178403  0.6241218] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.1671523 -1.0072691] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.0414366  -0.56128424] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.76436484 -0.7795338 ] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.2097512  0.7919243] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.049221   0.7197663] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0731481  0.7133792] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(235.6232452392578, -119.89232635498047)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  6.9717255 -12.55011  ], 14.356539726257324 meters away.)"}
{"file_name": "images/scenario_870_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 9.2) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 27.3 meters away at (-5.1, 26.8). A vehicle with ID 16 is 28.8 meters away at (-7.6, 27.8). A unknown object with ID 6 is 46.5 meters away at (16.9, 43.3). A unknown object with ID 4 is 59.1 meters away at (7.9, 58.6). A vehicle with ID 33 is 76.9 meters away at (-22.0, -73.6). A vehicle with ID 34 is 78.5 meters away at (-32.0, -71.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(206.04180908203125, 0.9399586319923401)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.1000156 26.84917  ], 27.329254150390625 meters away.)"}
{"file_name": "images/scenario_870_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 8.6) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 14.5 meters away at (-11.4, 9.0). A vehicle with ID 16 is 17.1 meters away at (-13.9, 9.9). A vehicle with ID 17 is 19.6 meters away at (-16.8, 10.2). A vehicle with ID 19 is 22.5 meters away at (-19.5, 11.3). A unknown object with ID 6 is 27.6 meters away at (10.7, 25.5). A vehicle with ID 24 is 32.5 meters away at (-29.0, 14.7). A vehicle with ID 8 is 43.6 meters away at (-39.5, 18.4).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(206.04180908203125, 0.9399586319923401)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.41073    8.995117], 14.529862403869629 meters away.)"}
{"file_name": "images/scenario_870_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 8.2) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 18.5 meters away at (-16.8, -7.7). A vehicle with ID 16 is 20.5 meters away at (-19.4, -6.7). A vehicle with ID 17 is 23.1 meters away at (-22.2, -6.5). A vehicle with ID 19 is 25.5 meters away at (-24.9, -5.4). A vehicle with ID 22 is 29.9 meters away at (-29.8, -3.1). A vehicle with ID 24 is 34.5 meters away at (-34.5, -2.0). A vehicle with ID 25 is 36.9 meters away at (-36.9, -0.9). A vehicle with ID 20 is 39.4 meters away at (-39.4, 0.1). A vehicle with ID 11 is 42.2 meters away at (-42.2, 0.8). A vehicle with ID 8 is 45.0 meters away at (-45.0, 1.6).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(206.04180908203125, 0.9399586319923401)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-16.844837   -7.6509895], 18.5009765625 meters away.)"}
{"file_name": "images/scenario_870_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 7.7) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 31.7 meters away at (-21.0, -23.7). A vehicle with ID 16 is 32.9 meters away at (-23.6, -22.9). A vehicle with ID 17 is 34.8 meters away at (-26.5, -22.6). A vehicle with ID 19 is 36.2 meters away at (-29.2, -21.5).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(206.04180908203125, 0.9399586319923401)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-21.024347 -23.703915], 31.68436050415039 meters away.)"}
{"file_name": "images/scenario_871_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.8) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 8.3 meters away at (2.9, 7.8). A pedestrian with ID 40 is 13.5 meters away at (13.4, -0.8). A vehicle with ID 49 is 15.4 meters away at (7.8, 13.3). A vehicle with ID 62 is 22.9 meters away at (12.7, 19.1). A vehicle with ID 43 is 23.5 meters away at (7.2, -22.3). A pedestrian with ID 47 is 26.5 meters away at (-3.1, -26.3). A pedestrian with ID 13 is 27.4 meters away at (-3.9, -27.2). A vehicle with ID 69 is 28.6 meters away at (23.5, 16.4). A vehicle with ID 73 is 28.7 meters away at (16.6, 23.4). A vehicle with ID 48 is 29.1 meters away at (-29.1, -1.3).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.68525857 -0.9752431 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.15471713 -0.92160547] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.23224798 -1.0106789 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.038482  -10.563804 ]\n [ -1.265939  -13.333607 ]\n [-15.100355  -21.80417  ]\n [-13.516881  -19.054922 ]\n [ -8.523784   -9.39964  ]\n [ -7.3866453 -10.398966 ]\n [ -6.0583396 -11.044063 ]\n [ -3.594477  -15.750048 ]]", "nav_goal": "(-133.5877685546875, -11.522873878479004)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.8694324 7.813196 ], 8.323441505432129 meters away.)"}
{"file_name": "images/scenario_871_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -3.1) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 13.4 meters away at (6.2, 11.9). A pedestrian with ID 40 is 15.0 meters away at (15.0, 0.8). A unknown object with ID 41 is 16.4 meters away at (16.4, -0.4). A vehicle with ID 49 is 20.8 meters away at (11.2, 17.5). A vehicle with ID 43 is 21.1 meters away at (10.4, -18.3). A pedestrian with ID 47 is 24.2 meters away at (-0.3, -24.2). A pedestrian with ID 13 is 24.6 meters away at (-1.4, -24.5). A vehicle with ID 50 is 25.1 meters away at (-23.1, -9.7). A vehicle with ID 48 is 26.0 meters away at (-25.8, 2.7). A vehicle with ID 62 is 28.2 meters away at (16.1, 23.2).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.9305816 -1.2383822] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.34884375 -1.0012909 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.23524491 -0.3609533 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.038482  -10.563804 ]\n [ -1.265939  -13.333607 ]\n [-15.100355  -21.80417  ]\n [-13.516881  -19.054922 ]\n [ -8.523784   -9.39964  ]\n [ -6.0583396 -11.044063 ]\n [ -3.594477  -15.750048 ]]", "nav_goal": "(-133.5877685546875, -11.522873878479004)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.1706963 11.859841 ], 13.369118690490723 meters away.)"}
{"file_name": "images/scenario_871_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -4.8) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 16.9 meters away at (3.8, -16.4). A pedestrian with ID 47 is 17.4 meters away at (4.9, -16.7). A vehicle with ID 50 is 18.1 meters away at (-18.0, -1.7). A vehicle with ID 43 is 18.6 meters away at (15.4, -10.4). A pedestrian with ID 40 is 19.4 meters away at (18.3, 6.6). A vehicle with ID 51 is 20.7 meters away at (-19.8, -5.8). A vehicle with ID 45 is 22.9 meters away at (11.3, 19.9). A unknown object with ID 41 is 22.9 meters away at (21.5, 7.7). A vehicle with ID 48 is 23.4 meters away at (-20.8, 10.7). A pedestrian with ID 34 is 23.7 meters away at (-22.3, -8.2).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.02127654 -0.0145252 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.02406964 -0.00525446] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.8643416 -1.2338614] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.2938322 -0.5164448] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.038482  -10.563804 ]\n [ -1.265939  -13.333607 ]\n [-15.100355  -21.80417  ]\n [-13.516881  -19.054922 ]\n [ -8.523784   -9.39964  ]\n [ -6.0583396 -11.044063 ]\n [ -3.594477  -15.750048 ]]", "nav_goal": "(-133.5877685546875, -11.522873878479004)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  3.8249402 -16.426474 ], 16.86591911315918 meters away.)"}
{"file_name": "images/scenario_871_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -4.8) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 10.9 meters away at (8.5, -6.9). A pedestrian with ID 47 is 11.9 meters away at (9.6, -7.1). A pedestrian with ID 34 is 15.3 meters away at (-15.3, 0.5). A vehicle with ID 50 is 15.5 meters away at (-13.3, 7.8). A vehicle with ID 51 is 15.6 meters away at (-15.1, 3.7). A vehicle with ID 43 is 20.1 meters away at (20.1, -0.9). A vehicle with ID 55 is 23.7 meters away at (-21.3, 10.5). A pedestrian with ID 40 is 25.3 meters away at (21.2, 13.8). A vehicle with ID 48 is 25.9 meters away at (-16.1, 20.3). A vehicle with ID 56 is 29.2 meters away at (28.4, -7.0).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.01858041 -0.01267712] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.00487792 -0.01982473] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.2251925  -0.46047077] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.9665517 -1.1875004] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.038482  -10.563804 ]\n [ -1.265939  -13.333607 ]\n [-15.100355  -21.80417  ]\n [-13.516881  -19.054922 ]\n [ -8.523784   -9.39964  ]\n [ -6.0583396 -11.044063 ]\n [ -3.594477  -15.750048 ]]", "nav_goal": "(-133.5877685546875, -11.522873878479004)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 8.510242  -6.8634167], 10.93301010131836 meters away.)"}
{"file_name": "images/scenario_872_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.9) m/s. Its current heading (yaw) is -1.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 14.8 meters away at (5.2, 13.9). A vehicle with ID 18 is 19.8 meters away at (3.5, 19.5). A vehicle with ID 19 is 20.5 meters away at (11.3, 17.2). A vehicle with ID 2 is 23.8 meters away at (5.9, -23.0). A vehicle with ID 21 is 40.1 meters away at (36.0, 17.5). A unknown object with ID 13 is 41.6 meters away at (39.7, 12.6). A vehicle with ID 20 is 55.3 meters away at (45.1, 32.0). A vehicle with ID 22 is 76.1 meters away at (9.0, -75.6).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.3343211 -1.4377763] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.2939068 -0.5828446] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 1.9688947 -8.919261 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-8.601202   2.0964031] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ -1.0307375 -10.129292 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.871971  12.258988]\n [ -9.712252   8.57368 ]]", "nav_goal": "(49.67450714111328, -282.5729064941406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.242032 13.880875], 14.83770751953125 meters away.)"}
{"file_name": "images/scenario_872_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -6.3) m/s. Its current heading (yaw) is -1.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 20.4 meters away at (-0.7, 20.4). A vehicle with ID 19 is 27.1 meters away at (5.2, 26.6). A vehicle with ID 2 is 30.8 meters away at (6.8, -30.1). A vehicle with ID 18 is 30.9 meters away at (0.9, 30.9). A unknown object with ID 13 is 44.2 meters away at (37.2, 24.0). A vehicle with ID 15 is 50.3 meters away at (23.3, -44.6). A vehicle with ID 20 is 60.9 meters away at (42.6, 43.5).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.6539253 -3.4343255] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.1315906 -1.418625 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 1.049475 -9.460059] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.871971  12.258988]\n [ -9.712252   8.57368 ]]", "nav_goal": "(49.67450714111328, -282.5729064941406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.6806927 20.388905 ], 20.400264739990234 meters away.)"}
{"file_name": "images/scenario_872_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -7.4) m/s. Its current heading (yaw) is -1.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 27.0 meters away at (-6.7, 26.2). A vehicle with ID 2 is 35.7 meters away at (3.9, -35.5). A vehicle with ID 19 is 36.1 meters away at (-3.4, 35.9). A vehicle with ID 15 is 36.4 meters away at (19.3, -30.8). A vehicle with ID 11 is 74.8 meters away at (-9.6, -74.2).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.00898615 -4.6861024 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-0.24032097 -9.904078  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.519125 -3.355765] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.5875607 16.70423  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(49.67450714111328, -282.5729064941406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.676784 26.19893 ], 27.036334991455078 meters away.)"}
{"file_name": "images/scenario_872_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -8.4) m/s. Its current heading (yaw) is -1.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 22.3 meters away at (16.3, -15.1). A vehicle with ID 11 is 28.5 meters away at (-10.1, -26.7). A vehicle with ID 1 is 31.7 meters away at (-7.7, 30.7). A vehicle with ID 2 is 39.8 meters away at (-0.2, -39.8). A vehicle with ID 19 is 44.1 meters away at (-10.0, 43.0). A vehicle with ID 8 is 75.8 meters away at (-13.7, -74.5).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.75225174 14.53935   ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.9518269 -6.8125315] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-0.6204194 -9.92585  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.44670355 -5.323412  ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 1.4174354 16.522722 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(49.67450714111328, -282.5729064941406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 16.309483 -15.144978], 22.256898880004883 meters away.)"}
{"file_name": "images/scenario_873_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -7.9) m/s. Its current heading (yaw) is -1.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 7.7 meters away at (-3.3, 6.9). A vehicle with ID 3 is 15.7 meters away at (-0.4, 15.7). A vehicle with ID 34 is 27.6 meters away at (-2.1, 27.5). A vehicle with ID 32 is 28.6 meters away at (23.4, -16.4). A vehicle with ID 31 is 35.6 meters away at (31.6, -16.6). A vehicle with ID 30 is 40.4 meters away at (36.8, -16.6). A vehicle with ID 10 is 46.3 meters away at (42.9, -17.2). A vehicle with ID 16 is 58.0 meters away at (-7.6, -57.5). A vehicle with ID 18 is 64.1 meters away at (-8.3, -63.6). A vehicle with ID 20 is 75.5 meters away at (0.3, -75.5).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.6216162 -8.917161 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.5882995 -9.525814 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(178.39837646484375, -136.81565856933594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.3271103  6.9413757], 7.6975555419921875 meters away.)"}
{"file_name": "images/scenario_873_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -5.6) m/s. Its current heading (yaw) is -0.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 13.6 meters away at (-2.9, 13.3). A vehicle with ID 32 is 20.9 meters away at (20.7, -2.9). A vehicle with ID 33 is 21.5 meters away at (-6.0, 20.6). A vehicle with ID 34 is 24.8 meters away at (-2.9, 24.6). A vehicle with ID 31 is 28.9 meters away at (28.7, -3.1). A vehicle with ID 30 is 34.2 meters away at (34.0, -3.3). A vehicle with ID 10 is 40.3 meters away at (40.2, -4.0). A vehicle with ID 16 is 45.0 meters away at (-10.7, -43.7). A vehicle with ID 18 is 51.2 meters away at (-11.3, -49.9). A vehicle with ID 14 is 61.0 meters away at (-1.8, -60.9).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.07899398 -7.269625  ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.5551556 -7.6395974] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0.08185016 0.7650111 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(178.39837646484375, -136.81565856933594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.9054408 13.313341 ], 13.626688957214355 meters away.)"}
{"file_name": "images/scenario_873_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -1.3) m/s. Its current heading (yaw) is -0.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 11.0 meters away at (10.1, 4.5). A vehicle with ID 3 is 13.2 meters away at (-11.2, 7.0). A vehicle with ID 31 is 18.6 meters away at (18.1, 4.3). A vehicle with ID 34 is 21.7 meters away at (-13.2, 17.2). A vehicle with ID 30 is 23.7 meters away at (23.4, 4.0). A vehicle with ID 10 is 29.7 meters away at (29.5, 3.4). A vehicle with ID 33 is 32.5 meters away at (-16.5, 28.0). A unknown object with ID 27 is 39.9 meters away at (39.8, 2.5). A vehicle with ID 16 is 42.1 meters away at (-21.1, -36.4). A vehicle with ID 18 is 47.8 meters away at (-21.9, -42.5).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.1417925 -5.8349133] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.31544414 -7.7950616 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(178.39837646484375, -136.81565856933594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [10.06609   4.455475], 11.008061408996582 meters away.)"}
{"file_name": "images/scenario_873_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -0.4) m/s. Its current heading (yaw) is -0.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 7.1 meters away at (4.1, 5.8). A vehicle with ID 32 is 7.1 meters away at (-3.9, 5.9). A vehicle with ID 30 is 10.8 meters away at (9.3, 5.5). A vehicle with ID 3 is 15.0 meters away at (-14.9, 1.3). A vehicle with ID 10 is 16.3 meters away at (15.5, 5.0). A unknown object with ID 1 is 25.6 meters away at (25.3, -3.6). A unknown object with ID 27 is 26.0 meters away at (25.7, 4.0). A vehicle with ID 34 is 28.5 meters away at (-28.5, 0.5). A vehicle with ID 33 is 42.5 meters away at (-30.5, 29.5). A unknown object with ID 29 is 51.0 meters away at (50.9, 3.5).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.419149  -1.3346747] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ -0.8014624 -10.44953  ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(178.39837646484375, -136.81565856933594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.0760517 5.7841606], 7.076066017150879 meters away.)"}
{"file_name": "images/scenario_874_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.7) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 37.0 meters away at (27.7, -24.5). A vehicle with ID 37 is 39.4 meters away at (-32.2, -22.7). A pedestrian with ID 39 is 44.7 meters away at (-29.9, 33.2). A vehicle with ID 9 is 44.9 meters away at (-31.3, 32.1). A pedestrian with ID 11 is 47.3 meters away at (-46.7, -7.5). A vehicle with ID 29 is 57.0 meters away at (-49.7, -28.0). A vehicle with ID 40 is 59.8 meters away at (-51.5, -30.4). A unknown object with ID 16 is 79.8 meters away at (28.1, -74.6).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-5.7706614  5.052599 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.9818096 -0.674485 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.29258227 -0.37289798] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 27.74719  -24.505665], 37.01937484741211 meters away.)"}
{"file_name": "images/scenario_874_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 2.8) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 28.9 meters away at (21.7, -19.1). A pedestrian with ID 39 is 37.0 meters away at (-23.3, 28.7). A vehicle with ID 37 is 38.4 meters away at (-28.2, -26.1). A vehicle with ID 9 is 39.4 meters away at (-27.1, 28.5). A pedestrian with ID 11 is 42.7 meters away at (-41.0, -12.1). A vehicle with ID 32 is 52.1 meters away at (52.0, -3.7). A vehicle with ID 29 is 55.4 meters away at (-45.6, -31.6). A vehicle with ID 40 is 58.5 meters away at (-47.5, -34.1). A vehicle with ID 34 is 79.2 meters away at (62.0, -49.2).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-4.3080344  3.8567352] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.2391644  -0.52092844] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.0088065 -0.9415276] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-7.447157  3.703654] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 21.652863 -19.118248], 28.88518524169922 meters away.)"}
{"file_name": "images/scenario_874_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.5) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 39 is 23.9 meters away at (-13.0, 20.1). A vehicle with ID 9 is 28.1 meters away at (-18.6, 21.0). A vehicle with ID 36 is 31.1 meters away at (23.3, -20.6). A pedestrian with ID 11 is 37.0 meters away at (-30.3, -21.3). A unknown object with ID 17 is 38.7 meters away at (-15.9, -35.2). A vehicle with ID 37 is 39.0 meters away at (-19.6, -33.7). A unknown object with ID 31 is 41.0 meters away at (-41.0, -2.4). A vehicle with ID 15 is 55.5 meters away at (-33.6, -44.1). A vehicle with ID 40 is 56.4 meters away at (-38.6, -41.2). A vehicle with ID 18 is 61.7 meters away at (-40.9, -46.3).", "velocity_description": "The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.72479784 -0.67085826] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.0809596  2.6684873] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.90281355 -0.9243846 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-13.013995  20.10083 ], 23.9459285736084 meters away.)"}
{"file_name": "images/scenario_874_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.7) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 39 is 8.0 meters away at (0.3, 8.0). A vehicle with ID 9 is 12.5 meters away at (-6.8, 10.5). A unknown object with ID 23 is 33.1 meters away at (-14.3, -29.9). A pedestrian with ID 11 is 37.6 meters away at (-16.8, -33.6). A vehicle with ID 36 is 39.1 meters away at (29.3, -25.8). A vehicle with ID 37 is 44.7 meters away at (-7.7, -44.0). A vehicle with ID 20 is 58.7 meters away at (-18.9, -55.6). A vehicle with ID 15 is 58.9 meters away at (-22.1, -54.6). A vehicle with ID 33 is 75.7 meters away at (72.7, -21.2).", "velocity_description": "The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.50354654 -1.099851  ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.50469875 -0.9483166 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.9704049  2.4657106] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [0.28300667 8.034386  ], 8.039368629455566 meters away.)"}
{"file_name": "images/scenario_875_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 10.5) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 40.1 meters away at (21.6, -33.8). A vehicle with ID 8 is 51.4 meters away at (28.6, -42.7). A vehicle with ID 4 is 62.2 meters away at (32.2, -53.3).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [ 0.5641219 -0.9062596] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 1.6638051 -2.2286716] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 24.626299 -38.6382  ]\n [ 20.37733  -41.397606]\n [ 21.99665  -40.57621 ]]", "nav_goal": "(-191.36944580078125, 231.76605224609375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 21.646091 -33.78867 ], 40.12763977050781 meters away.)"}
{"file_name": "images/scenario_875_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 10.7) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 68.1 meters away at (38.9, -55.9).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-191.36944580078125, 231.76605224609375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 38.912823 -55.922005], 68.1283950805664 meters away.)"}
{"file_name": "images/scenario_875_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 10.3) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 36.1 meters away at (-24.7, 26.3).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [  9.856627 -12.791219] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-191.36944580078125, 231.76605224609375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-24.690983  26.294155], 36.06975555419922 meters away.)"}
{"file_name": "images/scenario_875_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 8.5) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 20.0 meters away at (9.8, -17.4). A unknown object with ID 2 is 60.6 meters away at (-45.4, 40.1).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [  9.303632 -11.702155] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-102.54353  116.45334]\n [-100.05275  112.58353]\n [-100.58988  114.00529]\n [-102.00787  116.06729]]", "nav_goal": "(-191.36944580078125, 231.76605224609375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  9.839882 -17.413754], 20.00155258178711 meters away.)"}
{"file_name": "images/scenario_876_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 10.0 meters away at (-8.2, -5.7). A unknown object with ID 15 is 10.4 meters away at (-9.0, -5.2). A unknown object with ID 16 is 10.8 meters away at (-8.8, -6.3). A vehicle with ID 18 is 17.9 meters away at (-15.8, 8.4). A unknown object with ID 26 is 22.8 meters away at (-16.1, 16.2). A vehicle with ID 20 is 26.2 meters away at (-2.6, 26.1). A cyclist with ID 17 is 27.1 meters away at (-6.6, 26.3). A vehicle with ID 21 is 30.1 meters away at (-2.5, 30.0). A vehicle with ID 38 is 32.5 meters away at (32.4, 2.2). A vehicle with ID 32 is 33.9 meters away at (32.6, 9.4).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [0.00103083 0.00402703] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 1.2638619 -0.545045 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.64107   15.314269 ]\n [ 5.41146   22.402544 ]\n [ 7.2050724 25.36809  ]\n [17.622938  12.122112 ]\n [18.593416  15.214168 ]\n [ 5.180181  13.892233 ]\n [ 8.496457  12.704961 ]\n [21.114239   6.916976 ]\n [ 7.3197165 25.599602 ]\n [21.326672   6.7765536]\n [20.715353   5.278583 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-8.232219 -5.667497], 9.99449634552002 meters away.)"}
{"file_name": "images/scenario_876_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 10.0 meters away at (-8.2, -5.7). A unknown object with ID 15 is 10.4 meters away at (-8.9, -5.2). A unknown object with ID 16 is 10.8 meters away at (-8.8, -6.3). A vehicle with ID 18 is 17.9 meters away at (-15.8, 8.4). A unknown object with ID 26 is 22.8 meters away at (-16.1, 16.1). A vehicle with ID 20 is 25.8 meters away at (-1.8, 25.7). A cyclist with ID 17 is 27.0 meters away at (-6.4, 26.3). A vehicle with ID 21 is 29.5 meters away at (-1.4, 29.5). A vehicle with ID 38 is 31.7 meters away at (31.6, 2.5). A vehicle with ID 32 is 33.7 meters away at (32.4, 9.4).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.962008   -0.43646276] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [ 0.28850862 -0.14903016] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 0.915089   -0.40819138] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.1829844  0.4960032] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.64107   15.314269 ]\n [ 5.41146   22.402544 ]\n [ 7.2050724 25.36809  ]\n [18.593416  15.214168 ]\n [ 5.180181  13.892233 ]\n [ 8.496457  12.704961 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-8.218862 -5.661647], 9.98017692565918 meters away.)"}
{"file_name": "images/scenario_876_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 10.0 meters away at (-8.2, -5.7). A unknown object with ID 15 is 10.3 meters away at (-8.9, -5.2). A unknown object with ID 16 is 10.8 meters away at (-8.8, -6.3). A vehicle with ID 18 is 17.9 meters away at (-15.8, 8.4). A unknown object with ID 26 is 22.8 meters away at (-16.1, 16.2). A vehicle with ID 20 is 24.3 meters away at (1.3, 24.3). A cyclist with ID 17 is 25.6 meters away at (-4.0, 25.3). A vehicle with ID 38 is 26.6 meters away at (26.2, 4.9). A vehicle with ID 21 is 27.9 meters away at (2.3, 27.8). A cyclist with ID 13 is 28.7 meters away at (-6.3, 28.0).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.9428838 -0.9547858] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [ 1.5046872 -0.5159758] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.174416   1.7427608] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 2.6014397 -1.2286676] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [ 1.0325596  -0.48204756] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.180181 13.892233]\n [ 8.496457 12.704961]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-8.216256 -5.659415], 9.976764678955078 meters away.)"}
{"file_name": "images/scenario_876_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 10.0 meters away at (-8.2, -5.7). A unknown object with ID 15 is 10.4 meters away at (-8.9, -5.2). A unknown object with ID 16 is 10.8 meters away at (-8.8, -6.3). A vehicle with ID 18 is 17.9 meters away at (-15.8, 8.4). A vehicle with ID 38 is 18.1 meters away at (15.4, 9.4). A unknown object with ID 26 is 22.8 meters away at (-16.1, 16.1). A vehicle with ID 20 is 23.0 meters away at (4.9, 22.4). A cyclist with ID 17 is 24.2 meters away at (-0.5, 24.2). A vehicle with ID 21 is 26.3 meters away at (7.4, 25.3). A cyclist with ID 13 is 26.4 meters away at (-3.1, 26.2).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.4487486  2.80044  ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.539687   -0.84954315] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [ 1.5556718 -0.6283171] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 2.4449127 -1.3324155] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [ 1.3652267 -0.6503669] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.180181 13.892233]\n [ 8.496457 12.704961]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-8.223569  -5.6722326], 9.990060806274414 meters away.)"}
{"file_name": "images/scenario_877_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.8 meters away at (-3.5, -1.3). A cyclist with ID 59 is 5.1 meters away at (0.2, -5.0). A pedestrian with ID 65 is 16.8 meters away at (1.8, 16.7). A pedestrian with ID 66 is 17.6 meters away at (1.7, 17.6). A vehicle with ID 67 is 19.2 meters away at (17.1, -8.6). A vehicle with ID 73 is 21.7 meters away at (-9.2, 19.6). A vehicle with ID 69 is 25.4 meters away at (21.9, -12.8). A vehicle with ID 64 is 26.0 meters away at (-8.7, 24.5). A vehicle with ID 70 is 30.8 meters away at (26.1, -16.5). A unknown object with ID 40 is 31.1 meters away at (-25.5, -18.0).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 0.01352062 -0.02385148] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.00119435 -0.01241905] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.00525773 0.00406106] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-7.0638456 -5.584452 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.718513   13.300959 ]\n [-20.71161     3.6456769]\n [-13.253069   11.656537 ]\n [-10.7892065   6.950552 ]\n [-22.295084    0.8964281]\n [-14.581374   12.301634 ]\n [ -8.460669    9.366993 ]\n [-12.606735    1.9742659]\n [-14.2332115  12.136795 ]]", "nav_goal": "(178.5196075439453, 164.62246704101562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.5493655 -1.3267306], 3.7892227172851562 meters away.)"}
{"file_name": "images/scenario_877_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.8 meters away at (-3.5, -1.4). A cyclist with ID 59 is 5.1 meters away at (0.3, -5.1). A pedestrian with ID 65 is 16.7 meters away at (1.9, 16.6). A pedestrian with ID 66 is 17.6 meters away at (1.7, 17.6). A vehicle with ID 67 is 19.3 meters away at (17.2, -8.7). A vehicle with ID 69 is 25.4 meters away at (22.0, -12.8). A vehicle with ID 64 is 25.9 meters away at (-8.6, 24.4). A vehicle with ID 73 is 29.4 meters away at (-25.8, 14.1). A pedestrian with ID 68 is 29.9 meters away at (-28.6, -8.9). A vehicle with ID 70 is 30.9 meters away at (26.1, -16.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 0.00331556 -0.00288495] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.00220554 -0.0005992 ] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.00642592 -0.00591584] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-9.148571   0.3216875] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.58571863 1.1270536 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.718513   13.300959 ]\n [-20.71161     3.6456769]\n [-13.253069   11.656537 ]\n [-10.7892065   6.950552 ]\n [-22.295084    0.8964281]\n [-14.581374   12.301634 ]\n [ -8.460669    9.366993 ]\n [-12.606735    1.9742659]\n [-14.2332115  12.136795 ]]", "nav_goal": "(178.5196075439453, 164.62246704101562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.498786  -1.3560036], 3.752365827560425 meters away.)"}
{"file_name": "images/scenario_877_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.7 meters away at (-3.5, -1.4). A cyclist with ID 59 is 5.1 meters away at (0.3, -5.1). A pedestrian with ID 65 is 16.7 meters away at (1.9, 16.6). A pedestrian with ID 66 is 17.6 meters away at (1.8, 17.5). A vehicle with ID 67 is 19.3 meters away at (17.2, -8.7). A vehicle with ID 69 is 25.5 meters away at (22.0, -12.8). A vehicle with ID 64 is 25.8 meters away at (-8.6, 24.4). A pedestrian with ID 68 is 28.3 meters away at (-27.6, -6.6). A vehicle with ID 5 is 29.8 meters away at (22.7, -19.3). A vehicle with ID 70 is 31.0 meters away at (26.2, -16.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [0.00127359 0.0030749 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.00508466 -0.01012052] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.00109109 0.00313958] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.4769417 1.2339348] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.429148  5.262226] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.718513   13.300959 ]\n [-20.71161     3.6456769]\n [-13.253069   11.656537 ]\n [-10.7892065   6.950552 ]\n [-22.295084    0.8964281]\n [-14.581374   12.301634 ]\n [ -8.460669    9.366993 ]\n [-12.606735    1.9742659]\n [-14.2332115  12.136795 ]]", "nav_goal": "(178.5196075439453, 164.62246704101562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.4692364 -1.3808917], 3.7339608669281006 meters away.)"}
{"file_name": "images/scenario_877_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 3.7 meters away at (-3.5, -1.4). A cyclist with ID 59 is 5.2 meters away at (0.3, -5.1). A pedestrian with ID 65 is 16.7 meters away at (1.7, 16.6). A vehicle with ID 5 is 17.5 meters away at (13.1, -11.6). A pedestrian with ID 66 is 17.6 meters away at (1.8, 17.5). A vehicle with ID 67 is 19.3 meters away at (17.2, -8.8). A vehicle with ID 69 is 25.5 meters away at (22.0, -12.9). A vehicle with ID 64 is 25.8 meters away at (-8.6, 24.3). A pedestrian with ID 68 is 26.5 meters away at (-26.1, -4.8). A vehicle with ID 70 is 31.1 meters away at (26.2, -16.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-0.00047953 -0.00157492] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.23613708  0.05919531] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.4445949  2.8121896] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.02128962  0.04682083] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.99334115 0.7725792 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.718513   13.300959 ]\n [-20.71161     3.6456769]\n [-13.253069   11.656537 ]\n [-10.7892065   6.950552 ]\n [-22.295084    0.8964281]\n [-14.581374   12.301634 ]\n [ -8.460669    9.366993 ]\n [-12.606735    1.9742659]\n [-14.2332115  12.136795 ]]", "nav_goal": "(178.5196075439453, 164.62246704101562)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.4515808 -1.4019239], 3.725426197052002 meters away.)"}
{"file_name": "images/scenario_878_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 5.4 meters away at (-5.2, 1.2). A vehicle with ID 39 is 10.0 meters away at (-8.8, 4.8). A vehicle with ID 40 is 10.8 meters away at (-0.8, 10.8). A unknown object with ID 41 is 11.0 meters away at (1.8, 10.8). A vehicle with ID 13 is 12.0 meters away at (-8.2, 8.7). A vehicle with ID 46 is 14.3 meters away at (9.4, -10.7). A vehicle with ID 43 is 14.9 meters away at (-12.3, 8.4). A vehicle with ID 44 is 15.6 meters away at (-5.1, 14.8). A vehicle with ID 36 is 17.8 meters away at (-2.0, -17.7). A vehicle with ID 53 is 18.5 meters away at (14.9, 11.0).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.46792373 -0.455141  ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [3.1178768 4.710503 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  7.708689   -3.8087432]\n [  5.2220745  -6.9264   ]\n [  9.680156    0.0650959]\n [  8.950985  -22.800566 ]\n [  6.0184455 -18.528456 ]\n [ 11.508243   -1.9108729]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.2353806  1.1943234], 5.369880676269531 meters away.)"}
{"file_name": "images/scenario_878_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 5.6 meters away at (-5.4, 1.3). A vehicle with ID 39 is 10.2 meters away at (-8.9, 4.9). A vehicle with ID 40 is 11.0 meters away at (-1.0, 10.9). A unknown object with ID 41 is 11.0 meters away at (1.6, 10.9). A vehicle with ID 13 is 11.3 meters away at (-7.7, 8.2). A vehicle with ID 43 is 15.2 meters away at (-12.5, 8.6). A vehicle with ID 46 is 15.8 meters away at (15.8, -0.2). A vehicle with ID 44 is 15.8 meters away at (-5.3, 14.9). A vehicle with ID 36 is 17.6 meters away at (-2.1, -17.5). A vehicle with ID 53 is 18.5 meters away at (14.7, 11.1).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.31934175 -0.30329084] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [3.3719192 5.750477 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  7.708689   -3.8087432]\n [  5.2220745  -6.9264   ]\n [  9.680156    0.0650959]\n [  8.950985  -22.800566 ]\n [  6.0184455 -18.528456 ]\n [ 11.508243   -1.9108729]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.406431   1.3417172], 5.570431232452393 meters away.)"}
{"file_name": "images/scenario_878_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -1.5) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 6.8 meters away at (-6.4, 2.3). A vehicle with ID 39 is 11.4 meters away at (-9.8, 5.8). A vehicle with ID 13 is 11.5 meters away at (-7.9, 8.3). A unknown object with ID 41 is 11.8 meters away at (0.7, 11.8). A vehicle with ID 40 is 12.0 meters away at (-1.9, 11.9). A vehicle with ID 43 is 16.4 meters away at (-13.4, 9.4). A vehicle with ID 36 is 16.9 meters away at (-3.1, -16.6). A vehicle with ID 44 is 17.0 meters away at (-6.2, 15.8). A pedestrian with ID 29 is 18.2 meters away at (14.9, 10.4). A vehicle with ID 53 is 18.2 meters away at (13.8, 12.0).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.5113582  -0.49639973] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00743561 -0.00222825] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  7.708689   -3.8087432]\n [  5.2220745  -6.9264   ]\n [  9.680156    0.0650959]\n [  8.950985  -22.800566 ]\n [  6.0184455 -18.528456 ]\n [ 11.508243   -1.9108729]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.383616   2.2712944], 6.775642395019531 meters away.)"}
{"file_name": "images/scenario_878_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -4.2) m/s. Its current heading (yaw) is -1.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 12.7 meters away at (-6.5, -10.9). A vehicle with ID 38 is 12.7 meters away at (-9.9, 8.0). A vehicle with ID 13 is 14.5 meters away at (-8.9, 11.5). A vehicle with ID 39 is 17.6 meters away at (-13.4, 11.5). A unknown object with ID 41 is 17.8 meters away at (-2.8, 17.6). A vehicle with ID 9 is 18.3 meters away at (-9.3, -15.7). A vehicle with ID 40 is 18.4 meters away at (-5.5, 17.6). A vehicle with ID 53 is 20.5 meters away at (10.3, 17.8). A vehicle with ID 37 is 22.2 meters away at (-5.5, -21.5). A vehicle with ID 43 is 22.8 meters away at (-17.0, 15.2).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 2.130963  -2.0738614] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  9.680156    0.0650959]\n [  8.950985  -22.800566 ]\n [  6.0184455 -18.528456 ]\n [ 11.508243   -1.9108729]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -6.5413036 -10.894243 ], 12.707210540771484 meters away.)"}
{"file_name": "images/scenario_879_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 9.1) m/s. Its current heading (yaw) is 1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 45.6 meters away at (-9.5, 44.6). A vehicle with ID 14 is 70.3 meters away at (-15.5, 68.6).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-70.2426986694336, 290.94281005859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.488663 44.562477], 45.56148910522461 meters away.)"}
{"file_name": "images/scenario_879_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 9.3) m/s. Its current heading (yaw) is 1.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 26.5 meters away at (-3.9, 26.2). A vehicle with ID 14 is 51.1 meters away at (-10.0, 50.1).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0.3571424  0.16214046] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-70.2426986694336, 290.94281005859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.880004 26.221565], 26.50707244873047 meters away.)"}
{"file_name": "images/scenario_879_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 9.5) m/s. Its current heading (yaw) is 1.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 7.8 meters away at (1.4, 7.6). A vehicle with ID 14 is 31.9 meters away at (-4.7, 31.5). A unknown object with ID 15 is 70.5 meters away at (-27.3, 65.0).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0.14120845 0.26987678] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0.2967074  0.13784383] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-70.2426986694336, 290.94281005859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.435235  7.6480484], 7.781551361083984 meters away.)"}
{"file_name": "images/scenario_879_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 9.4) m/s. Its current heading (yaw) is 1.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 12.8 meters away at (6.6, -10.9). A vehicle with ID 14 is 12.9 meters away at (0.6, 12.8).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-70.2426986694336, 290.94281005859375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  6.6187134 -10.92667  ], 12.774955749511719 meters away.)"}
{"file_name": "images/scenario_880_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 6.3) m/s. Its current heading (yaw) is 2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 35.1 meters away at (-20.4, 28.5). A unknown object with ID 15 is 52.8 meters away at (45.8, -26.3). A vehicle with ID 2 is 80.8 meters away at (55.9, -58.3).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.029914  8.051596] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.166738  7.693055] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-49.015262603759766, 282.8797302246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-20.372597  28.542835], 35.06759262084961 meters away.)"}
{"file_name": "images/scenario_880_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 6.1) m/s. Its current heading (yaw) is 2.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 34.6 meters away at (-15.1, 31.2). A vehicle with ID 2 is 73.0 meters away at (48.1, -54.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.1826587  7.212195 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-8.573625  8.04877 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-49.015262603759766, 282.8797302246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-15.131462  31.1706  ], 34.649208068847656 meters away.)"}
{"file_name": "images/scenario_880_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 6.6) m/s. Its current heading (yaw) is 2.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 17 is 12.0 meters away at (-10.8, 5.1). A vehicle with ID 5 is 33.6 meters away at (-12.6, 31.1). A vehicle with ID 2 is 65.6 meters away at (40.1, -51.9).", "velocity_description": "The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.2953782 -1.0022715] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.643728  5.100037] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.526957   7.5280457] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-49.015262603759766, 282.8797302246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-10.80505     5.1069603], 11.951156616210938 meters away.)"}
{"file_name": "images/scenario_880_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 6.8) m/s. Its current heading (yaw) is 1.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 17 is 11.6 meters away at (-5.0, -10.5). A vehicle with ID 5 is 31.0 meters away at (-16.7, 26.0). A vehicle with ID 2 is 59.2 meters away at (31.3, -50.2). A vehicle with ID 4 is 78.8 meters away at (44.8, -64.7).", "velocity_description": "The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.21408358 -1.0240011 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.6359944  3.7714608] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-6.4130244  7.792507 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-8.139026  7.567165] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-49.015262603759766, 282.8797302246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ -4.956009 -10.458157], 11.573031425476074 meters away.)"}
{"file_name": "images/scenario_881_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.2) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 8.5 meters away at (2.5, 8.1). A vehicle with ID 27 is 29.4 meters away at (-29.1, -4.0). A vehicle with ID 29 is 31.3 meters away at (17.4, 26.0). A vehicle with ID 30 is 36.4 meters away at (-16.1, -32.6). A vehicle with ID 31 is 37.4 meters away at (-21.3, -30.7). A unknown object with ID 32 is 38.7 meters away at (-6.0, -38.2). A vehicle with ID 28 is 40.8 meters away at (-40.3, 6.0). A vehicle with ID 34 is 46.1 meters away at (-25.2, -38.6). A vehicle with ID 26 is 46.6 meters away at (-43.6, 16.5). A vehicle with ID 35 is 51.6 meters away at (-32.2, -40.4).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 2.9144926 -2.3113544] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [1.5216101 1.0259693] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.74949396 0.6334693 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 3.4837139 -2.801571 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-12.716213  10.610763] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0.32265684 0.07102966] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.44341    -6.2000237]\n [ -6.7981253  -9.65695  ]\n [-10.954841   -4.6356883]\n [ -6.637819   -9.465112 ]\n [ -6.1638317 -10.0795765]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.5317585 8.125641 ], 8.510924339294434 meters away.)"}
{"file_name": "images/scenario_881_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -2.0) m/s. Its current heading (yaw) is -2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 12.1 meters away at (5.8, 10.6). A vehicle with ID 27 is 22.6 meters away at (-22.1, -4.6). A vehicle with ID 30 is 27.7 meters away at (-6.4, -27.0). A vehicle with ID 31 is 28.9 meters away at (-14.4, -25.0). A vehicle with ID 28 is 32.1 meters away at (-31.9, 4.1). A vehicle with ID 29 is 35.2 meters away at (20.7, 28.5). A unknown object with ID 32 is 35.7 meters away at (-2.6, -35.6). A vehicle with ID 34 is 40.8 meters away at (-20.4, -35.3). A vehicle with ID 33 is 42.8 meters away at (-41.1, 11.9). A vehicle with ID 35 is 46.8 meters away at (-27.6, -37.8).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 1.0998347 -0.9075971] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [4.8252425  0.79555506] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [3.2142956 3.0363255] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.8451624 -1.5591487] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [2.5714033 1.8348297] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 3.0377388 -2.5935805] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [1.2451872  0.17778194] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.80241  10.579948], 12.066617965698242 meters away.)"}
{"file_name": "images/scenario_881_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 1.5) m/s. Its current heading (yaw) is 2.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 12.7 meters away at (-12.1, -3.7). A vehicle with ID 31 is 14.6 meters away at (2.8, -14.4). A vehicle with ID 25 is 19.2 meters away at (14.6, 12.4). A vehicle with ID 28 is 21.0 meters away at (-20.7, 3.9). A vehicle with ID 34 is 27.5 meters away at (-3.1, -27.3). A vehicle with ID 33 is 29.5 meters away at (-27.8, 9.8). A vehicle with ID 30 is 31.6 meters away at (13.5, -28.6). A unknown object with ID 32 is 34.3 meters away at (6.6, -33.7). A vehicle with ID 35 is 37.4 meters away at (-14.1, -34.6). A vehicle with ID 3 is 42.2 meters away at (-38.0, 18.2).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [4.682415 5.687454] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 0.52795464 -0.43239114] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [5.502226 2.801144] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 1.2859802 -1.074195 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 6.1561594 -4.367134 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [3.685898  1.9658484] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.2612214 -2.716586 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.44341    -6.2000237]\n [-10.954841   -4.6356883]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.109358   -3.7483573], 12.676227569580078 meters away.)"}
{"file_name": "images/scenario_881_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 4.6) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 10.7 meters away at (-10.2, -3.3). A vehicle with ID 27 is 11.0 meters away at (-1.9, -10.8). A vehicle with ID 33 is 16.4 meters away at (-16.3, 1.9). A vehicle with ID 3 is 24.1 meters away at (-22.9, 7.3). A vehicle with ID 31 is 25.1 meters away at (23.6, -8.4). A vehicle with ID 25 is 25.4 meters away at (24.9, 5.2). A vehicle with ID 1 is 35.9 meters away at (-32.5, 15.2). A vehicle with ID 35 is 36.2 meters away at (4.7, -35.9). A vehicle with ID 34 is 38.9 meters away at (20.0, -33.4). A unknown object with ID 32 is 44.1 meters away at (16.7, -40.8).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.8971067  -0.76172423] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [6.217409  7.7044826] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 2.9159443 -2.4564908] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [4.9505424 2.8336437] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 7.234462  -2.7073057] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-10.44341    -6.2000237]\n [-10.954841   -4.6356883]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.1580925  -3.2889524], 10.677268028259277 meters away.)"}
{"file_name": "images/scenario_882_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.3) m/s. Its current heading (yaw) is -1.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 8.3 meters away at (5.9, -5.9). A unknown object with ID 36 is 9.6 meters away at (5.5, -7.9). A pedestrian with ID 34 is 23.6 meters away at (-22.6, -6.6). A vehicle with ID 11 is 41.7 meters away at (-20.5, -36.3). A vehicle with ID 13 is 63.2 meters away at (-28.9, -56.2). A pedestrian with ID 29 is 63.7 meters away at (-16.1, -61.6). A vehicle with ID 38 is 70.3 meters away at (-6.3, 70.0). A vehicle with ID 26 is 76.1 meters away at (-42.6, -63.1).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.3983802 -0.5710836] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.0284345 -4.737557 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.0415702 -2.5823357] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.00475296 0.00292052] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.7519817 -4.1850047] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [5.6737885 5.181102 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-44.39339  -92.47627 ]\n [-44.17324  -92.5874  ]\n [-44.276302 -92.25539 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 5.9030046 -5.859337 ], 8.317288398742676 meters away.)"}
{"file_name": "images/scenario_882_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -6.3) m/s. Its current heading (yaw) is -1.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 7.0 meters away at (5.6, -4.1). A unknown object with ID 24 is 10.2 meters away at (0.2, -10.2). A unknown object with ID 36 is 10.3 meters away at (9.3, 4.5). A unknown object with ID 35 is 11.7 meters away at (9.7, 6.5). A pedestrian with ID 34 is 17.6 meters away at (-16.8, 5.4). A vehicle with ID 11 is 37.9 meters away at (-20.2, -32.1). A vehicle with ID 26 is 47.0 meters away at (-29.6, -36.5). A pedestrian with ID 29 is 50.6 meters away at (-12.1, -49.2). A vehicle with ID 13 is 54.7 meters away at (-26.7, -47.7). A vehicle with ID 1 is 66.4 meters away at (-31.1, -58.7).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.1223631  -0.57020044] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.8726357  0.01768823] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.5078424 -3.5850263] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [3.7528534 8.929224 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.0183533   0.01701287] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.5451488 -1.5667986] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-44.39339  -92.47627 ]\n [-44.17324  -92.5874  ]\n [-52.11777  -88.85078 ]\n [-44.276302 -92.25539 ]\n [-53.041645 -92.10527 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 5.599618  -4.1246014], 6.954714775085449 meters away.)"}
{"file_name": "images/scenario_882_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.1) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 18.0 meters away at (-17.5, -4.1). A pedestrian with ID 34 is 21.4 meters away at (-11.7, 17.9). A vehicle with ID 11 is 31.6 meters away at (-18.6, -25.5). A pedestrian with ID 29 is 37.5 meters away at (-8.0, -36.6). A vehicle with ID 13 is 44.0 meters away at (-23.5, -37.3). A vehicle with ID 1 is 53.4 meters away at (-27.0, -46.1). A vehicle with ID 21 is 67.8 meters away at (-48.4, -47.5). A vehicle with ID 2 is 78.4 meters away at (-16.1, -76.8). A vehicle with ID 17 is 80.9 meters away at (-5.0, 80.7).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.4285336 10.839895 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.31862888 -0.22793984] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.0490717 -2.4772508] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01133702 -0.01110248] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.3959985 -0.937758 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.0191102   0.45742077] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -44.39339   -92.47627 ]\n [ -44.17324   -92.5874  ]\n [ -52.11777   -88.85078 ]\n [ -44.276302  -92.25539 ]\n [ -53.041645  -92.10527 ]\n [ -39.03469  -110.92832 ]\n [ -42.738426 -105.58276 ]\n [ -39.247124 -110.787895]\n [ -39.64601  -112.42629 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-17.540085  -4.141037], 18.02228546142578 meters away.)"}
{"file_name": "images/scenario_882_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.8) m/s. Its current heading (yaw) is -1.95 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 23.3 meters away at (-15.6, -17.3). A pedestrian with ID 29 is 25.0 meters away at (-3.4, -24.8). A pedestrian with ID 34 is 30.0 meters away at (-7.0, 29.2). A vehicle with ID 26 is 30.9 meters away at (-3.6, 30.7). A unknown object with ID 23 is 32.6 meters away at (-5.1, 32.2). A vehicle with ID 13 is 33.0 meters away at (-19.5, -26.7). A pedestrian with ID 12 is 40.7 meters away at (-19.2, 35.9). A vehicle with ID 1 is 40.9 meters away at (-22.4, -34.2). A unknown object with ID 25 is 43.2 meters away at (-5.2, -42.9). A vehicle with ID 21 is 56.5 meters away at (-43.8, -35.7).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.51724625 -1.2351786 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.03458041 -0.00864847] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.2281023  -0.18732634] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.7727227 12.271964 ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.86996734 -1.1197566 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -44.39339   -92.47627 ]\n [ -44.17324   -92.5874  ]\n [ -52.11777   -88.85078 ]\n [ -44.276302  -92.25539 ]\n [ -53.041645  -92.10527 ]\n [ -39.03469  -110.92832 ]\n [ -42.738426 -105.58276 ]\n [ -39.247124 -110.787895]\n [ -39.64601  -112.42629 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-15.628389 -17.282928], 23.301204681396484 meters away.)"}
{"file_name": "images/scenario_883_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 7.9) m/s. Its current heading (yaw) is 2.26 ", "actor_description": " The most relevant actors are: A pedestrian with ID 118 is 9.1 meters away at (9.1, 0.2). A pedestrian with ID 114 is 12.0 meters away at (11.2, -4.5). A vehicle with ID 121 is 12.7 meters away at (-9.8, -8.1). A vehicle with ID 125 is 13.9 meters away at (-13.9, 0.0). A vehicle with ID 123 is 15.4 meters away at (-13.6, -7.2). A vehicle with ID 35 is 16.3 meters away at (12.0, -11.1). A pedestrian with ID 111 is 18.2 meters away at (16.4, -7.8). A unknown object with ID 112 is 18.7 meters away at (8.5, -16.7). A unknown object with ID 109 is 19.7 meters away at (16.8, -10.2). A vehicle with ID 122 is 20.3 meters away at (-13.7, -15.0).", "velocity_description": "The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.79919   -0.8725981] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [-0.00562077 -0.00153258] m/s.The vehicle with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-7.2744226  5.8565817] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-1.1644956  0.8425164] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.429258   12.922531 ]\n [-25.953802   12.91001  ]\n [-25.895496    1.7095389]\n [-25.425858    1.3974351]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [9.138387   0.20280361], 9.140636444091797 meters away.)"}
{"file_name": "images/scenario_883_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 8.1) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A pedestrian with ID 108 is 13.6 meters away at (-7.0, -11.7). A pedestrian with ID 50 is 13.7 meters away at (-8.0, -11.1). A pedestrian with ID 70 is 15.1 meters away at (-7.2, -13.2). A pedestrian with ID 85 is 15.4 meters away at (-5.9, -14.2). A pedestrian with ID 66 is 15.5 meters away at (-8.9, -12.7). A vehicle with ID 57 is 15.7 meters away at (-6.5, 14.3). A vehicle with ID 125 is 16.1 meters away at (-1.9, -16.0). A pedestrian with ID 56 is 16.3 meters away at (-6.1, -15.1). A pedestrian with ID 72 is 16.4 meters away at (-6.7, -15.0). A vehicle with ID 35 is 16.7 meters away at (9.9, -13.5).", "velocity_description": "The pedestrian with ID 108 is traveling at a (x, y) velocity of [0.00755055 0.02140794] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.0142485  -0.00347374] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.02100694  0.00440418] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.04317671  0.01453341] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.00822385  0.00485077] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.03328926  0.00481155] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.04367054 -0.02575718] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-7.5167446  8.2209215] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.895496    1.7095389]\n [-25.425858    1.3974351]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -6.9518414 -11.704287 ], 13.613170623779297 meters away.)"}
{"file_name": "images/scenario_883_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 8.3) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 5.9 meters away at (5.5, -2.0). A vehicle with ID 94 is 11.3 meters away at (-3.8, 10.6). A vehicle with ID 35 is 13.9 meters away at (7.5, -11.6). A vehicle with ID 89 is 16.6 meters away at (-7.0, 15.0). A vehicle with ID 68 is 22.0 meters away at (-10.5, 19.3). A pedestrian with ID 84 is 25.0 meters away at (-7.0, 24.0). A pedestrian with ID 50 is 27.7 meters away at (4.0, -27.4). A vehicle with ID 105 is 28.3 meters away at (-14.0, 24.6). A pedestrian with ID 108 is 28.5 meters away at (4.9, -28.1). A unknown object with ID 64 is 29.0 meters away at (-9.1, -27.5).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-6.297139  8.976777] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [ 2.3168919e-03 -3.6619625e-05] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.05036084 0.02074946] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.01452361  0.00339613] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.895496    1.7095389]\n [-25.425858    1.3974351]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.4926224 -2.0190048], 5.851946830749512 meters away.)"}
{"file_name": "images/scenario_883_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 7.9) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 3.5 meters away at (1.2, 3.3). A vehicle with ID 89 is 4.7 meters away at (4.6, -1.0). A vehicle with ID 105 is 8.9 meters away at (-2.3, 8.6). A vehicle with ID 94 is 9.4 meters away at (7.7, -5.3). A vehicle with ID 35 is 13.7 meters away at (7.6, -11.4). A vehicle with ID 103 is 14.2 meters away at (-2.6, -14.0). A vehicle with ID 76 is 15.6 meters away at (-6.3, 14.3). A vehicle with ID 100 is 22.6 meters away at (-10.7, 19.9). A vehicle with ID 57 is 24.9 meters away at (17.1, -18.1). A vehicle with ID 44 is 28.4 meters away at (-14.2, 24.6).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-5.4947414  7.55582  ] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [ 6.200337  -8.6569395] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.2459869 3.3220634], 3.5480401515960693 meters away.)"}
{"file_name": "images/scenario_884_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 8.3) m/s. Its current heading (yaw) is 1.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 7.4 meters away at (7.4, -0.5). A vehicle with ID 29 is 51.7 meters away at (33.8, -39.2).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 18.038544 -27.006647]\n [ 18.473654 -28.404425]\n [ 20.17575  -30.377155]]", "nav_goal": "(36.101776123046875, 289.476806640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 7.369705   -0.49663162], 7.386419773101807 meters away.)"}
{"file_name": "images/scenario_884_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 8.9) m/s. Its current heading (yaw) is 1.71 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 15.9 meters away at (-15.6, -2.9). A unknown object with ID 18 is 46.5 meters away at (4.5, 46.2). A vehicle with ID 29 is 67.8 meters away at (37.9, -56.2).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.03599352  0.04894843] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 18.038544 -27.006647]\n [ 18.473654 -28.404425]\n [ 20.17575  -30.377155]]", "nav_goal": "(36.101776123046875, 289.476806640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-15.592074  -2.853386], 15.851012229919434 meters away.)"}
{"file_name": "images/scenario_884_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 9.2) m/s. Its current heading (yaw) is 1.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 73.8 meters away at (9.0, -73.3).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [2.6523862 3.4715335] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(36.101776123046875, 289.476806640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  8.998852 -73.298645], 73.8489761352539 meters away.)"}
{"file_name": "images/scenario_884_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 9.0) m/s. Its current heading (yaw) is 1.53 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 75.7 meters away at (1.6, 75.7).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(36.101776123046875, 289.476806640625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 1.6485806 75.650856 ], 75.66881561279297 meters away.)"}
{"file_name": "images/scenario_885_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 1.7) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 14.7 meters away at (-10.7, 10.0). A vehicle with ID 9 is 24.2 meters away at (-18.1, 16.0). A vehicle with ID 8 is 33.8 meters away at (-23.8, 24.1). A unknown object with ID 30 is 38.8 meters away at (-32.6, -21.0). A unknown object with ID 19 is 44.7 meters away at (-44.7, -0.1). A vehicle with ID 31 is 57.8 meters away at (57.5, -5.8). A unknown object with ID 20 is 72.1 meters away at (-53.9, -47.9). A pedestrian with ID 34 is 74.3 meters away at (53.3, -51.8). A pedestrian with ID 35 is 74.5 meters away at (52.8, -52.5). A vehicle with ID 33 is 78.0 meters away at (31.7, -71.3).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [-1.5365108  1.4875413] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3167759   0.84598714] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.3410765  0.848443 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 5.3380666 -4.4850364] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.715855  10.049486], 14.690872192382812 meters away.)"}
{"file_name": "images/scenario_885_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 2.3) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 9.9 meters away at (-6.1, 7.7). A vehicle with ID 9 is 17.0 meters away at (-11.9, 12.2). A vehicle with ID 8 is 26.9 meters away at (-17.6, 20.4). A unknown object with ID 21 is 49.6 meters away at (14.5, -47.4). A vehicle with ID 13 is 63.3 meters away at (9.1, -62.6). A vehicle with ID 31 is 64.3 meters away at (63.5, -9.7). A pedestrian with ID 34 is 78.4 meters away at (57.1, -53.8). A pedestrian with ID 35 is 78.5 meters away at (56.5, -54.5).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.219569    0.85264885] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.2009236  0.8148311] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.0828133  7.748441 ], 9.850834846496582 meters away.)"}
{"file_name": "images/scenario_885_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 3.9) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 3.9 meters away at (3.5, 1.8). A vehicle with ID 9 is 6.5 meters away at (-2.2, 6.1). A vehicle with ID 8 is 16.4 meters away at (-8.1, 14.3). A vehicle with ID 3 is 64.7 meters away at (-44.7, 46.8). A vehicle with ID 31 is 74.9 meters away at (73.3, -15.5).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.454752  1.8153772], 3.902679204940796 meters away.)"}
{"file_name": "images/scenario_885_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 5.3) m/s. Its current heading (yaw) is 2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 5.5 meters away at (2.0, 5.1). A vehicle with ID 9 is 8.4 meters away at (7.9, -2.9). A vehicle with ID 29 is 15.5 meters away at (13.6, -7.4). A vehicle with ID 15 is 41.0 meters away at (-20.3, 35.7). A vehicle with ID 3 is 51.0 meters away at (-34.5, 37.5). A unknown object with ID 25 is 58.7 meters away at (-41.9, 41.2). A vehicle with ID 4 is 71.5 meters away at (-50.8, 50.3). A cyclist with ID 16 is 74.2 meters away at (-69.1, 27.1). A pedestrian with ID 5 is 74.2 meters away at (-69.1, 27.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [ 2.8178678 -2.465047 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 2.8909113 -2.388315 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.0369053 5.111006 ], 5.501941680908203 meters away.)"}
{"file_name": "images/scenario_886_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -2.2) m/s. Its current heading (yaw) is -1.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 32.4 meters away at (31.6, -7.3). A vehicle with ID 11 is 32.7 meters away at (31.8, -7.3). A vehicle with ID 12 is 40.1 meters away at (2.1, 40.1). A vehicle with ID 13 is 42.1 meters away at (35.7, -22.3). A pedestrian with ID 14 is 74.6 meters away at (67.6, -31.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.04035705 0.05900757] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [31.612944 -7.300686], 32.445003509521484 meters away.)"}
{"file_name": "images/scenario_886_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -3.9) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 33.6 meters away at (33.6, -0.4). A vehicle with ID 11 is 34.0 meters away at (34.0, -0.5). A vehicle with ID 13 is 40.8 meters away at (37.8, -15.4). A vehicle with ID 12 is 46.9 meters away at (3.8, 46.8).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [33.55994    -0.44874382], 33.56294250488281 meters away.)"}
{"file_name": "images/scenario_886_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -2.4) m/s. Its current heading (yaw) is -2.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 38.7 meters away at (38.2, 6.4). A vehicle with ID 13 is 43.4 meters away at (42.5, -8.6). A vehicle with ID 12 is 54.1 meters away at (8.1, 53.5).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [38.213562  6.418769], 38.748897552490234 meters away.)"}
{"file_name": "images/scenario_886_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -0.4) m/s. Its current heading (yaw) is -3.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 47.3 meters away at (46.4, 8.7). A vehicle with ID 13 is 51.2 meters away at (50.8, -6.4). A vehicle with ID 12 is 58.3 meters away at (16.7, 55.9). A pedestrian with ID 1 is 74.9 meters away at (-74.5, 7.5).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.25547284 1.4452038 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [46.443058  8.714618], 47.25359344482422 meters away.)"}
{"file_name": "images/scenario_887_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -0.2) m/s. Its current heading (yaw) is -0.09 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 3.7 meters away at (-1.7, 3.3). A pedestrian with ID 35 is 10.0 meters away at (-9.4, 3.6). A pedestrian with ID 33 is 10.2 meters away at (-9.8, 2.8). A unknown object with ID 38 is 10.6 meters away at (8.8, -5.9). A vehicle with ID 34 is 10.7 meters away at (-9.6, -4.7). A pedestrian with ID 39 is 11.4 meters away at (10.8, 3.7). A unknown object with ID 8 is 17.0 meters away at (15.4, -7.2). A unknown object with ID 30 is 19.1 meters away at (17.3, -7.9). A unknown object with ID 31 is 21.0 meters away at (19.1, -8.7). A pedestrian with ID 7 is 42.9 meters away at (-41.6, 10.5).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.48309088  0.11930317] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.0217685  -0.19467011] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.057438   -0.13029043] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.72391117 1.3758461 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.2329262  -0.11245321] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.388665   -0.57873124] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.180256  -5.227996]\n [-49.688953 -10.433131]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-1.6993847  3.331321 ], 3.7397334575653076 meters away.)"}
{"file_name": "images/scenario_887_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -0.6) m/s. Its current heading (yaw) is -0.20 ", "actor_description": " The most relevant actors are: A pedestrian with ID 39 is 4.9 meters away at (2.1, 4.4). A unknown object with ID 38 is 5.8 meters away at (2.8, -5.1). A pedestrian with ID 32 is 8.9 meters away at (-7.9, 4.2). A unknown object with ID 8 is 11.4 meters away at (9.4, -6.3). A vehicle with ID 34 is 13.1 meters away at (-13.0, -0.5). A unknown object with ID 30 is 13.4 meters away at (11.3, -7.1). A unknown object with ID 31 is 15.3 meters away at (13.1, -7.9). A pedestrian with ID 35 is 17.9 meters away at (-17.4, 4.2). A pedestrian with ID 33 is 18.2 meters away at (-17.9, 3.5). A unknown object with ID 16 is 39.9 meters away at (35.3, -18.6).", "velocity_description": "The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.4075756  -0.08736978] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.0136933  -0.00348572] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [1.9692633 1.6477672] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.0954466 -0.1248557] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.038599   -0.14930254] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [2.095766  4.4243345], 4.8956074714660645 meters away.)"}
{"file_name": "images/scenario_887_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -1.1) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A unknown object with ID 38 is 4.8 meters away at (-3.5, -3.3). A pedestrian with ID 39 is 9.2 meters away at (-7.0, 6.0). A unknown object with ID 31 is 9.3 meters away at (6.9, -6.2). A vehicle with ID 34 is 14.7 meters away at (-14.4, 2.8). A pedestrian with ID 32 is 15.2 meters away at (-14.0, 5.8). A pedestrian with ID 33 is 26.8 meters away at (-26.3, 5.2). A unknown object with ID 16 is 34.0 meters away at (29.1, -17.6). A unknown object with ID 19 is 61.0 meters away at (-59.2, 14.7). A unknown object with ID 24 is 62.2 meters away at (53.9, -30.9).", "velocity_description": "The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.3764578  -0.00517855] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [2.5315192  0.16506954] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.08578847  0.02376963] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.0919584  0.0390786] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-3.464858  -3.3396769], 4.812346935272217 meters away.)"}
{"file_name": "images/scenario_887_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -1.6) m/s. Its current heading (yaw) is -0.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 38 is 10.5 meters away at (-10.4, -0.6). A pedestrian with ID 39 is 19.1 meters away at (-16.8, 9.1). A vehicle with ID 34 is 19.6 meters away at (-18.8, 5.6). A pedestrian with ID 32 is 22.7 meters away at (-21.0, 8.6). A unknown object with ID 24 is 54.8 meters away at (47.0, -28.2).", "velocity_description": "The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.4420929   0.17955211] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.04506625 -0.01828639] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-10.448169   -0.6107898], 10.4660062789917 meters away.)"}
{"file_name": "images/scenario_888_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -2.3) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 5.2 meters away at (3.2, -4.1). A unknown object with ID 36 is 7.5 meters away at (-2.1, -7.2). A vehicle with ID 41 is 7.8 meters away at (-7.7, -1.0). A unknown object with ID 35 is 14.1 meters away at (-6.2, -12.7). A vehicle with ID 46 is 14.3 meters away at (-1.1, -14.3). A vehicle with ID 54 is 15.6 meters away at (-13.9, 7.1). A vehicle with ID 51 is 17.1 meters away at (-16.8, 3.4). A vehicle with ID 39 is 18.3 meters away at (-15.2, -10.3). A pedestrian with ID 22 is 19.5 meters away at (3.1, -19.3). A vehicle with ID 56 is 19.8 meters away at (4.2, -19.3).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.0336851  0.00506515] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.178095  -4.0643606], 5.159390926361084 meters away.)"}
{"file_name": "images/scenario_888_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -2.2) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 3.1 meters away at (1.6, -2.6). A vehicle with ID 41 is 5.2 meters away at (-3.9, 3.4). A vehicle with ID 44 is 6.9 meters away at (6.9, 0.4). A unknown object with ID 35 is 8.5 meters away at (-2.5, -8.1). A vehicle with ID 46 is 10.1 meters away at (2.6, -9.7). A unknown object with ID 21 is 12.2 meters away at (10.4, -6.4). A vehicle with ID 39 is 12.8 meters away at (-11.4, -5.8). A unknown object with ID 34 is 14.1 meters away at (-6.3, -12.6). A vehicle with ID 51 is 15.2 meters away at (-13.0, 7.8). A vehicle with ID 54 is 15.5 meters away at (-10.2, 11.6).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 1.6466937 -2.6390467], 3.110653877258301 meters away.)"}
{"file_name": "images/scenario_888_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -2.2) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 4.0 meters away at (1.3, -3.8). A unknown object with ID 36 is 5.6 meters away at (5.4, 1.7). A vehicle with ID 39 is 7.8 meters away at (-7.6, -1.4). A vehicle with ID 41 is 7.8 meters away at (-0.3, 7.8). A vehicle with ID 46 is 8.4 meters away at (6.4, -5.5). A unknown object with ID 34 is 8.6 meters away at (-2.6, -8.2). A vehicle with ID 44 is 11.6 meters away at (10.6, 4.7). A vehicle with ID 42 is 12.0 meters away at (-10.9, -5.1). A unknown object with ID 37 is 13.4 meters away at (-5.7, -12.1). A unknown object with ID 21 is 14.3 meters away at (14.2, -2.0).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 1.2662401 -3.774024 ], 3.9807815551757812 meters away.)"}
{"file_name": "images/scenario_888_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.3) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 3.9 meters away at (1.1, -3.7). A unknown object with ID 35 is 5.0 meters away at (4.9, 0.7). A vehicle with ID 39 is 5.0 meters away at (-3.9, 3.1). A vehicle with ID 42 is 7.2 meters away at (-7.2, -0.6). A unknown object with ID 37 is 7.9 meters away at (-2.0, -7.6). A vehicle with ID 46 is 10.1 meters away at (10.0, -1.0). A unknown object with ID 36 is 11.0 meters away at (9.1, 6.1). A vehicle with ID 43 is 11.1 meters away at (-10.2, -4.3). A vehicle with ID 41 is 12.8 meters away at (3.5, 12.3). A vehicle with ID 45 is 13.4 meters away at (-11.8, -6.4).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 1.0782194 -3.7465458], 3.8986103534698486 meters away.)"}
{"file_name": "images/scenario_889_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 0.6) m/s. Its current heading (yaw) is 3.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 7.8 meters away at (-2.9, 7.3). A vehicle with ID 69 is 8.1 meters away at (2.4, 7.8). A vehicle with ID 64 is 8.6 meters away at (5.2, 6.9). A vehicle with ID 73 is 9.3 meters away at (-5.7, 7.3). A vehicle with ID 78 is 11.2 meters away at (-8.7, 7.1). A vehicle with ID 62 is 12.8 meters away at (10.6, 7.1). A vehicle with ID 58 is 13.5 meters away at (-11.3, 7.5). A unknown object with ID 48 is 14.8 meters away at (-6.1, -13.5). A vehicle with ID 77 is 17.2 meters away at (-7.2, -15.6). A vehicle with ID 65 is 17.3 meters away at (16.1, 6.3).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.8773603  7.2811384], 7.829060077667236 meters away.)"}
{"file_name": "images/scenario_889_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 0.1) m/s. Its current heading (yaw) is 3.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 6.8 meters away at (0.6, 6.8). A vehicle with ID 78 is 7.2 meters away at (3.1, 6.5). A vehicle with ID 57 is 8.4 meters away at (-4.6, 7.0). A vehicle with ID 73 is 9.0 meters away at (6.1, 6.7). A vehicle with ID 53 is 9.6 meters away at (-7.4, 6.1). A vehicle with ID 71 is 11.1 meters away at (8.9, 6.6). A vehicle with ID 54 is 12.3 meters away at (-10.4, 6.4). A vehicle with ID 80 is 14.1 meters away at (-1.2, -14.0). A vehicle with ID 26 is 14.6 meters away at (-12.9, 6.8). A vehicle with ID 81 is 14.9 meters away at (-7.0, -13.2).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.5848217 6.791252 ], 6.8163862228393555 meters away.)"}
{"file_name": "images/scenario_889_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 6.6 meters away at (1.9, 6.3). A vehicle with ID 26 is 6.9 meters away at (-0.5, 6.9). A vehicle with ID 53 is 7.8 meters away at (4.9, 6.1). A vehicle with ID 55 is 9.3 meters away at (-6.1, 6.9). A vehicle with ID 57 is 10.4 meters away at (7.7, 6.9). A vehicle with ID 50 is 13.3 meters away at (-11.5, 6.7). A vehicle with ID 84 is 13.4 meters away at (-0.2, -13.4). A vehicle with ID 82 is 13.8 meters away at (2.4, -13.5). A vehicle with ID 81 is 14.3 meters away at (5.4, -13.2). A vehicle with ID 58 is 14.6 meters away at (13.0, 6.8).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.9346771 6.276479 ], 6.5678887367248535 meters away.)"}
{"file_name": "images/scenario_889_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, -0.1) m/s. Its current heading (yaw) is -3.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 7.0 meters away at (1.8, 6.8). A pedestrian with ID 97 is 9.2 meters away at (-3.9, -8.3). A vehicle with ID 49 is 10.1 meters away at (-7.2, 7.0). A vehicle with ID 55 is 10.1 meters away at (7.2, 7.0). A vehicle with ID 56 is 13.1 meters away at (2.4, -12.9). A vehicle with ID 89 is 14.0 meters away at (5.0, -13.1). A vehicle with ID 26 is 14.6 meters away at (12.9, 6.9). A vehicle with ID 54 is 16.7 meters away at (15.4, 6.4). A vehicle with ID 2 is 17.7 meters away at (17.7, -0.4). A vehicle with ID 84 is 18.8 meters away at (13.3, -13.4).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [1.0856949  0.51247436] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.5856695   0.00977294] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.8304787 6.784947 ], 7.027528285980225 meters away.)"}
{"file_name": "images/scenario_890_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 5.4) m/s. Its current heading (yaw) is 1.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 14.0 meters away at (10.8, -8.9). A vehicle with ID 57 is 17.4 meters away at (17.1, 3.6). A vehicle with ID 54 is 18.1 meters away at (2.3, -17.9). A vehicle with ID 58 is 22.5 meters away at (22.0, 4.8). A vehicle with ID 56 is 25.0 meters away at (14.7, -20.2). A vehicle with ID 60 is 27.7 meters away at (9.7, 25.9). A vehicle with ID 61 is 28.2 meters away at (12.1, 25.5). A vehicle with ID 62 is 29.7 meters away at (14.4, 25.9). A vehicle with ID 63 is 30.7 meters away at (16.9, 25.6). A vehicle with ID 49 is 31.9 meters away at (19.3, 25.4).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(7.251317501068115, 263.7528991699219)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [10.769604 -8.927448], 13.988698959350586 meters away.)"}
{"file_name": "images/scenario_890_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 5.0) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 60 is 19.7 meters away at (12.4, 15.3). A vehicle with ID 61 is 21.0 meters away at (14.7, 15.0). A vehicle with ID 57 is 21.1 meters away at (19.9, -6.8). A vehicle with ID 62 is 23.0 meters away at (17.1, 15.3). A vehicle with ID 55 is 23.7 meters away at (13.6, -19.5). A vehicle with ID 63 is 24.7 meters away at (19.5, 15.1). A vehicle with ID 58 is 25.5 meters away at (24.9, -5.5). A vehicle with ID 49 is 26.5 meters away at (21.9, 14.9). A vehicle with ID 15 is 28.5 meters away at (24.4, 14.7). A vehicle with ID 65 is 28.6 meters away at (6.4, 27.9).", "velocity_description": "The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(7.251317501068115, 263.7528991699219)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.365117 15.335211], 19.69936180114746 meters away.)"}
{"file_name": "images/scenario_890_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 2.7) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 60 is 16.2 meters away at (14.2, 7.8). A vehicle with ID 61 is 18.1 meters away at (16.5, 7.4). A vehicle with ID 62 is 20.4 meters away at (18.9, 7.8). A vehicle with ID 65 is 21.9 meters away at (8.2, 20.3). A vehicle with ID 63 is 22.6 meters away at (21.3, 7.5). A vehicle with ID 64 is 23.0 meters away at (11.4, 20.0). A vehicle with ID 49 is 24.9 meters away at (23.8, 7.3). A vehicle with ID 66 is 25.1 meters away at (14.8, 20.3). A vehicle with ID 57 is 26.1 meters away at (21.8, -14.5). A vehicle with ID 15 is 27.1 meters away at (26.2, 7.1).", "velocity_description": "The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(7.251317501068115, 263.7528991699219)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [14.177799  7.756012], 16.160621643066406 meters away.)"}
{"file_name": "images/scenario_890_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 3.5) m/s. Its current heading (yaw) is 1.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 60 is 15.7 meters away at (15.6, 2.0). A vehicle with ID 65 is 17.4 meters away at (9.6, 14.5). A vehicle with ID 61 is 18.0 meters away at (17.9, 1.8). A vehicle with ID 64 is 19.1 meters away at (12.8, 14.1). A vehicle with ID 66 is 21.8 meters away at (16.2, 14.6). A vehicle with ID 63 is 22.8 meters away at (22.8, 1.8). A vehicle with ID 49 is 25.2 meters away at (25.1, 1.6). A vehicle with ID 53 is 27.6 meters away at (2.2, 27.5). A vehicle with ID 15 is 27.6 meters away at (27.6, 1.4). A unknown object with ID 20 is 29.8 meters away at (-8.6, 28.5).", "velocity_description": "The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(7.251317501068115, 263.7528991699219)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [15.605642   2.0145645], 15.735136985778809 meters away.)"}
{"file_name": "images/scenario_891_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 0.6) m/s. Its current heading (yaw) is 2.91 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 7.0 meters away at (0.8, 7.0). A pedestrian with ID 19 is 7.4 meters away at (-2.6, 6.9). A vehicle with ID 20 is 8.6 meters away at (8.0, -3.1). A vehicle with ID 24 is 24.4 meters away at (20.6, -13.1). A unknown object with ID 10 is 29.6 meters away at (16.1, -24.8). A unknown object with ID 25 is 29.9 meters away at (-29.8, 2.2). A unknown object with ID 26 is 41.1 meters away at (35.6, -20.6). A unknown object with ID 27 is 42.2 meters away at (41.0, -10.1). A pedestrian with ID 3 is 80.4 meters away at (33.1, 73.2).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.03472945 -0.05932887] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01484176 0.03943157] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.75894433  0.28891462] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9793929 -1.1744338] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.26882934570312, 251.93899536132812)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [0.84501565 6.9507346 ], 7.001911163330078 meters away.)"}
{"file_name": "images/scenario_891_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 2.6) m/s. Its current heading (yaw) is 2.33 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 5.3 meters away at (3.3, 4.1). A pedestrian with ID 21 is 8.0 meters away at (6.9, 4.1). A vehicle with ID 20 is 11.5 meters away at (10.5, -4.6). A unknown object with ID 25 is 23.8 meters away at (-23.8, -1.0). A unknown object with ID 16 is 29.0 meters away at (-28.9, -2.3). A vehicle with ID 24 is 31.1 meters away at (26.8, -15.8). A unknown object with ID 10 is 35.6 meters away at (22.6, -27.5). A unknown object with ID 27 is 48.9 meters away at (47.2, -12.6). A pedestrian with ID 3 is 78.0 meters away at (36.9, 68.7).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.2002313  0.018463 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.16687928  0.00800505] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.0141928  1.0157384] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9703001 -1.0042334] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.26882934570312, 251.93899536132812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [3.3390574 4.053346 ], 5.251563549041748 meters away.)"}
{"file_name": "images/scenario_891_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 3.9) m/s. Its current heading (yaw) is 1.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 5.0 meters away at (3.9, -3.1). A pedestrian with ID 21 is 8.0 meters away at (7.4, -3.0). A vehicle with ID 20 is 9.8 meters away at (3.0, -9.3). A unknown object with ID 25 is 24.6 meters away at (-23.2, -8.3). A vehicle with ID 24 is 35.8 meters away at (27.5, -22.9). A unknown object with ID 8 is 52.2 meters away at (42.7, -30.1). A pedestrian with ID 3 is 69.4 meters away at (36.2, 59.2).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.04208741 -0.01366555] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.01101432 -0.01833193] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.431661   1.6773629] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.47268906 -1.3073174 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.26882934570312, 251.93899536132812)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 3.9175868 -3.0566897], 4.968987464904785 meters away.)"}
{"file_name": "images/scenario_891_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 4.8) m/s. Its current heading (yaw) is 0.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 21 is 11.9 meters away at (0.2, -11.9). A pedestrian with ID 19 is 12.1 meters away at (-3.2, -11.6). A vehicle with ID 20 is 21.8 meters away at (-17.6, -12.9). A unknown object with ID 25 is 34.6 meters away at (-30.5, -16.4). A pedestrian with ID 3 is 55.8 meters away at (28.7, 47.9).", "velocity_description": "The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.03529707 -0.00647004] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00847922  0.01874118] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-8.038753   3.0502586] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.605475  -1.1636397] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.26882934570312, 251.93899536132812)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  0.16430354 -11.858286  ], 11.859423637390137 meters away.)"}
{"file_name": "images/scenario_892_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.7) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 19.0 meters away at (-3.0, 18.8). A vehicle with ID 44 is 24.3 meters away at (-8.2, 22.9). A vehicle with ID 35 is 27.0 meters away at (19.3, 18.9). A vehicle with ID 67 is 27.2 meters away at (-6.3, -26.5). A pedestrian with ID 66 is 28.9 meters away at (-24.5, -15.5). A vehicle with ID 65 is 29.7 meters away at (-16.5, -24.7). A vehicle with ID 52 is 30.4 meters away at (-13.5, 27.3). A vehicle with ID 37 is 39.8 meters away at (27.4, 28.9). A vehicle with ID 62 is 46.8 meters away at (24.1, 40.2). A vehicle with ID 36 is 46.8 meters away at (31.8, 34.4).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.5431335 -1.4253705] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 2.7680576 -4.0602803] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-4.2327323 -6.8927016]\n [-1.650026  -4.8607264]]", "nav_goal": "(227.11865234375, -22.34223175048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.985793 18.791218], 19.026948928833008 meters away.)"}
{"file_name": "images/scenario_892_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, 6.8) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 10.1 meters away at (8.6, 5.3). A vehicle with ID 71 is 14.6 meters away at (-13.7, 5.1). A unknown object with ID 39 is 18.3 meters away at (-2.7, 18.1). A unknown object with ID 38 is 22.4 meters away at (-15.6, 16.2). A vehicle with ID 37 is 22.5 meters away at (16.6, 15.2). A unknown object with ID 47 is 24.5 meters away at (-17.0, 17.6). A vehicle with ID 36 is 29.6 meters away at (21.0, 20.8). A vehicle with ID 62 is 29.7 meters away at (13.2, 26.5). A vehicle with ID 63 is 36.4 meters away at (17.7, 31.8). A vehicle with ID 34 is 37.4 meters away at (25.9, 27.0).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.11865234375, -22.34223175048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.550901  5.3149185], 10.068081855773926 meters away.)"}
{"file_name": "images/scenario_892_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 6.4) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 6.0 meters away at (5.7, 1.8). A vehicle with ID 35 is 8.3 meters away at (-2.3, -8.0). A vehicle with ID 36 is 12.5 meters away at (10.1, 7.3). A vehicle with ID 62 is 13.4 meters away at (2.3, 13.1). A unknown object with ID 39 is 14.7 meters away at (-13.9, 4.9). A vehicle with ID 63 is 19.6 meters away at (6.7, 18.4). A vehicle with ID 34 is 20.3 meters away at (15.0, 13.6). A vehicle with ID 41 is 22.5 meters away at (-22.0, -4.5). A vehicle with ID 64 is 25.6 meters away at (10.4, 23.4). A vehicle with ID 71 is 26.3 meters away at (-25.0, -8.2).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.11865234375, -22.34223175048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.749035  1.8197594], 6.030168056488037 meters away.)"}
{"file_name": "images/scenario_892_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.2) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 4.5 meters away at (4.5, 0.6). A vehicle with ID 36 is 5.4 meters away at (-0.3, -5.4). A vehicle with ID 63 is 6.8 meters away at (-3.9, 5.5). A vehicle with ID 62 is 8.3 meters away at (-8.3, 0.2). A vehicle with ID 64 is 10.5 meters away at (-0.2, 10.5). A vehicle with ID 6 is 11.4 meters away at (9.2, 6.7). A vehicle with ID 37 is 12.0 meters away at (-4.8, -11.0). A vehicle with ID 3 is 17.3 meters away at (4.8, 16.6). A vehicle with ID 2 is 17.7 meters away at (13.6, 11.3). A vehicle with ID 1 is 24.1 meters away at (9.4, 22.2).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.11865234375, -22.34223175048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.4713783 0.6010666], 4.5115966796875 meters away.)"}
{"file_name": "images/scenario_893_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -1.4) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 18.7 meters away at (6.1, 17.6). A vehicle with ID 20 is 35.4 meters away at (-2.2, -35.4). A vehicle with ID 23 is 40.1 meters away at (5.8, -39.6). A vehicle with ID 17 is 43.5 meters away at (21.9, -37.5). A pedestrian with ID 27 is 49.9 meters away at (0.6, 49.9). A vehicle with ID 24 is 58.4 meters away at (-5.7, -58.1). A vehicle with ID 28 is 67.5 meters away at (-5.3, -67.3). A pedestrian with ID 13 is 74.5 meters away at (1.3, -74.5). A pedestrian with ID 25 is 74.5 meters away at (-9.6, -73.9).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.7418077  3.2331479] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.521356   2.1870503] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [16.175621  -4.7573667] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.16690975 -1.4384956 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.2330829e-04  6.7118592e-05] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.2132094   0.46628606] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(103.87678527832031, 144.58456420898438)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.082342 17.647024], 18.66580581665039 meters away.)"}
{"file_name": "images/scenario_893_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.1) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 21.8 meters away at (-3.8, -21.5). A vehicle with ID 11 is 22.8 meters away at (8.2, 21.3). A vehicle with ID 23 is 29.7 meters away at (0.3, -29.7). A pedestrian with ID 27 is 50.8 meters away at (3.1, 50.7). A vehicle with ID 24 is 54.7 meters away at (-3.7, -54.6). A vehicle with ID 28 is 63.8 meters away at (-3.3, -63.7). A pedestrian with ID 13 is 71.1 meters away at (3.1, -71.0). A pedestrian with ID 15 is 72.0 meters away at (2.9, -72.0). A pedestrian with ID 18 is 76.9 meters away at (5.7, -76.7).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.6011484  6.7970076] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-3.2841284  4.903097 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00738169 -1.2877018 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.0363323  -0.01082829] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.04186305 -0.03740675] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.0194205  0.00628898] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(103.87678527832031, 144.58456420898438)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ -3.829886 -21.493237], 21.83179473876953 meters away.)"}
{"file_name": "images/scenario_893_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -2.3) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 3.9 meters away at (-3.8, -0.9). A vehicle with ID 23 is 12.4 meters away at (-2.9, -12.0). A vehicle with ID 11 is 27.3 meters away at (8.8, 25.8). A vehicle with ID 24 is 50.2 meters away at (-3.0, -50.1). A pedestrian with ID 27 is 52.8 meters away at (3.7, 52.6). A vehicle with ID 28 is 59.3 meters away at (-2.5, -59.2). A pedestrian with ID 13 is 66.6 meters away at (3.9, -66.4). A pedestrian with ID 5 is 66.7 meters away at (-7.1, -66.3). A pedestrian with ID 15 is 67.5 meters away at (3.7, -67.4). A pedestrian with ID 18 is 72.5 meters away at (6.4, -72.2).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.05932062  9.041043  ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.6106824  7.8938856] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.02257917 -1.2617469 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00560629 -0.00894426] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.04120249 -0.01491781] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.02564694 0.01155995] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.01225801 0.00136118] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(103.87678527832031, 144.58456420898438)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.7569838 -0.8644028], 3.8551418781280518 meters away.)"}
{"file_name": "images/scenario_893_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -2.4) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 9.5 meters away at (-3.4, 8.9). A vehicle with ID 20 is 24.0 meters away at (-3.8, 23.7). A vehicle with ID 11 is 32.0 meters away at (8.7, 30.7). A pedestrian with ID 2 is 33.5 meters away at (28.6, -17.4). A vehicle with ID 24 is 45.3 meters away at (-3.1, -45.2). A vehicle with ID 28 is 54.4 meters away at (-2.6, -54.3). A pedestrian with ID 27 is 55.0 meters away at (3.5, 54.9). A pedestrian with ID 13 is 61.6 meters away at (3.9, -61.5). A pedestrian with ID 5 is 61.7 meters away at (-7.1, -61.3). A pedestrian with ID 14 is 62.4 meters away at (-7.5, -62.0).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.14450265  8.009176  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.0346866 10.586694 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.312381    0.39848134] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.02590764 -1.3116206 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02500449 -0.00212877] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.001451    0.01731574] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.04404834  0.01433701] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(103.87678527832031, 144.58456420898438)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.3800707  8.902796 ], 9.522849082946777 meters away.)"}
{"file_name": "images/scenario_894_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.7) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 8.5 meters away at (8.2, 2.2). A vehicle with ID 48 is 12.4 meters away at (10.6, 6.5). A vehicle with ID 58 is 14.6 meters away at (5.9, -13.4). A vehicle with ID 49 is 16.8 meters away at (-1.5, -16.7). A vehicle with ID 53 is 17.4 meters away at (13.6, 10.8). A vehicle with ID 65 is 21.3 meters away at (11.0, -18.2). A vehicle with ID 54 is 22.9 meters away at (16.4, 15.9). A vehicle with ID 46 is 24.2 meters away at (-23.6, 5.6). A vehicle with ID 71 is 27.9 meters away at (-0.1, -27.9). A pedestrian with ID 57 is 28.1 meters away at (-27.9, -3.0).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 2.9388332 -4.9873576] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-1.9171987  1.7335862] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.600623  1.2389512] m/s.", "light_description": "There are active red lights at the following coordinates: [[-38.310863    6.9753137]\n [-37.374367    7.769485 ]\n [-31.17928     3.419897 ]\n [-29.674665    6.79559  ]]", "nav_goal": "(-233.63914489746094, 61.926937103271484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.2041235 2.224547 ], 8.500367164611816 meters away.)"}
{"file_name": "images/scenario_894_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -1.9) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 11.6 meters away at (10.2, 5.5). A vehicle with ID 58 is 12.9 meters away at (8.0, -10.2). A vehicle with ID 48 is 16.0 meters away at (12.6, 9.8). A unknown object with ID 41 is 16.6 meters away at (-7.5, -14.8). A vehicle with ID 65 is 19.7 meters away at (13.1, -14.8). A vehicle with ID 53 is 21.2 meters away at (15.7, 14.2). A pedestrian with ID 57 is 24.7 meters away at (-24.5, 3.3). A vehicle with ID 71 is 24.8 meters away at (2.1, -24.7). A vehicle with ID 46 is 25.1 meters away at (-23.0, 10.1). A vehicle with ID 49 is 25.4 meters away at (9.6, -23.5).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.0302079 1.3316809] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 5.624776  -5.3331833] m/s.", "light_description": "There are active red lights at the following coordinates: [[-38.310863    6.9753137]\n [-37.374367    7.769485 ]\n [-31.17928     3.419897 ]\n [-29.674665    6.79559  ]]", "nav_goal": "(-233.63914489746094, 61.926937103271484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.241869  5.499398], 11.6249418258667 meters away.)"}
{"file_name": "images/scenario_894_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 0.1) m/s. Its current heading (yaw) is 3.11 ", "actor_description": " The most relevant actors are: A unknown object with ID 41 is 12.1 meters away at (-1.8, -12.0). A vehicle with ID 58 is 15.6 meters away at (13.6, -7.6). A vehicle with ID 50 is 17.9 meters away at (15.9, 8.2). A pedestrian with ID 57 is 18.8 meters away at (-16.7, 8.7). A vehicle with ID 46 is 21.7 meters away at (-17.4, 12.9). A vehicle with ID 48 is 22.2 meters away at (18.3, 12.5). A vehicle with ID 65 is 22.4 meters away at (18.7, -12.3). A vehicle with ID 71 is 23.2 meters away at (7.7, -21.9). A vehicle with ID 53 is 27.2 meters away at (21.4, 16.9). A vehicle with ID 77 is 27.9 meters away at (3.7, -27.7).", "velocity_description": "The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.1468092 1.2502162] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-38.310863    6.9753137]\n [-37.374367    7.769485 ]\n [-31.17928     3.419897 ]\n [-29.674665    6.79559  ]]", "nav_goal": "(-233.63914489746094, 61.926937103271484)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -1.7559252 -12.010046 ], 12.13772964477539 meters away.)"}
{"file_name": "images/scenario_894_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 1.8) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A pedestrian with ID 57 is 12.6 meters away at (-8.8, 9.0). A vehicle with ID 46 is 15.6 meters away at (-11.5, 10.5). A vehicle with ID 58 is 21.9 meters away at (19.4, -10.2). A vehicle with ID 50 is 22.5 meters away at (21.8, 5.6). A vehicle with ID 48 is 26.2 meters away at (24.2, 9.9). A vehicle with ID 71 is 27.9 meters away at (13.4, -24.5). A pedestrian with ID 19 is 28.3 meters away at (7.8, -27.2). A vehicle with ID 65 is 28.7 meters away at (24.5, -14.9). A vehicle with ID 53 is 30.8 meters away at (27.3, 14.3). A vehicle with ID 77 is 31.6 meters away at (9.4, -30.2).", "velocity_description": "The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.62563944 1.4374276 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.05809914 -0.0031399 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-38.310863    6.9753137]\n [-37.374367    7.769485 ]\n [-31.17928     3.419897 ]\n [-29.674665    6.79559  ]]", "nav_goal": "(-233.63914489746094, 61.926937103271484)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-8.830948  9.005154], 12.612629890441895 meters away.)"}
{"file_name": "images/scenario_895_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.6) m/s. Its current heading (yaw) is -1.30 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 9.7 meters away at (9.5, -2.0). A vehicle with ID 13 is 14.4 meters away at (8.2, 11.8). A vehicle with ID 37 is 15.2 meters away at (13.9, 6.2). A vehicle with ID 42 is 15.4 meters away at (8.3, -12.9). A vehicle with ID 41 is 25.4 meters away at (18.0, 17.9). A pedestrian with ID 43 is 25.9 meters away at (20.4, 16.0). A vehicle with ID 46 is 31.6 meters away at (12.0, -29.2). A vehicle with ID 39 is 32.4 meters away at (28.4, -15.7). A unknown object with ID 44 is 34.9 meters away at (-12.7, 32.6). A unknown object with ID 45 is 37.2 meters away at (-13.1, 34.9).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.26238662 -1.0018225 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 1.2345945  -0.43936923] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.29659322 0.56940264] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 9.511906  -2.0214014], 9.724320411682129 meters away.)"}
{"file_name": "images/scenario_895_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -1.8) m/s. Its current heading (yaw) is -1.05 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 8.8 meters away at (8.8, -0.3). A vehicle with ID 42 is 11.8 meters away at (7.1, -9.5). A vehicle with ID 37 is 15.8 meters away at (12.7, 9.5). A vehicle with ID 13 is 16.7 meters away at (8.7, 14.2). A vehicle with ID 41 is 27.0 meters away at (16.8, 21.2). A vehicle with ID 46 is 28.0 meters away at (10.7, -25.9). A vehicle with ID 39 is 29.8 meters away at (27.1, -12.4). A unknown object with ID 44 is 38.6 meters away at (-13.9, 36.0). A unknown object with ID 45 is 40.9 meters away at (-14.2, 38.3). A unknown object with ID 47 is 42.8 meters away at (-14.6, 40.2).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.16504295 -0.64254266] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.67367446 -0.68572575] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 8.751982   -0.26305914], 8.75593376159668 meters away.)"}
{"file_name": "images/scenario_895_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -1.2) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 6.0 meters away at (5.6, 2.3). A vehicle with ID 42 is 6.7 meters away at (2.4, -6.2). A vehicle with ID 37 is 15.8 meters away at (9.0, 13.0). A vehicle with ID 13 is 17.3 meters away at (5.8, 16.3). A pedestrian with ID 29 is 23.4 meters away at (18.7, -14.0). A vehicle with ID 46 is 23.4 meters away at (7.0, -22.4). A vehicle with ID 39 is 25.0 meters away at (23.4, -9.0). A vehicle with ID 41 is 27.9 meters away at (13.0, 24.7). A pedestrian with ID 38 is 41.2 meters away at (40.9, 4.7). A unknown object with ID 44 is 43.2 meters away at (-17.5, 39.5).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.1595022 -0.217788 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.2808965  -0.08398364] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.6930484  -0.86068743] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.12067938 -0.8162529 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.26100612 -1.174466  ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [5.5556736 2.3153892], 6.018848419189453 meters away.)"}
{"file_name": "images/scenario_895_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 0.3) m/s. Its current heading (yaw) is 0.07 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 2.8 meters away at (-1.0, 2.6). A vehicle with ID 42 is 9.9 meters away at (-9.1, -3.8). A vehicle with ID 37 is 14.1 meters away at (2.4, 13.9). A vehicle with ID 13 is 16.1 meters away at (-0.1, 16.1). A vehicle with ID 39 is 18.6 meters away at (16.7, -8.0). A vehicle with ID 41 is 26.3 meters away at (6.2, 25.6). A pedestrian with ID 38 is 34.5 meters away at (34.3, 3.6). A vehicle with ID 36 is 37.7 meters away at (37.4, 5.0). A unknown object with ID 44 is 47.0 meters away at (-24.3, 40.3). A vehicle with ID 40 is 48.8 meters away at (47.8, 9.7).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.01598242 -0.02211474] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.711929  1.999653] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.33580926 -0.5397385 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.12794858 -1.0693283 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-1.0431356  2.6185074], 2.818636655807495 meters away.)"}
{"file_name": "images/scenario_896_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -3.1) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 4.8 meters away at (-0.5, 4.7). A vehicle with ID 17 is 8.9 meters away at (8.8, -0.9). A vehicle with ID 54 is 11.0 meters away at (-10.9, 1.3). A vehicle with ID 10 is 11.2 meters away at (-9.5, 5.9). A vehicle with ID 59 is 14.0 meters away at (4.7, 13.2). A vehicle with ID 13 is 14.5 meters away at (-9.9, 10.5). A vehicle with ID 9 is 15.1 meters away at (13.3, -7.1). A vehicle with ID 57 is 16.2 meters away at (-0.4, 16.2). A vehicle with ID 55 is 16.9 meters away at (-16.2, 4.6). A vehicle with ID 58 is 20.3 meters away at (-5.9, 19.5).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.9776397 -2.1747458] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.2411    -2.4277468] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 4.584156  -2.6032457] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 3.9415665 -2.2143047] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.5383215 -3.5223596] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(153.6637420654297, -180.40188598632812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.5182543  4.7234983], 4.7518439292907715 meters away.)"}
{"file_name": "images/scenario_896_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -4.3) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 5.6 meters away at (5.5, 0.9). A vehicle with ID 3 is 8.9 meters away at (-5.0, 7.3). A pedestrian with ID 69 is 13.2 meters away at (-9.5, -9.1). A vehicle with ID 81 is 13.4 meters away at (13.2, 2.3). A vehicle with ID 10 is 14.2 meters away at (-12.1, 7.3). A vehicle with ID 9 is 16.2 meters away at (14.4, -7.4). A pedestrian with ID 71 is 19.1 meters away at (10.6, -15.9). A vehicle with ID 13 is 19.3 meters away at (-14.3, 13.0). A vehicle with ID 59 is 22.3 meters away at (-8.4, 20.6). A vehicle with ID 49 is 24.1 meters away at (24.1, 0.4).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.920669  -3.3357646] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.439918  -3.0873039] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-2.0522764  1.1680744] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-6.6183653  3.664134 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 6.2305813 -3.6313746] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.503025 -4.214622] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.3424141 -1.0279648] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 4.7017713 -2.654649 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-5.307062   2.8006408] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 69.55663  -39.15048 ]\n [ 71.70011  -35.863377]]", "nav_goal": "(153.6637420654297, -180.40188598632812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.4961243  0.88870716], 5.567511558532715 meters away.)"}
{"file_name": "images/scenario_896_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -4.9) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 3.9 meters away at (2.9, 2.6). A vehicle with ID 82 is 8.6 meters away at (0.6, 8.6). A vehicle with ID 3 is 12.6 meters away at (-8.6, 9.2). A vehicle with ID 9 is 14.9 meters away at (13.2, -7.0). A vehicle with ID 49 is 16.2 meters away at (-4.1, 15.7). A vehicle with ID 10 is 16.7 meters away at (-14.4, 8.4). A vehicle with ID 85 is 21.6 meters away at (21.4, -2.8). A vehicle with ID 19 is 23.9 meters away at (22.2, -8.8). A vehicle with ID 13 is 25.5 meters away at (-19.9, 16.0). A vehicle with ID 83 is 25.8 meters away at (19.6, 16.7).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.4293003 -4.0591455] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-6.849291   3.6324863] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.977772  -3.9104395] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.552706  -4.3864098] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-6.609355  3.403963] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 7.7211905 -4.409658 ] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.58709    0.8638727] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 7.287524 -4.694576] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 6.459543  -3.5763333] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 18.819643 -10.98207 ]\n [ 18.336618 -11.976009]]", "nav_goal": "(153.6637420654297, -180.40188598632812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.8804893 2.5685043], 3.859330654144287 meters away.)"}
{"file_name": "images/scenario_896_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -4.2) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 3.8 meters away at (2.2, 3.1). A vehicle with ID 85 is 8.8 meters away at (0.7, 8.8). A vehicle with ID 89 is 9.5 meters away at (8.4, 4.5). A vehicle with ID 9 is 13.2 meters away at (11.5, -6.4). A vehicle with ID 3 is 14.2 meters away at (-10.0, 10.1). A vehicle with ID 10 is 16.5 meters away at (-14.3, 8.3). A vehicle with ID 19 is 21.9 meters away at (20.0, -9.0). A vehicle with ID 20 is 25.4 meters away at (24.9, -5.3). A vehicle with ID 83 is 25.7 meters away at (4.1, 25.3). A pedestrian with ID 12 is 27.6 meters away at (17.9, -21.0).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.6427937 -4.3726707] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-2.8459373  1.6168693] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [-2.595025   1.5135938] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.4678073 -3.8451533] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.263152  -4.0177326] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 7.922315 -4.434579] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 6.634706 -4.439339] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.9705844  1.139635 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.1013694  0.5492355] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(153.6637420654297, -180.40188598632812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.170494  3.1294308], 3.808461904525757 meters away.)"}
{"file_name": "images/scenario_897_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 1.9) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 11.6 meters away at (-10.9, -3.8). A vehicle with ID 25 is 14.9 meters away at (1.9, -14.8). A vehicle with ID 33 is 20.1 meters away at (-19.9, 2.8). A vehicle with ID 28 is 22.4 meters away at (9.2, -20.5). A vehicle with ID 30 is 24.1 meters away at (15.9, -18.2). A vehicle with ID 32 is 25.2 meters away at (3.1, -25.0). A vehicle with ID 34 is 25.4 meters away at (-5.5, -24.8). A vehicle with ID 29 is 25.4 meters away at (19.5, -16.4). A vehicle with ID 31 is 27.9 meters away at (13.7, -24.3). A vehicle with ID 38 is 28.8 meters away at (-27.3, 9.2).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.31639102 -0.3674041 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 0.34364462 -0.35769862] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.5267674 0.5793017] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.2994123  -9.136192 ]\n [ -3.2911007 -17.020765 ]\n [  0.1711732 -11.75536  ]\n [  5.405056   -7.2365365]]", "nav_goal": "(-121.42078399658203, 197.64007568359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.908264   -3.8428862], 11.56537914276123 meters away.)"}
{"file_name": "images/scenario_897_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.3) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 10.5 meters away at (-1.9, -10.3). A vehicle with ID 33 is 11.4 meters away at (-10.8, -3.6). A vehicle with ID 38 is 18.3 meters away at (-18.1, 2.7). A vehicle with ID 42 is 24.8 meters away at (-23.4, 8.2). A vehicle with ID 25 is 25.0 meters away at (11.7, -22.1). A vehicle with ID 52 is 25.3 meters away at (-24.9, 4.5). A vehicle with ID 34 is 30.1 meters away at (4.9, -29.7). A vehicle with ID 27 is 32.5 meters away at (-29.7, 13.1). A vehicle with ID 28 is 32.9 meters away at (18.4, -27.3). A vehicle with ID 32 is 34.1 meters away at (13.4, -31.4).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.42240244 -0.43362385] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 2.8372822 -2.4248343] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.77368623 0.9550392 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [1.495156   0.11350845] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.2994123  -9.136192 ]\n [ -3.2911007 -17.020765 ]\n [  0.1711732 -11.75536  ]\n [  5.405056   -7.2365365]]", "nav_goal": "(-121.42078399658203, 197.64007568359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -1.8752365 -10.290661 ], 10.460124969482422 meters away.)"}
{"file_name": "images/scenario_897_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.7) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 8.9 meters away at (-5.9, -6.7). A vehicle with ID 42 is 11.2 meters away at (-11.1, -1.3). A vehicle with ID 52 is 12.1 meters away at (-7.2, -9.8). A vehicle with ID 33 is 13.0 meters away at (1.4, -13.0). A vehicle with ID 27 is 17.9 meters away at (-17.5, 3.7). A vehicle with ID 26 is 22.3 meters away at (10.4, -19.7). A unknown object with ID 10 is 30.0 meters away at (-17.4, 24.5). A vehicle with ID 25 is 41.3 meters away at (25.2, -32.7). A vehicle with ID 34 is 41.9 meters away at (18.3, -37.7). A vehicle with ID 28 is 47.9 meters away at (30.7, -36.8).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 2.445206  -2.0789738] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.7673311  -0.64059246] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.5755517 0.8336507] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.2994123  -9.136192 ]\n [ -3.2911007 -17.020765 ]\n [  0.1711732 -11.75536  ]\n [  5.405056   -7.2365365]]", "nav_goal": "(-121.42078399658203, 197.64007568359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.8545895 -6.6867523], 8.887568473815918 meters away.)"}
{"file_name": "images/scenario_897_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 5.8) m/s. Its current heading (yaw) is 2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 7.3 meters away at (-3.0, -6.6). A vehicle with ID 42 is 12.6 meters away at (4.3, -11.8). A unknown object with ID 10 is 14.6 meters away at (-2.8, 14.3). A vehicle with ID 38 is 19.0 meters away at (8.7, -16.9). A vehicle with ID 52 is 26.8 meters away at (12.0, -24.0). A vehicle with ID 33 is 28.2 meters away at (16.1, -23.2). A vehicle with ID 26 is 39.1 meters away at (25.1, -29.9). A vehicle with ID 1 is 56.0 meters away at (-37.1, 41.9). A vehicle with ID 34 is 57.3 meters away at (34.3, -45.8). A vehicle with ID 17 is 57.4 meters away at (-20.4, -53.6).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 1.0427254  -0.27244735] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 2.631732  -2.4110875] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.8467272 1.3977742] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.2994123  -9.136192 ]\n [ -3.2911007 -17.020765 ]\n [  0.1711732 -11.75536  ]\n [  5.405056   -7.2365365]]", "nav_goal": "(-121.42078399658203, 197.64007568359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.0197754 -6.611191 ], 7.2682108879089355 meters away.)"}
{"file_name": "images/scenario_898_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -3.1) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 9.0 meters away at (1.0, 8.9). A pedestrian with ID 16 is 9.3 meters away at (1.7, 9.2). A vehicle with ID 25 is 12.6 meters away at (2.5, -12.3). A vehicle with ID 24 is 12.6 meters away at (2.6, -12.3). A vehicle with ID 19 is 14.9 meters away at (-1.0, -14.9). A pedestrian with ID 3 is 16.7 meters away at (14.0, 9.2). A vehicle with ID 22 is 19.2 meters away at (5.9, -18.3). A vehicle with ID 17 is 21.9 meters away at (-9.0, -20.0). A pedestrian with ID 18 is 22.8 meters away at (-13.7, -18.2). A pedestrian with ID 21 is 22.8 meters away at (-7.6, -21.5).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.00634316 -0.00404877] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.01416432 -0.00261438] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-9.814728   3.9920409] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-10.031408    4.1002374] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00205501  0.0013006 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.19721192 -1.8586552 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.04563024 -0.01613224] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00066156 -0.00511391] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [1.012722 8.911592], 8.968950271606445 meters away.)"}
{"file_name": "images/scenario_898_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -3.2) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 14.9 meters away at (7.9, -12.6). A vehicle with ID 22 is 15.1 meters away at (-9.2, -12.0). A vehicle with ID 23 is 15.4 meters away at (-1.8, -15.3). A pedestrian with ID 3 is 15.8 meters away at (-0.7, 15.7). A vehicle with ID 19 is 18.3 meters away at (-16.2, -8.6). A vehicle with ID 14 is 19.5 meters away at (6.9, -18.3). A pedestrian with ID 16 is 20.5 meters away at (-13.4, 15.5). A pedestrian with ID 15 is 20.8 meters away at (-14.1, 15.2). A vehicle with ID 26 is 24.9 meters away at (18.8, -16.4). A pedestrian with ID 20 is 29.6 meters away at (-26.0, -14.1).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.09909961 -0.13517682] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.0136439  -0.00307117] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00808228  0.00539944] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.0905156 -1.8097056] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.19367886 -0.02745766] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [  7.913164 -12.578704], 14.86075210571289 meters away.)"}
{"file_name": "images/scenario_898_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.3) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 9.7 meters away at (-7.7, -6.0). A vehicle with ID 26 is 10.6 meters away at (-1.9, -10.5). A vehicle with ID 14 is 14.5 meters away at (-8.6, -11.7). A vehicle with ID 23 is 19.4 meters away at (-17.4, -8.7). A vehicle with ID 22 is 25.3 meters away at (-24.8, -5.4). A vehicle with ID 19 is 31.8 meters away at (-31.7, -2.0). A pedestrian with ID 16 is 36.5 meters away at (-29.0, 22.1). A pedestrian with ID 15 is 36.9 meters away at (-29.8, 21.8). A vehicle with ID 2 is 43.8 meters away at (-41.4, 14.5). A unknown object with ID 8 is 53.5 meters away at (51.8, -13.5).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.6778727  0.8607953] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01655403 -0.02511674] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.0116119  -0.01181886] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 9.16915   -4.0664663] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-7.6900406 -5.9674606], 9.7338228225708 meters away.)"}
{"file_name": "images/scenario_898_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -3.1) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 7.1 meters away at (-2.5, 6.6). A unknown object with ID 7 is 23.2 meters away at (-23.2, 0.5). A vehicle with ID 26 is 23.8 meters away at (-23.7, -1.5). A vehicle with ID 14 is 24.6 meters away at (-24.1, -5.3). A vehicle with ID 23 is 33.1 meters away at (-33.0, -2.2). A vehicle with ID 22 is 40.2 meters away at (-40.2, 1.0). A vehicle with ID 2 is 40.4 meters away at (-38.3, 13.0). A vehicle with ID 19 is 47.4 meters away at (-47.2, 4.5). A unknown object with ID 9 is 52.4 meters away at (44.1, -28.3).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.4008245  1.8553721] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 9.769303  -4.1118464] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.5411682  6.6004467], 7.072724342346191 meters away.)"}
{"file_name": "images/scenario_899_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 3.0) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 5.1 meters away at (-2.8, -4.2). A vehicle with ID 73 is 15.0 meters away at (11.8, -9.3). A vehicle with ID 7 is 17.5 meters away at (-12.4, 12.3). A vehicle with ID 80 is 19.3 meters away at (-10.5, -16.3). A vehicle with ID 78 is 19.7 meters away at (-12.9, -14.9). A unknown object with ID 79 is 25.3 meters away at (-0.2, -25.3). A unknown object with ID 37 is 25.5 meters away at (0.4, -25.5). A vehicle with ID 74 is 26.2 meters away at (-14.4, -21.9). A unknown object with ID 75 is 26.4 meters away at (-25.6, 6.6). A unknown object with ID 83 is 27.3 meters away at (-1.6, -27.3).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [ 4.621499  -3.3418522] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-3.0701442  2.1044557] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.917832   3.6238544] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-169.5967559814453, -56.5206184387207)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.7952833 -4.247947 ], 5.085141658782959 meters away.)"}
{"file_name": "images/scenario_899_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 3.7) m/s. Its current heading (yaw) is 2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 16.1 meters away at (11.7, -11.1). A vehicle with ID 7 is 16.6 meters away at (-10.6, 12.8). A unknown object with ID 75 is 18.4 meters away at (-18.4, -0.2). A vehicle with ID 78 is 22.4 meters away at (-5.8, -21.7). A vehicle with ID 80 is 23.3 meters away at (-3.3, -23.1). A vehicle with ID 77 is 23.6 meters away at (14.9, -18.3). A pedestrian with ID 86 is 25.4 meters away at (-16.3, -19.5). A vehicle with ID 74 is 29.6 meters away at (-7.4, -28.7). A unknown object with ID 79 is 32.8 meters away at (7.2, -32.1). A unknown object with ID 59 is 32.9 meters away at (7.4, -32.1).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [-3.8596802  2.6258304] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.7342212  4.107611 ] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 5.3533955 -3.5771933] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [0.8385277  0.51244456] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-169.5967559814453, -56.5206184387207)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 11.684766 -11.122846], 16.13231086730957 meters away.)"}
{"file_name": "images/scenario_899_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 3.9) m/s. Its current heading (yaw) is 2.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 75 is 14.8 meters away at (-12.6, -7.7). A vehicle with ID 7 is 16.8 meters away at (-10.0, 13.5). A vehicle with ID 73 is 17.7 meters away at (10.7, -14.1). A vehicle with ID 23 is 21.7 meters away at (-18.4, 11.5). A pedestrian with ID 86 is 27.4 meters away at (-8.7, -26.0). A vehicle with ID 78 is 29.2 meters away at (-0.0, -29.2). A vehicle with ID 80 is 30.8 meters away at (2.4, -30.7). A vehicle with ID 19 is 34.6 meters away at (25.4, -23.5). A vehicle with ID 74 is 36.7 meters away at (-1.9, -36.7). A vehicle with ID 20 is 39.3 meters away at (-20.7, 33.4).", "velocity_description": "The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.8968537  4.8112698] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.3072882  1.5075237] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 6.7060246 -9.400222 ] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [0.9815344  0.49338216] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.4490707  2.4261794] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.2623425  5.181902 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-169.5967559814453, -56.5206184387207)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-12.591225  -7.696513], 14.757209777832031 meters away.)"}
{"file_name": "images/scenario_899_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 4.6) m/s. Its current heading (yaw) is 2.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 14.9 meters away at (1.2, -14.8). A unknown object with ID 75 is 17.5 meters away at (-7.2, -15.9). A vehicle with ID 7 is 18.3 meters away at (-10.4, 15.0). A vehicle with ID 73 is 24.9 meters away at (13.7, -20.9). A pedestrian with ID 86 is 33.2 meters away at (-1.4, -33.1). A unknown object with ID 6 is 36.1 meters away at (14.9, 32.8). A vehicle with ID 19 is 36.8 meters away at (24.6, -27.3). A vehicle with ID 78 is 37.9 meters away at (5.4, -37.5). A vehicle with ID 8 is 38.3 meters away at (17.7, 33.9). A vehicle with ID 80 is 39.8 meters away at (7.8, -39.0).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [ 7.633379 -8.234028] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-3.0106616  5.086967 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.71680653  0.4165902 ] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [1.0195274 0.6253624] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.5967743  2.1152241] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-169.5967559814453, -56.5206184387207)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  1.1601543 -14.814712 ], 14.860068321228027 meters away.)"}
{"file_name": "images/scenario_900_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.6, -3.2). A pedestrian with ID 19 is 21.1 meters away at (-10.8, 18.2). A pedestrian with ID 20 is 21.3 meters away at (-10.1, 18.8). A vehicle with ID 17 is 21.8 meters away at (-0.7, 21.8). A pedestrian with ID 28 is 29.5 meters away at (-28.5, -7.7). A vehicle with ID 14 is 32.5 meters away at (-19.5, -25.9). A vehicle with ID 7 is 38.2 meters away at (-37.6, -6.5). A pedestrian with ID 22 is 53.4 meters away at (53.0, 6.0). A vehicle with ID 26 is 55.5 meters away at (-45.7, 31.4). A vehicle with ID 21 is 55.5 meters away at (-37.8, -40.6).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.1901823  0.4149837] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.2171944   0.47737768] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.8780857 -1.0637547] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.3793542 -7.6850696] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.3578242   0.08992472] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 3.9203115 -1.5638779] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.9936278   0.8497348 ]\n [-5.666725   10.764066  ]\n [-5.5496387  10.984953  ]\n [-3.0412824   0.74963397]\n [-5.4465737  10.652934  ]]", "nav_goal": "(-299.24102783203125, 167.74081420898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.5898867 -3.223052 ], 7.335848331451416 meters away.)"}
{"file_name": "images/scenario_900_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.6, -3.2). A vehicle with ID 17 is 21.8 meters away at (-0.7, 21.7). A pedestrian with ID 19 is 22.6 meters away at (-12.7, 18.7). A pedestrian with ID 20 is 23.0 meters away at (-12.2, 19.5). A pedestrian with ID 28 is 31.5 meters away at (-29.8, -10.0). A vehicle with ID 7 is 38.3 meters away at (-37.8, -6.5). A vehicle with ID 26 is 47.6 meters away at (-38.3, 28.2). A vehicle with ID 14 is 47.9 meters away at (-25.9, -40.3). A pedestrian with ID 22 is 50.7 meters away at (50.4, 6.0). A vehicle with ID 21 is 55.5 meters away at (-37.7, -40.7).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.8341061   0.35551947] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.9824124  0.3895335] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.25972036 -1.2302023 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 3.2487772 -1.43948  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.016176  -6.8738027] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.5588512   0.01650623] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.9936278   0.8497348 ]\n [-5.666725   10.764066  ]\n [-5.5496387  10.984953  ]\n [-3.0412824   0.74963397]\n [-5.4465737  10.652934  ]]", "nav_goal": "(-299.24102783203125, 167.74081420898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.5885625 -3.2231643], 7.334708213806152 meters away.)"}
{"file_name": "images/scenario_900_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.6, -3.2). A vehicle with ID 17 is 21.7 meters away at (-0.7, 21.7). A pedestrian with ID 19 is 23.1 meters away at (-13.2, 18.9). A pedestrian with ID 20 is 24.3 meters away at (-13.3, 20.4). A pedestrian with ID 28 is 32.2 meters away at (-29.6, -12.7). A vehicle with ID 7 is 38.3 meters away at (-37.8, -6.5). A vehicle with ID 26 is 41.4 meters away at (-32.5, 25.7). A vehicle with ID 16 is 48.0 meters away at (-42.0, 23.2). A pedestrian with ID 22 is 48.1 meters away at (47.7, 6.4). A pedestrian with ID 11 is 50.2 meters away at (25.7, 43.2).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01945182 -0.04605518] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.43753317  0.7522271 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.17164275 -1.4284191 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.2313132 -0.9385646] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.2644963 -3.2549381] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.4011964  -0.10838915] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00520143  0.0016913 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.9936278   0.8497348 ]\n [-5.666725   10.764066  ]\n [-5.5496387  10.984953  ]\n [-3.0412824   0.74963397]\n [-5.4465737  10.652934  ]]", "nav_goal": "(-299.24102783203125, 167.74081420898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.5536923 -3.216943 ], 7.300657749176025 meters away.)"}
{"file_name": "images/scenario_900_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.5, -3.2). A vehicle with ID 17 is 21.8 meters away at (-0.7, 21.8). A pedestrian with ID 19 is 24.2 meters away at (-13.8, 19.9). A pedestrian with ID 20 is 26.7 meters away at (-14.4, 22.4). A vehicle with ID 16 is 32.2 meters away at (-27.5, 16.7). A pedestrian with ID 28 is 33.6 meters away at (-29.9, -15.3). A vehicle with ID 26 is 38.2 meters away at (-29.4, 24.4). A vehicle with ID 7 is 38.4 meters away at (-37.8, -6.5). A pedestrian with ID 22 is 45.5 meters away at (45.1, 6.1). A pedestrian with ID 11 is 49.7 meters away at (25.4, 42.7).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.5292703  1.159158 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.48251638  1.2009143 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.6625147 -3.4062455] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.337445  -1.2816967] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 1.281717  -0.4974168] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1792506  -0.09830525] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.34107533 -0.6509618 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.9936278   0.8497348 ]\n [-5.666725   10.764066  ]\n [-5.5496387  10.984953  ]\n [-3.0412824   0.74963397]\n [-5.4465737  10.652934  ]]", "nav_goal": "(-299.24102783203125, 167.74081420898438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.545625  -3.2104259], 7.2905449867248535 meters away.)"}
{"file_name": "images/scenario_901_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.5) m/s. Its current heading (yaw) is -1.69 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 6.7 meters away at (6.1, 2.9). A pedestrian with ID 11 is 6.9 meters away at (6.6, 2.2). A pedestrian with ID 12 is 10.2 meters away at (-3.1, -9.8). A pedestrian with ID 14 is 16.4 meters away at (-15.8, -4.4). A vehicle with ID 13 is 20.4 meters away at (-18.4, -8.7). A unknown object with ID 23 is 27.7 meters away at (14.3, 23.6). A unknown object with ID 6 is 29.3 meters away at (-29.2, -2.2). A unknown object with ID 29 is 30.3 meters away at (-10.8, 28.3). A vehicle with ID 15 is 34.6 meters away at (-22.9, -25.8). A vehicle with ID 45 is 50.2 meters away at (-30.7, -39.7).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00366277 -0.0046396 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00875587 -0.00398167] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.3765837  -0.03112117] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5629574 -0.7338738] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.0181733  0.6803014] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.4646238 -6.4653134] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.77465564 1.9464904 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.64602  -25.141321]\n [-23.984049 -26.508694]\n [-24.329744 -26.328594]\n [-23.768284 -26.64736 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [6.099987  2.8836443], 6.74724006652832 meters away.)"}
{"file_name": "images/scenario_901_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.69 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (6.2, 3.2). A pedestrian with ID 11 is 7.1 meters away at (6.6, 2.5). A pedestrian with ID 12 is 9.3 meters away at (0.1, -9.3). A pedestrian with ID 14 is 14.0 meters away at (-12.8, -5.5). A unknown object with ID 3 is 14.9 meters away at (-14.7, -2.6). A vehicle with ID 13 is 18.0 meters away at (-17.7, -3.2). A unknown object with ID 23 is 28.0 meters away at (14.4, 24.0). A unknown object with ID 6 is 29.2 meters away at (-29.1, -1.8). A unknown object with ID 29 is 30.6 meters away at (-10.7, 28.7). A vehicle with ID 45 is 47.7 meters away at (-29.7, -37.2).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.01223983 0.00906055] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.00664206 0.00656698] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.60968    0.14185926] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5621812  -0.73611885] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [1.136142  4.3531313] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.22319162 0.48214567] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.64602  -25.141321]\n [-23.984049 -26.508694]\n [-24.329744 -26.328594]\n [-23.768284 -26.64736 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [6.1843195 3.182424 ], 6.95511531829834 meters away.)"}
{"file_name": "images/scenario_901_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.69 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (6.1, 3.2). A pedestrian with ID 11 is 7.1 meters away at (6.6, 2.5). A pedestrian with ID 12 is 9.9 meters away at (3.3, -9.3). A pedestrian with ID 14 is 12.0 meters away at (-9.8, -6.9). A unknown object with ID 3 is 14.9 meters away at (-14.7, -2.5). A vehicle with ID 13 is 15.3 meters away at (-12.9, 8.2). A unknown object with ID 23 is 28.0 meters away at (14.4, 24.1). A unknown object with ID 6 is 29.2 meters away at (-29.1, -1.7). A unknown object with ID 29 is 30.7 meters away at (-10.7, 28.7). A vehicle with ID 45 is 46.5 meters away at (-29.3, -36.1).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00342842 0.00117256] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00271082  0.00128128] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.4998654  0.00630467] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5596616  -0.62252754] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [3.185635 7.022291] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.22271381 0.48158285] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.64602  -25.141321]\n [-23.984049 -26.508694]\n [-24.329744 -26.328594]\n [-23.768284 -26.64736 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [6.1486206 3.242725 ], 6.9513163566589355 meters away.)"}
{"file_name": "images/scenario_901_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.69 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (6.2, 3.3). A pedestrian with ID 11 is 7.1 meters away at (6.6, 2.6). A pedestrian with ID 14 is 10.7 meters away at (-6.8, -8.2). A pedestrian with ID 12 is 11.6 meters away at (6.3, -9.7). A vehicle with ID 13 is 25.0 meters away at (-5.7, 24.3). A unknown object with ID 23 is 28.0 meters away at (14.4, 24.0). A unknown object with ID 6 is 29.2 meters away at (-29.1, -1.6). A unknown object with ID 29 is 30.7 meters away at (-10.7, 28.7). A vehicle with ID 28 is 34.1 meters away at (-34.0, -2.8). A vehicle with ID 45 is 46.0 meters away at (-29.0, -35.6).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00226191 0.00202385] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00225672  0.00075852] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5559118 -0.6076807] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.449762  -0.3867743] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.0532594 9.042222 ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [11.4378605 -5.176754 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.64602  -25.141321]\n [-23.984049 -26.508694]\n [-24.329744 -26.328594]\n [-23.768284 -26.64736 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [6.185981  3.2926667], 7.007710933685303 meters away.)"}
{"file_name": "images/scenario_902_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -6.6) m/s. Its current heading (yaw) is -1.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 40.3 meters away at (-20.9, -34.5). A vehicle with ID 41 is 41.0 meters away at (-23.5, -33.6). A vehicle with ID 11 is 44.9 meters away at (-13.1, -42.9). A vehicle with ID 12 is 54.3 meters away at (-19.2, -50.8). A vehicle with ID 39 is 63.0 meters away at (-6.6, -62.7). A vehicle with ID 5 is 66.9 meters away at (-23.0, -62.8).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.4765325 -7.8166947] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-6.494684219360352, -238.66831970214844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-20.894915 -34.47318 ], 40.311256408691406 meters away.)"}
{"file_name": "images/scenario_902_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.9) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 26.5 meters away at (-16.5, -20.7). A vehicle with ID 41 is 27.5 meters away at (-19.1, -19.8). A vehicle with ID 34 is 28.8 meters away at (-21.7, -19.0). A vehicle with ID 27 is 30.0 meters away at (-24.0, -18.1). A vehicle with ID 36 is 31.4 meters away at (-26.4, -16.9). A vehicle with ID 12 is 39.8 meters away at (-14.8, -37.0). A vehicle with ID 11 is 46.7 meters away at (-13.4, -44.7). A vehicle with ID 39 is 48.9 meters away at (-2.1, -48.8). A vehicle with ID 5 is 52.2 meters away at (-18.5, -48.9). A vehicle with ID 4 is 57.8 meters away at (-20.1, -54.2).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.5543315 -7.6833816] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-6.494684219360352, -238.66831970214844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-16.478558 -20.720589], 26.474245071411133 meters away.)"}
{"file_name": "images/scenario_902_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.9) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 14.2 meters away at (-12.3, -7.0). A vehicle with ID 41 is 16.1 meters away at (-14.9, -6.1). A vehicle with ID 34 is 18.3 meters away at (-17.5, -5.2). A vehicle with ID 27 is 20.3 meters away at (-19.8, -4.3). A vehicle with ID 36 is 22.5 meters away at (-22.2, -3.2). A vehicle with ID 31 is 25.0 meters away at (-24.9, -2.5). A vehicle with ID 12 is 25.6 meters away at (-10.7, -23.3). A vehicle with ID 32 is 29.8 meters away at (-29.8, -0.7). A vehicle with ID 28 is 32.3 meters away at (-32.3, -0.4). A vehicle with ID 30 is 34.8 meters away at (-34.8, 0.6).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-6.494684219360352, -238.66831970214844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-12.332234  -7.030731], 14.19560432434082 meters away.)"}
{"file_name": "images/scenario_902_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -6.9) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 10.5 meters away at (-8.0, 6.8). A vehicle with ID 12 is 11.3 meters away at (-6.4, -9.3). A vehicle with ID 41 is 13.1 meters away at (-10.7, 7.6). A vehicle with ID 34 is 15.7 meters away at (-13.2, 8.5). A vehicle with ID 27 is 18.0 meters away at (-15.4, 9.4). A vehicle with ID 36 is 20.8 meters away at (-17.9, 10.5). A vehicle with ID 39 is 22.2 meters away at (6.5, -21.2). A vehicle with ID 5 is 23.2 meters away at (-10.0, -21.0). A vehicle with ID 31 is 23.4 meters away at (-20.5, 11.2). A vehicle with ID 32 is 28.5 meters away at (-25.4, 12.9).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-6.494684219360352, -238.66831970214844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.0331745  6.7740555], 10.508078575134277 meters away.)"}
{"file_name": "images/scenario_903_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -6.5) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 3.7 meters away at (-2.5, 2.7). A vehicle with ID 86 is 6.1 meters away at (-5.9, -1.3). A vehicle with ID 80 is 7.9 meters away at (1.9, 7.7). A vehicle with ID 82 is 8.1 meters away at (8.1, -0.2). A pedestrian with ID 69 is 11.2 meters away at (2.0, -11.0). A vehicle with ID 90 is 12.0 meters away at (-10.1, -6.5). A vehicle with ID 78 is 12.9 meters away at (12.0, 4.5). A vehicle with ID 75 is 13.5 meters away at (5.8, 12.2). A vehicle with ID 91 is 14.2 meters away at (-3.5, -13.8). A vehicle with ID 76 is 17.7 meters away at (15.6, 8.5).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-2.479127e-07 -6.673148e-03] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.61044  -44.606495]\n [-32.756508 -51.99922 ]\n [-42.444855 -53.07706 ]\n [-35.868286 -40.672527]\n [-34.731148 -41.671856]\n [-40.86138  -50.327812]\n [-30.938978 -47.022938]]", "nav_goal": "(-174.0557403564453, -80.97874450683594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.4747686  2.6894293], 3.6547927856445312 meters away.)"}
{"file_name": "images/scenario_903_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -5.6) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 90 is 5.3 meters away at (0.2, 5.3). A vehicle with ID 73 is 5.4 meters away at (-5.3, -1.0). A vehicle with ID 91 is 7.0 meters away at (6.8, -1.9). A vehicle with ID 86 is 11.5 meters away at (4.4, 10.6). A pedestrian with ID 94 is 12.2 meters away at (5.6, -10.9). A pedestrian with ID 69 is 12.3 meters away at (12.3, 0.8). A vehicle with ID 83 is 16.6 meters away at (7.9, 14.6). A vehicle with ID 82 is 21.9 meters away at (18.5, 11.7). A vehicle with ID 80 is 23.2 meters away at (12.3, 19.7). A pedestrian with ID 67 is 24.8 meters away at (5.9, -24.1).", "velocity_description": "The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [1.0171778  0.94171095] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.01103098 -0.01996922] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.01116351 0.0071764 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.61044  -44.606495]\n [-32.756508 -51.99922 ]\n [-42.444855 -53.07706 ]\n [-35.868286 -40.672527]\n [-34.731148 -41.671856]\n [-40.86138  -50.327812]\n [-30.938978 -47.022938]]", "nav_goal": "(-174.0557403564453, -80.97874450683594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.15157509 5.265167  ], 5.267348766326904 meters away.)"}
{"file_name": "images/scenario_903_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -6.1) m/s. Its current heading (yaw) is -2.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 10.9 meters away at (3.7, 10.3). A pedestrian with ID 33 is 14.9 meters away at (-12.3, -8.4). A pedestrian with ID 95 is 15.5 meters away at (-13.1, -8.2). A pedestrian with ID 94 is 16.6 meters away at (16.4, 2.3). A pedestrian with ID 57 is 17.3 meters away at (14.2, -9.9). A vehicle with ID 91 is 18.5 meters away at (15.9, 9.5). A vehicle with ID 90 is 19.1 meters away at (9.4, 16.7). A vehicle with ID 97 is 19.4 meters away at (9.9, -16.7). A pedestrian with ID 67 is 19.6 meters away at (15.0, -12.7). A pedestrian with ID 44 is 20.5 meters away at (15.4, -13.6).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.45971185 -1.2439274 ] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-0.43221876 -1.2459401 ] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [0.97446394 0.9001631 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.4556649  0.5172386] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.06701109 -0.0481229 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.09043318 0.03700762] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.382984 -41.836693]\n [-28.61044  -44.606495]\n [-32.756508 -51.99922 ]\n [-33.40284  -42.31695 ]\n [-42.444855 -53.07706 ]\n [-35.868286 -40.672527]\n [-40.86138  -50.327812]\n [-30.938978 -47.022938]]", "nav_goal": "(-174.0557403564453, -80.97874450683594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.7254925 10.27989  ], 10.934141159057617 meters away.)"}
{"file_name": "images/scenario_903_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -7.2) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 6.4 meters away at (-6.0, 2.2). A pedestrian with ID 95 is 7.1 meters away at (-6.7, 2.3). A pedestrian with ID 102 is 8.3 meters away at (5.3, -6.4). A vehicle with ID 100 is 16.8 meters away at (-16.0, 5.0). A vehicle with ID 66 is 17.4 meters away at (16.0, -6.7). A vehicle with ID 97 is 17.8 meters away at (17.4, -3.7). A pedestrian with ID 57 is 19.3 meters away at (18.9, 3.9). A pedestrian with ID 32 is 22.2 meters away at (-4.7, -21.7). A pedestrian with ID 67 is 22.4 meters away at (22.4, 0.5). A pedestrian with ID 44 is 22.8 meters away at (22.7, -0.5).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.3875785 -1.3163815] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-0.4146682 -1.3324766] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [0.9255882 1.019538 ] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.4043638   0.21600927] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.39120796 -1.5026882 ] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.01589928 -0.00858659] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.04396592 -0.02336166] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.382984 -41.836693]\n [-28.61044  -44.606495]\n [-32.756508 -51.99922 ]\n [-33.40284  -42.31695 ]\n [-42.444855 -53.07706 ]\n [-35.868286 -40.672527]\n [-40.86138  -50.327812]\n [-30.938978 -47.022938]]", "nav_goal": "(-174.0557403564453, -80.97874450683594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.9794655  2.1573715], 6.356749057769775 meters away.)"}
{"file_name": "images/scenario_904_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -1.1) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 5.2 meters away at (1.1, 5.1). A vehicle with ID 58 is 5.7 meters away at (5.4, -2.0). A vehicle with ID 60 is 9.0 meters away at (8.8, 1.8). A vehicle with ID 61 is 9.6 meters away at (4.3, 8.6). A pedestrian with ID 36 is 11.1 meters away at (-10.9, 2.3). A vehicle with ID 63 is 13.7 meters away at (12.4, 5.8). A vehicle with ID 53 is 14.3 meters away at (-13.9, 3.2). A vehicle with ID 65 is 15.6 meters away at (5.8, -14.4). A vehicle with ID 64 is 15.6 meters away at (8.3, 13.2). A vehicle with ID 62 is 17.6 meters away at (-17.2, -3.9).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.01656134 1.4053525 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-223.98733520507812, 187.25697326660156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.1057289 5.0523853], 5.171966075897217 meters away.)"}
{"file_name": "images/scenario_904_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -1.2) m/s. Its current heading (yaw) is -2.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 9.3 meters away at (9.3, 0.9). A vehicle with ID 55 is 9.3 meters away at (5.0, 7.9). A pedestrian with ID 36 is 10.8 meters away at (-7.9, 7.4). A vehicle with ID 53 is 11.7 meters away at (-10.1, 5.9). A vehicle with ID 62 is 13.3 meters away at (-13.2, -1.3). A vehicle with ID 60 is 13.5 meters away at (12.7, 4.7). A pedestrian with ID 70 is 13.6 meters away at (-7.8, -11.2). A vehicle with ID 61 is 14.1 meters away at (8.1, 11.5). A vehicle with ID 65 is 15.2 meters away at (9.8, -11.6). A vehicle with ID 34 is 17.3 meters away at (-14.3, 9.7).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.72900075  0.9302845 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.3630207 -1.0505314] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-223.98733520507812, 187.25697326660156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [9.251251 0.861269], 9.291255950927734 meters away.)"}
{"file_name": "images/scenario_904_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 1.4) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 6.3 meters away at (-6.2, -1.1). A vehicle with ID 53 is 6.7 meters away at (-3.0, 6.0). A pedestrian with ID 36 is 9.8 meters away at (-2.3, 9.5). A vehicle with ID 59 is 10.9 meters away at (-10.6, 2.7). A vehicle with ID 34 is 12.0 meters away at (-7.2, 9.6). A pedestrian with ID 70 is 13.1 meters away at (1.9, -13.0). A vehicle with ID 55 is 14.6 meters away at (12.1, 8.1). A vehicle with ID 56 is 15.7 meters away at (-14.4, 6.2). A vehicle with ID 75 is 16.3 meters away at (-8.2, -14.1). A vehicle with ID 58 is 16.4 meters away at (16.4, 1.0).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.79648924  0.8384627 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.4016005 -1.0202771] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-223.98733520507812, 187.25697326660156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.157954  -1.0978799], 6.255057334899902 meters away.)"}
{"file_name": "images/scenario_904_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.9) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 3.6 meters away at (-2.0, -3.0). A vehicle with ID 34 is 4.1 meters away at (1.4, 3.9). A vehicle with ID 53 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 56 is 5.8 meters away at (-5.7, 0.4). A vehicle with ID 62 is 7.2 meters away at (2.4, -6.8). A pedestrian with ID 36 is 7.3 meters away at (4.8, 5.5). A vehicle with ID 30 is 8.8 meters away at (-3.0, 8.3). A vehicle with ID 28 is 12.9 meters away at (-11.4, 6.0). A vehicle with ID 27 is 14.4 meters away at (-7.5, 12.2). A vehicle with ID 25 is 18.0 meters away at (-15.3, 9.6).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.9582616  0.7740172] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-223.98733520507812, 187.25697326660156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.018507  -3.0363836], 3.6460931301116943 meters away.)"}
{"file_name": "images/scenario_905_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.3) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 21 is 6.9 meters away at (6.9, -0.8). A unknown object with ID 20 is 7.0 meters away at (-0.7, 7.0). A unknown object with ID 6 is 7.4 meters away at (7.0, -2.4). A unknown object with ID 44 is 14.9 meters away at (13.3, 6.7). A vehicle with ID 48 is 15.3 meters away at (7.4, 13.4). A unknown object with ID 49 is 22.8 meters away at (18.7, 13.0). A pedestrian with ID 50 is 27.2 meters away at (24.3, 12.2). A vehicle with ID 58 is 32.2 meters away at (18.5, 26.4). A vehicle with ID 53 is 33.4 meters away at (26.4, 20.4). A vehicle with ID 62 is 33.5 meters away at (-33.5, 0.4).", "velocity_description": "The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [1.0084813 1.1348196] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(204.01348876953125, -61.248844146728516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 6.884761 -0.772846], 6.928002834320068 meters away.)"}
{"file_name": "images/scenario_905_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.5) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A unknown object with ID 21 is 8.3 meters away at (8.3, 0.8). A unknown object with ID 6 is 8.4 meters away at (8.4, -0.8). A unknown object with ID 20 is 8.6 meters away at (0.7, 8.5). A unknown object with ID 44 is 16.9 meters away at (14.7, 8.3). A vehicle with ID 48 is 17.4 meters away at (8.8, 15.0). A unknown object with ID 49 is 24.9 meters away at (20.1, 14.7). A pedestrian with ID 50 is 32.0 meters away at (27.7, 16.1). A vehicle with ID 62 is 32.2 meters away at (-32.1, 2.0). A vehicle with ID 58 is 34.3 meters away at (19.9, 28.0). A vehicle with ID 53 is 35.5 meters away at (27.8, 22.0).", "velocity_description": "The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [1.0462855 1.1342711] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(204.01348876953125, -61.248844146728516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [8.276293 0.805593], 8.315407752990723 meters away.)"}
{"file_name": "images/scenario_905_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.4) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 9.5 meters away at (9.5, 0.7). A unknown object with ID 21 is 9.6 meters away at (9.3, 2.3). A unknown object with ID 44 is 18.6 meters away at (15.8, 9.8). A vehicle with ID 48 is 19.2 meters away at (10.0, 16.5). A unknown object with ID 49 is 26.7 meters away at (21.3, 16.1). A vehicle with ID 62 is 31.3 meters away at (-31.0, 3.7). A vehicle with ID 58 is 36.3 meters away at (21.1, 29.5). A pedestrian with ID 50 is 36.7 meters away at (30.9, 19.7). A vehicle with ID 53 is 37.3 meters away at (29.1, 23.3). A vehicle with ID 42 is 37.5 meters away at (25.7, -27.3).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [1.1237767 1.1310389] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(204.01348876953125, -61.248844146728516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [9.450867 0.722569], 9.478447914123535 meters away.)"}
{"file_name": "images/scenario_905_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -3.8) m/s. Its current heading (yaw) is -1.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 12.1 meters away at (10.4, 6.2). A unknown object with ID 21 is 12.9 meters away at (10.3, 7.7). A unknown object with ID 44 is 22.7 meters away at (16.8, 15.2). A vehicle with ID 48 is 24.5 meters away at (10.9, 21.9). A vehicle with ID 62 is 31.6 meters away at (-30.2, 9.2). A vehicle with ID 42 is 34.4 meters away at (26.5, -21.9). A vehicle with ID 58 is 41.2 meters away at (22.0, 34.9). A vehicle with ID 53 is 41.5 meters away at (29.9, 28.7). A vehicle with ID 56 is 42.7 meters away at (-40.7, 12.7). A pedestrian with ID 39 is 43.1 meters away at (20.9, 37.7).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01086348  0.04651544] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(204.01348876953125, -61.248844146728516)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [10.387268  6.164792], 12.078907012939453 meters away.)"}
{"file_name": "images/scenario_906_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -2.7) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 27.9 meters away at (27.4, -5.2). A vehicle with ID 9 is 29.3 meters away at (-5.9, 28.7). A unknown object with ID 19 is 50.0 meters away at (-28.7, -40.9). A unknown object with ID 18 is 51.8 meters away at (-30.2, -42.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.2550907  5.1835527] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.7904274 -1.5637618] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [27.368341  -5.1751184], 27.853330612182617 meters away.)"}
{"file_name": "images/scenario_906_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -3.4) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 23.9 meters away at (22.3, 8.8). A vehicle with ID 9 is 31.9 meters away at (5.3, 31.4). A unknown object with ID 10 is 32.3 meters away at (-29.9, -12.3). A unknown object with ID 11 is 40.6 meters away at (-20.6, -35.0). A unknown object with ID 19 is 41.0 meters away at (-21.5, -34.9). A unknown object with ID 18 is 42.7 meters away at (-22.9, -36.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.0862455  2.0276859] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 2.4151309 -2.1262598] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [22.256865  8.799047], 23.93305778503418 meters away.)"}
{"file_name": "images/scenario_906_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -4.0) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 23.2 meters away at (17.2, 15.6). A unknown object with ID 11 is 30.9 meters away at (-14.0, -27.6). A unknown object with ID 19 is 31.1 meters away at (-14.7, -27.5). A unknown object with ID 18 is 32.8 meters away at (-16.1, -28.7). A vehicle with ID 9 is 37.2 meters away at (16.9, 33.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.446256  -2.5643182] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.8329171 -3.5885432] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [17.190681 15.590084], 23.207117080688477 meters away.)"}
{"file_name": "images/scenario_906_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.0) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 16.0 meters away at (-15.5, 3.8). A unknown object with ID 3 is 16.4 meters away at (-16.1, 3.0). A unknown object with ID 7 is 17.1 meters away at (-16.5, 4.4). A unknown object with ID 5 is 17.2 meters away at (-16.8, 3.7). A unknown object with ID 11 is 20.8 meters away at (-7.0, -19.6). A unknown object with ID 19 is 21.0 meters away at (-7.7, -19.5). A vehicle with ID 8 is 21.0 meters away at (14.6, 15.1). A unknown object with ID 18 is 22.6 meters away at (-9.1, -20.7). A unknown object with ID 2 is 24.6 meters away at (-10.1, -22.5). A vehicle with ID 9 is 40.7 meters away at (24.8, 32.3).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.4436526 -5.6287766] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.0240963 -5.155099 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-15.549974    3.8444958], 16.018173217773438 meters away.)"}
{"file_name": "images/scenario_907_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.4) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A cyclist with ID 47 is 8.4 meters away at (-1.5, 8.3). A pedestrian with ID 40 is 30.1 meters away at (26.2, -14.8). A vehicle with ID 58 is 38.9 meters away at (-29.2, 25.8). A vehicle with ID 56 is 43.0 meters away at (-42.7, -5.1). A vehicle with ID 55 is 48.9 meters away at (-14.5, -46.7). A vehicle with ID 12 is 52.3 meters away at (-52.3, 2.6). A vehicle with ID 16 is 63.1 meters away at (-25.0, -57.9). A unknown object with ID 60 is 70.5 meters away at (-49.0, 50.7). A vehicle with ID 63 is 74.7 meters away at (72.8, -17.1). A vehicle with ID 65 is 76.2 meters away at (64.2, -40.9).", "velocity_description": "The cyclist with ID 47 is traveling at a (x, y) velocity of [-0.23321837  0.17433763] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.41015196  0.3118525 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 5.7308826 -5.1283684] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(59.508934020996094, -172.32977294921875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-1.5460056  8.297107 ], 8.439911842346191 meters away.)"}
{"file_name": "images/scenario_907_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.6) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A cyclist with ID 47 is 13.3 meters away at (-5.8, 12.0). A vehicle with ID 58 is 29.1 meters away at (-21.9, 19.1). A vehicle with ID 55 is 46.6 meters away at (-18.6, -42.8). A vehicle with ID 56 is 46.8 meters away at (-46.7, -1.7). A unknown object with ID 8 is 60.2 meters away at (6.1, -59.9). A vehicle with ID 16 is 62.1 meters away at (-29.4, -54.7). A pedestrian with ID 51 is 64.5 meters away at (55.0, -33.7). A vehicle with ID 63 is 69.8 meters away at (68.4, -13.7). A vehicle with ID 65 is 70.7 meters away at (60.1, -37.3). A unknown object with ID 60 is 76.2 meters away at (-53.3, 54.5).", "velocity_description": "The cyclist with ID 47 is traveling at a (x, y) velocity of [0.00618343 0.00476519] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 5.5726066 -4.952767 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.98256856 -0.56899446] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(59.508934020996094, -172.32977294921875)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-5.784093 11.961205], 13.286314964294434 meters away.)"}
{"file_name": "images/scenario_907_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -4.2) m/s. Its current heading (yaw) is -1.63 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 20.8 meters away at (-9.5, 18.4). A cyclist with ID 47 is 20.9 meters away at (-9.6, 18.6). A vehicle with ID 58 is 22.5 meters away at (-15.2, 16.6). A unknown object with ID 30 is 24.5 meters away at (-19.1, -15.4). A vehicle with ID 55 is 42.0 meters away at (-21.9, -35.9). A unknown object with ID 8 is 53.3 meters away at (3.2, -53.2). A pedestrian with ID 51 is 57.3 meters away at (49.8, -28.3). A vehicle with ID 16 is 57.9 meters away at (-32.6, -47.9). A vehicle with ID 65 is 64.3 meters away at (56.8, -30.1). A vehicle with ID 63 is 65.2 meters away at (64.8, -6.5).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.08482308  0.0364877 ] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 0.0092082  -0.02751416] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.683661  -3.8758404] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.78666764 -0.9511032 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(59.508934020996094, -172.32977294921875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-9.50996  18.445711], 20.752918243408203 meters away.)"}
{"file_name": "images/scenario_907_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -3.4) m/s. Its current heading (yaw) is -2.28 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 16.9 meters away at (-15.0, -7.7). A unknown object with ID 17 is 17.8 meters away at (-15.7, -8.5). A vehicle with ID 58 is 18.9 meters away at (-4.1, 18.5). A pedestrian with ID 13 is 27.9 meters away at (-6.6, 27.1). A cyclist with ID 47 is 27.9 meters away at (-6.7, 27.0). A vehicle with ID 55 is 33.8 meters away at (-18.0, -28.6). A vehicle with ID 49 is 47.1 meters away at (-45.6, 11.8). A vehicle with ID 31 is 47.9 meters away at (-33.3, -34.4). A pedestrian with ID 51 is 56.6 meters away at (51.4, -23.5). A vehicle with ID 48 is 59.0 meters away at (-36.3, -46.5).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 2.191116 -1.949594] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.1804411  1.1074567] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [-1.6653392  1.0326785] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.95936346 -1.0932322 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(59.508934020996094, -172.32977294921875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-15.037414   -7.6666126], 16.879003524780273 meters away.)"}
{"file_name": "images/scenario_908_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 1.6) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 105 is 3.1 meters away at (-0.6, 3.0). A unknown object with ID 103 is 3.6 meters away at (3.5, 0.6). A unknown object with ID 107 is 5.3 meters away at (-3.5, -4.0). A unknown object with ID 112 is 7.4 meters away at (-2.8, 6.9). A pedestrian with ID 113 is 7.6 meters away at (-0.6, 7.6). A unknown object with ID 106 is 10.0 meters away at (4.8, -8.8). A vehicle with ID 108 is 10.3 meters away at (9.0, -5.0). A unknown object with ID 114 is 11.3 meters away at (-11.3, 0.6). A vehicle with ID 110 is 14.2 meters away at (-11.5, 8.4). A unknown object with ID 115 is 21.0 meters away at (19.3, -8.5).", "velocity_description": "The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.3657367 -0.931023 ] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-1.8992878  1.1070464] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [-4.380743   3.7032614] m/s.The unknown object with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-215.28736877441406, 16.29372215270996)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.57468224  3.0081506 ], 3.0625526905059814 meters away.)"}
{"file_name": "images/scenario_908_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 2.9) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A unknown object with ID 112 is 5.2 meters away at (4.6, 2.3). A unknown object with ID 114 is 5.6 meters away at (-3.8, -4.1). A unknown object with ID 105 is 7.2 meters away at (7.0, -1.7). A pedestrian with ID 113 is 9.5 meters away at (9.4, 1.3). A unknown object with ID 107 is 9.5 meters away at (4.0, -8.7). A vehicle with ID 108 is 12.7 meters away at (11.0, -6.4). A vehicle with ID 110 is 19.7 meters away at (-14.0, 13.9). A vehicle with ID 111 is 33.0 meters away at (-32.1, -7.8). A unknown object with ID 119 is 39.5 meters away at (35.2, -17.9). A pedestrian with ID 124 is 39.5 meters away at (-19.8, 34.2).", "velocity_description": "The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.0948149 -0.6328833] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-3.5485818  2.0223262] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [-5.577075   6.6993837] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [-3.7118423 -6.374957 ] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 124 is traveling at a (x, y) velocity of [-0.15545493  1.3334609 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-215.28736877441406, 16.29372215270996)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [4.649913  2.2640834], 5.171823978424072 meters away.)"}
{"file_name": "images/scenario_908_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 1.7) m/s. Its current heading (yaw) is 2.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 114 is 11.3 meters away at (6.3, -9.4). A vehicle with ID 108 is 14.2 meters away at (12.5, -6.6). A unknown object with ID 112 is 15.2 meters away at (14.8, -3.1). A unknown object with ID 105 is 18.4 meters away at (17.0, -7.1). A unknown object with ID 107 is 19.9 meters away at (14.1, -14.0). A pedestrian with ID 113 is 22.9 meters away at (22.3, -5.5). A vehicle with ID 110 is 28.9 meters away at (-15.3, 24.5). A vehicle with ID 52 is 30.6 meters away at (-29.6, 7.8). A vehicle with ID 76 is 30.9 meters away at (-29.0, 10.6). A pedestrian with ID 124 is 32.8 meters away at (-9.9, 31.2).", "velocity_description": "The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-5.2384653  3.4574418] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.2476377 -0.7430416] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [-6.256332  9.123057] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 124 is traveling at a (x, y) velocity of [-0.30201283  1.0399882 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-215.28736877441406, 16.29372215270996)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 6.295289 -9.41277 ], 11.323908805847168 meters away.)"}
{"file_name": "images/scenario_908_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -2.8) m/s. Its current heading (yaw) is -2.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 108 is 13.8 meters away at (13.5, 3.1). A vehicle with ID 52 is 19.5 meters away at (-17.7, 8.2). A unknown object with ID 114 is 20.2 meters away at (18.1, -9.0). A vehicle with ID 76 is 20.4 meters away at (-17.1, 11.0). A unknown object with ID 112 is 26.8 meters away at (26.6, -2.6). A pedestrian with ID 125 is 33.8 meters away at (0.2, 33.8). A pedestrian with ID 124 is 33.8 meters away at (1.1, 33.8). A vehicle with ID 104 is 35.2 meters away at (-13.6, -32.4). A pedestrian with ID 113 is 37.3 meters away at (36.6, -6.9). A vehicle with ID 111 is 46.4 meters away at (-25.1, -39.0).", "velocity_description": "The vehicle with ID 108 is traveling at a (x, y) velocity of [-5.9314547  6.120998 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [-0.57869714  0.928345  ] m/s.The pedestrian with ID 124 is traveling at a (x, y) velocity of [-0.5537664   0.91538376] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.3091421  -0.85849357] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [-4.2366786 -8.206322 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-215.28736877441406, 16.29372215270996)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [13.496847   3.1011896], 13.848546981811523 meters away.)"}
{"file_name": "images/scenario_909_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.6) m/s. Its current heading (yaw) is 2.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 3.2 meters away at (2.9, 1.4). A vehicle with ID 20 is 7.7 meters away at (-1.8, 7.5). A vehicle with ID 19 is 9.0 meters away at (7.9, -4.3). A vehicle with ID 23 is 9.0 meters away at (-5.8, 7.0). A vehicle with ID 24 is 15.8 meters away at (-7.6, 13.9). A vehicle with ID 25 is 18.9 meters away at (-12.4, 14.3). A vehicle with ID 26 is 23.3 meters away at (-12.8, 19.6). A vehicle with ID 37 is 31.5 meters away at (-17.9, 26.0). A vehicle with ID 15 is 33.3 meters away at (-21.7, 25.3). A vehicle with ID 27 is 42.9 meters away at (-27.9, 32.6).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-46.296783  31.908726]\n [-46.53468   32.419548]\n [-28.045296  34.266327]\n [-28.045296  34.266327]\n [-48.63609   38.972805]\n [-48.46637   38.841095]\n [-20.660727  29.999205]]", "nav_goal": "(-231.40658569335938, -101.98540496826172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.9196267 1.3786829], 3.2287747859954834 meters away.)"}
{"file_name": "images/scenario_909_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 3.3 meters away at (3.1, 1.1). A vehicle with ID 20 is 7.4 meters away at (-1.6, 7.3). A vehicle with ID 23 is 8.7 meters away at (-5.5, 6.7). A vehicle with ID 19 is 9.3 meters away at (8.1, -4.5). A vehicle with ID 24 is 15.5 meters away at (-7.4, 13.6). A vehicle with ID 25 is 18.6 meters away at (-12.2, 14.0). A vehicle with ID 26 is 23.0 meters away at (-12.5, 19.3). A vehicle with ID 37 is 31.1 meters away at (-17.6, 25.7). A pedestrian with ID 35 is 49.8 meters away at (-45.4, 20.5). A pedestrian with ID 39 is 54.0 meters away at (-47.8, 25.2).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.5189649 -1.2593045] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.8343771 -0.9176985] m/s.", "light_description": "There are active red lights at the following coordinates: [[-46.296783  31.908726]\n [-46.53468   32.419548]\n [-28.045296  34.266327]\n [-28.045296  34.266327]\n [-20.660727  29.999205]]", "nav_goal": "(-231.40658569335938, -101.98540496826172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.14546   1.1034727], 3.333402156829834 meters away.)"}
{"file_name": "images/scenario_909_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 3.3 meters away at (3.2, 1.1). A vehicle with ID 20 is 7.4 meters away at (-1.5, 7.2). A vehicle with ID 23 is 8.7 meters away at (-5.5, 6.7). A vehicle with ID 19 is 9.3 meters away at (8.1, -4.6). A vehicle with ID 24 is 15.5 meters away at (-7.4, 13.6). A vehicle with ID 25 is 18.6 meters away at (-12.2, 14.0). A vehicle with ID 26 is 23.0 meters away at (-12.5, 19.3). A vehicle with ID 37 is 31.0 meters away at (-17.5, 25.6). A vehicle with ID 18 is 38.6 meters away at (25.0, -29.5). A vehicle with ID 22 is 39.7 meters away at (28.0, -28.1).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-5.245167   6.1000004] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.3181925  5.057163 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-46.296783  31.908726]\n [-46.53468   32.419548]\n [-28.045296  34.266327]\n [-28.045296  34.266327]\n [-20.660727  29.999205]]", "nav_goal": "(-231.40658569335938, -101.98540496826172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.1592286 1.0925543], 3.34281325340271 meters away.)"}
{"file_name": "images/scenario_909_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 3.4 meters away at (3.2, 1.1). A vehicle with ID 20 is 7.4 meters away at (-1.5, 7.2). A vehicle with ID 23 is 8.7 meters away at (-5.5, 6.7). A vehicle with ID 19 is 9.3 meters away at (8.1, -4.6). A vehicle with ID 24 is 15.5 meters away at (-7.4, 13.6). A vehicle with ID 25 is 18.6 meters away at (-12.2, 14.0). A vehicle with ID 26 is 23.0 meters away at (-12.5, 19.3). A vehicle with ID 18 is 25.3 meters away at (16.4, -19.3). A vehicle with ID 22 is 28.7 meters away at (20.9, -19.7). A vehicle with ID 37 is 31.0 meters away at (-17.5, 25.6).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.3553975  3.9630651] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.9819038  3.5240068] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-46.296783  31.908726]\n [-46.53468   32.419548]\n [-28.045296  34.266327]\n [-28.045296  34.266327]\n [-20.660727  29.999205]]", "nav_goal": "(-231.40658569335938, -101.98540496826172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.1845407 1.0767915], 3.361663341522217 meters away.)"}
{"file_name": "images/scenario_910_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -4.4) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 69 is 10.9 meters away at (-1.5, 10.8). A pedestrian with ID 62 is 14.7 meters away at (1.5, 14.6). A pedestrian with ID 74 is 17.3 meters away at (2.5, -17.1). A unknown object with ID 102 is 17.3 meters away at (-16.8, 3.9). A unknown object with ID 80 is 18.0 meters away at (11.7, 13.7). A unknown object with ID 88 is 18.3 meters away at (12.4, 13.4). A vehicle with ID 52 is 36.7 meters away at (-31.8, 18.3). A vehicle with ID 59 is 41.0 meters away at (32.9, -24.4). A unknown object with ID 75 is 43.2 meters away at (38.6, -19.5). A unknown object with ID 82 is 55.2 meters away at (53.2, -15.0).", "velocity_description": "The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 1.0610149 -0.4704903] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.9424768   0.74888825] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.713412  -4.7501717] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 9.837507 -5.524377] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(255.93118286132812, -154.02944946289062)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.4667215 10.775172 ], 10.874539375305176 meters away.)"}
{"file_name": "images/scenario_910_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -4.9) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A pedestrian with ID 74 is 17.3 meters away at (-16.2, -5.9). A unknown object with ID 88 is 23.5 meters away at (-4.0, 23.2). A unknown object with ID 80 is 24.0 meters away at (-4.8, 23.5). A unknown object with ID 75 is 24.1 meters away at (22.2, -9.4). A pedestrian with ID 62 is 26.5 meters away at (-13.0, 23.1). A unknown object with ID 69 is 27.4 meters away at (-18.0, 20.7). A pedestrian with ID 101 is 28.3 meters away at (28.3, 1.0). A unknown object with ID 99 is 30.2 meters away at (27.4, -12.7). A vehicle with ID 103 is 33.8 meters away at (31.7, -11.8). A unknown object with ID 104 is 35.1 meters away at (-29.1, 19.6).", "velocity_description": "The pedestrian with ID 74 is traveling at a (x, y) velocity of [-1.074189   0.8295059] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.9183468 -0.6744409] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.9467185  0.4827342] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [-6.8849974  4.4049683] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(255.93118286132812, -154.02944946289062)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-16.222744   -5.8652134], 17.25045394897461 meters away.)"}
{"file_name": "images/scenario_910_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -4.8) m/s. Its current heading (yaw) is -0.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 75 is 5.3 meters away at (5.3, 0.8). A vehicle with ID 103 is 6.4 meters away at (2.9, 5.7). A unknown object with ID 99 is 11.0 meters away at (10.7, -2.6). A unknown object with ID 125 is 13.9 meters away at (13.2, -4.2). A vehicle with ID 122 is 14.9 meters away at (14.9, -0.9). A pedestrian with ID 113 is 16.8 meters away at (-15.0, -7.4). A unknown object with ID 70 is 17.0 meters away at (15.9, -5.8). A unknown object with ID 63 is 20.3 meters away at (19.9, 3.7). A unknown object with ID 82 is 20.4 meters away at (19.7, 5.3). A unknown object with ID 123 is 20.8 meters away at (20.4, 4.0).", "velocity_description": "The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [-4.1192074  2.6091192] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [-6.1289554  3.6136134] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [-0.44296288  0.86329705] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 34.15367  -12.299189]\n [ 33.479744 -13.937997]\n [112.378914 -65.45545 ]\n [ 33.60178  -13.528403]\n [110.781494 -69.045   ]]", "nav_goal": "(255.93118286132812, -154.02944946289062)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [5.256809  0.8206978], 5.3204874992370605 meters away.)"}
{"file_name": "images/scenario_910_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.8) m/s. Its current heading (yaw) is -0.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 90 is 4.0 meters away at (3.8, 1.1). A unknown object with ID 70 is 4.7 meters away at (-1.4, 4.5). A unknown object with ID 51 is 5.6 meters away at (5.6, 0.1). A unknown object with ID 125 is 7.4 meters away at (-4.1, 6.1). A unknown object with ID 49 is 7.9 meters away at (7.8, -1.2). A vehicle with ID 53 is 8.3 meters away at (-2.2, -8.0). A unknown object with ID 48 is 9.6 meters away at (9.4, -2.1). A unknown object with ID 99 is 10.3 meters away at (-6.7, 7.8). A vehicle with ID 50 is 11.0 meters away at (2.4, -10.8). A unknown object with ID 115 is 11.6 meters away at (11.3, -3.0).", "velocity_description": "The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 34.15367  -12.299189]\n [ 33.479744 -13.937997]\n [ 33.60178  -13.528403]]", "nav_goal": "(255.93118286132812, -154.02944946289062)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [3.8078766 1.1169319], 3.9683070182800293 meters away.)"}
{"file_name": "images/scenario_911_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -3.5) m/s. Its current heading (yaw) is -1.39 ", "actor_description": " The most relevant actors are: A pedestrian with ID 77 is 5.2 meters away at (-4.9, -1.9). A pedestrian with ID 39 is 9.5 meters away at (1.5, 9.4). A unknown object with ID 69 is 9.8 meters away at (0.3, 9.8). A pedestrian with ID 85 is 13.3 meters away at (8.2, -10.4). A vehicle with ID 44 is 16.3 meters away at (-11.8, 11.2). A pedestrian with ID 56 is 16.3 meters away at (16.2, 1.7). A vehicle with ID 68 is 18.5 meters away at (0.4, -18.5). A unknown object with ID 86 is 20.3 meters away at (20.0, -3.4). A unknown object with ID 87 is 22.1 meters away at (21.7, -4.4). A vehicle with ID 89 is 23.2 meters away at (23.0, -3.0).", "velocity_description": "The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.7662599 1.029124 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.8107311 -0.8657295] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.12305433 0.4796151 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 1.1806659 -0.8272433] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.00987605  0.00373207] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(19.267398834228516, -12.005309104919434)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.858525  -1.9081483], 5.2197980880737305 meters away.)"}
{"file_name": "images/scenario_911_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -3.3) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 77 is 7.7 meters away at (-2.2, 7.3). A pedestrian with ID 85 is 10.0 meters away at (9.6, -3.1). A vehicle with ID 68 is 11.7 meters away at (1.4, -11.6). A pedestrian with ID 39 is 14.0 meters away at (0.8, 14.0). A vehicle with ID 44 is 19.0 meters away at (-8.8, 16.9). A pedestrian with ID 56 is 19.3 meters away at (17.5, 8.3). A unknown object with ID 86 is 21.4 meters away at (21.1, 3.3). A vehicle with ID 65 is 22.2 meters away at (-4.0, -21.8). A unknown object with ID 87 is 22.9 meters away at (22.8, 2.3). A pedestrian with ID 93 is 23.4 meters away at (22.7, -5.5).", "velocity_description": "The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.87918633 1.228824  ] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.00118333 0.28821695] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0382863 -1.3612479] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.68490565 -0.478297  ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.0051391  -0.01829886] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.01856276 -0.02685357] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(19.267398834228516, -12.005309104919434)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-2.2374504  7.3173213], 7.651756286621094 meters away.)"}
{"file_name": "images/scenario_911_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.3) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 7.0 meters away at (4.8, -5.2). A pedestrian with ID 85 is 13.5 meters away at (13.0, 3.7). A vehicle with ID 65 is 15.2 meters away at (-0.6, -15.2). A unknown object with ID 94 is 16.3 meters away at (-9.8, -13.0). A pedestrian with ID 77 is 16.3 meters away at (3.2, 16.0). A pedestrian with ID 82 is 16.5 meters away at (-13.4, -9.6). A pedestrian with ID 83 is 16.8 meters away at (-14.2, -9.1). A pedestrian with ID 39 is 18.2 meters away at (2.2, 18.1). A vehicle with ID 43 is 18.9 meters away at (-11.7, -14.9). A vehicle with ID 44 is 23.3 meters away at (-4.7, 22.8).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.26718384  0.00671342] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.98611426 1.1310604 ] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.6064197 0.9891299] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.661412  0.9850936] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0277784 -1.0836378] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(19.267398834228516, -12.005309104919434)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.762141  -5.1663685], 7.026332855224609 meters away.)"}
{"file_name": "images/scenario_911_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.6) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 82 is 8.6 meters away at (-8.6, -0.5). A unknown object with ID 94 is 8.6 meters away at (-6.1, -6.1). A vehicle with ID 68 is 8.6 meters away at (8.5, 1.6). A vehicle with ID 65 is 8.9 meters away at (3.2, -8.3). A pedestrian with ID 83 is 9.2 meters away at (-9.2, 0.0). A vehicle with ID 43 is 11.2 meters away at (-7.9, -7.9). A pedestrian with ID 85 is 19.0 meters away at (15.9, 10.4). A vehicle with ID 66 is 20.3 meters away at (-4.0, -19.9). A pedestrian with ID 50 is 22.3 meters away at (-0.5, -22.3). A pedestrian with ID 39 is 23.2 meters away at (3.7, 22.9).", "velocity_description": "The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.67157197 1.1607642 ] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.7105824 1.1122718] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.02624385 -0.03018072] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.04988845 -0.01253691] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.8511284 -0.9925207] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(19.267398834228516, -12.005309104919434)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-8.55319    -0.49753952], 8.567648887634277 meters away.)"}
{"file_name": "images/scenario_912_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -2.6) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 9.6 meters away at (7.5, -5.9). A unknown object with ID 53 is 14.8 meters away at (14.6, 2.1). A vehicle with ID 55 is 14.9 meters away at (12.7, -7.7). A vehicle with ID 60 is 20.0 meters away at (17.6, -9.4). A vehicle with ID 41 is 20.8 meters away at (20.8, -1.2). A vehicle with ID 65 is 25.4 meters away at (22.8, -11.3). A vehicle with ID 45 is 28.7 meters away at (-28.5, -3.2). A vehicle with ID 72 is 30.5 meters away at (27.6, -12.9). A vehicle with ID 47 is 31.0 meters away at (-30.0, -8.0). A vehicle with ID 42 is 34.1 meters away at (33.6, -5.4).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(77.10176086425781, 85.45126342773438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.516657 -5.908782], 9.561058044433594 meters away.)"}
{"file_name": "images/scenario_912_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -2.8) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 3.9 meters away at (-3.2, -2.2). A vehicle with ID 60 is 4.3 meters away at (1.6, -4.0). A vehicle with ID 41 is 6.4 meters away at (4.8, 4.3). A vehicle with ID 49 is 8.3 meters away at (-8.3, -0.5). A vehicle with ID 65 is 8.9 meters away at (6.7, -5.8). A vehicle with ID 72 is 13.7 meters away at (11.6, -7.4). A vehicle with ID 42 is 17.6 meters away at (17.6, 0.1). A vehicle with ID 29 is 31.4 meters away at (28.6, -13.2). A vehicle with ID 43 is 31.8 meters away at (31.4, -4.8). A vehicle with ID 44 is 42.1 meters away at (41.3, -8.2).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(77.10176086425781, 85.45126342773438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.234066  -2.2167244], 3.9208481311798096 meters away.)"}
{"file_name": "images/scenario_912_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -2.7) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 5.1 meters away at (-4.7, -1.9). A vehicle with ID 42 is 5.7 meters away at (1.2, 5.6). A vehicle with ID 65 is 9.4 meters away at (-9.4, -0.3). A vehicle with ID 29 is 14.3 meters away at (12.2, -7.6). A vehicle with ID 60 is 14.8 meters away at (-14.7, 1.6). A vehicle with ID 43 is 15.1 meters away at (15.0, 0.8). A vehicle with ID 41 is 15.1 meters away at (-11.5, 9.8). A vehicle with ID 30 is 16.3 meters away at (-3.5, 15.9). A vehicle with ID 55 is 19.9 meters away at (-19.7, 3.4). A vehicle with ID 37 is 20.2 meters away at (0.8, 20.2).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(77.10176086425781, 85.45126342773438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.7445107 -1.9022884], 5.111661434173584 meters away.)"}
{"file_name": "images/scenario_912_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -2.6) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 4.2 meters away at (-3.5, -2.3). A vehicle with ID 43 is 6.1 meters away at (-0.7, 6.1). A vehicle with ID 44 is 9.6 meters away at (9.2, 2.8). A unknown object with ID 9 is 14.1 meters away at (6.6, -12.5). A unknown object with ID 32 is 14.4 meters away at (6.1, -13.0). A unknown object with ID 10 is 15.0 meters away at (6.6, -13.5). A vehicle with ID 5 is 16.5 meters away at (16.5, 0.4). A vehicle with ID 42 is 18.2 meters away at (-14.5, 11.0). A vehicle with ID 2 is 18.4 meters away at (16.2, -8.9). A vehicle with ID 72 is 20.9 meters away at (-20.6, 3.4).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(77.10176086425781, 85.45126342773438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.510147  -2.3150387], 4.204823017120361 meters away.)"}
{"file_name": "images/scenario_913_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -1.1) m/s. Its current heading (yaw) is -1.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 24.2 meters away at (6.2, 23.4). A pedestrian with ID 14 is 25.3 meters away at (6.2, 24.6). A unknown object with ID 9 is 36.1 meters away at (-9.4, -34.9). A vehicle with ID 17 is 60.2 meters away at (-0.8, 60.2). A unknown object with ID 4 is 66.5 meters away at (-4.0, -66.4).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-6.398538e-05 -1.141478e-02] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.00707093 -0.0027466 ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.22384643554688, 38.341270446777344)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 6.1712365 23.43382  ], 24.232789993286133 meters away.)"}
{"file_name": "images/scenario_913_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.2) m/s. Its current heading (yaw) is -1.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 24.8 meters away at (6.0, 24.1). A vehicle with ID 17 is 60.8 meters away at (-0.9, 60.8).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.05453017  0.41385522] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.22384643554688, 38.341270446777344)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 5.991526 24.064308], 24.798978805541992 meters away.)"}
{"file_name": "images/scenario_913_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -2.3) m/s. Its current heading (yaw) is -1.34 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 27.3 meters away at (5.6, 26.7). A vehicle with ID 17 is 63.7 meters away at (-1.2, 63.7). A vehicle with ID 5 is 70.5 meters away at (-70.1, -7.1). A unknown object with ID 6 is 74.0 meters away at (70.8, -21.5).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.0132718  0.00542103] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.22384643554688, 38.341270446777344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 5.5759363 26.733107 ], 27.30842399597168 meters away.)"}
{"file_name": "images/scenario_913_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -2.9) m/s. Its current heading (yaw) is -0.92 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 61.2 meters away at (-59.5, 14.6). A vehicle with ID 17 is 69.4 meters away at (-3.4, 69.3). A vehicle with ID 5 is 72.5 meters away at (-72.5, -1.2).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(227.22384643554688, 38.341270446777344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-59.466904  14.624584], 61.23880386352539 meters away.)"}
{"file_name": "images/scenario_914_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 4.3) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A pedestrian with ID 84 is 7.1 meters away at (4.4, -5.5). A pedestrian with ID 85 is 9.5 meters away at (-9.0, 3.0). A vehicle with ID 83 is 10.4 meters away at (-8.6, -5.9). A unknown object with ID 50 is 11.8 meters away at (10.3, 5.9). A vehicle with ID 86 is 18.6 meters away at (-2.8, 18.4). A vehicle with ID 87 is 18.8 meters away at (-5.5, -18.0). A vehicle with ID 88 is 23.6 meters away at (-12.1, 20.2). A vehicle with ID 82 is 26.2 meters away at (26.1, 2.8). A pedestrian with ID 91 is 34.0 meters away at (25.8, 22.1). A vehicle with ID 93 is 37.7 meters away at (7.4, 37.0).", "velocity_description": "The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.41013387 -1.3814791 ] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.5520069 1.5142438] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-4.140026   6.7884207] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [1.7904105 5.139952 ] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1955444   0.45263195] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.8452592 26.454266 ]\n [ 8.458115  35.755684 ]\n [ 8.261126  35.797207 ]\n [ 1.6663759 24.584661 ]]", "nav_goal": "(-162.2591552734375, -67.49645233154297)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 4.4175973 -5.5231895], 7.072537899017334 meters away.)"}
{"file_name": "images/scenario_914_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 2.9) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 50 is 8.0 meters away at (8.0, -0.8). A pedestrian with ID 85 is 10.7 meters away at (-10.6, -0.9). A pedestrian with ID 56 is 13.5 meters away at (-13.2, 3.0). A vehicle with ID 87 is 15.0 meters away at (-4.3, -14.4). A pedestrian with ID 84 is 15.2 meters away at (1.0, -15.2). A vehicle with ID 83 is 16.7 meters away at (-10.9, -12.6). A vehicle with ID 88 is 19.7 meters away at (-14.4, 13.5). A vehicle with ID 82 is 24.1 meters away at (23.8, -4.0). A pedestrian with ID 91 is 26.6 meters away at (21.1, 16.2). A vehicle with ID 86 is 30.2 meters away at (-19.7, 22.8).", "velocity_description": "The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.3187906 1.284384 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.00261445 -0.01144114] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [1.6588902 4.913587 ] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.5394447 -1.5544317] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.0583565   0.15679462] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-10.258155    4.1751924] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.8452592 26.454266 ]\n [ 8.458115  35.755684 ]\n [ 8.261126  35.797207 ]\n [ 1.6663759 24.584661 ]]", "nav_goal": "(-162.2591552734375, -67.49645233154297)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 7.951405   -0.77760124], 7.989336967468262 meters away.)"}
{"file_name": "images/scenario_914_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 5.0) m/s. Its current heading (yaw) is 1.93 ", "actor_description": " The most relevant actors are: A pedestrian with ID 85 is 11.8 meters away at (-9.9, -6.4). A vehicle with ID 87 is 13.0 meters away at (-0.5, -13.0). A vehicle with ID 88 is 14.9 meters away at (-13.9, 5.4). A vehicle with ID 93 is 21.1 meters away at (4.9, 20.5). A pedestrian with ID 91 is 21.2 meters away at (19.3, 8.7). A vehicle with ID 83 is 23.3 meters away at (-10.5, -20.8). A vehicle with ID 39 is 25.1 meters away at (-23.7, 8.4). A pedestrian with ID 84 is 26.3 meters away at (0.3, -26.3). A vehicle with ID 82 is 27.2 meters away at (24.3, -12.2). A vehicle with ID 36 is 40.6 meters away at (-38.3, 13.4).", "velocity_description": "The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.209993   1.2439212] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [2.0232606 4.830256 ] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [-0.5157984 -1.2532122] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1195457  0.2830677] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 0.65661967 -0.2213878 ] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.59185123 -1.4294112 ] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 3.3396869 -1.1497002] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.8452592 26.454266 ]\n [ 1.6663759 24.584661 ]]", "nav_goal": "(-162.2591552734375, -67.49645233154297)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-9.914831  -6.3581047], 11.778343200683594 meters away.)"}
{"file_name": "images/scenario_914_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 3.8) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 88 is 7.2 meters away at (-5.7, -4.3). A vehicle with ID 93 is 14.1 meters away at (11.9, 7.7). A pedestrian with ID 85 is 14.4 meters away at (-3.6, -14.0). A vehicle with ID 39 is 15.1 meters away at (-15.0, -1.5). A vehicle with ID 87 is 20.8 meters away at (14.4, -15.0). A unknown object with ID 73 is 25.0 meters away at (16.6, -18.7). A pedestrian with ID 91 is 25.2 meters away at (25.2, -0.1). A vehicle with ID 36 is 26.2 meters away at (-26.1, 2.2). A vehicle with ID 83 is 30.5 meters away at (-2.4, -30.4). A vehicle with ID 34 is 33.1 meters away at (-33.1, 0.6).", "velocity_description": "The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [-0.6289861 -2.2901993] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.3167715  0.788043 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [5.2776375 2.2377346] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.0937092   0.32294747] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.81564885 -0.25613734] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.8452592 26.454266 ]\n [ 1.6663759 24.584661 ]]", "nav_goal": "(-162.2591552734375, -67.49645233154297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.7468786 -4.2685165], 7.158690452575684 meters away.)"}
{"file_name": "images/scenario_915_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.1) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 16.3 meters away at (-15.9, 3.4). A unknown object with ID 14 is 19.9 meters away at (18.9, 6.2). A vehicle with ID 21 is 29.1 meters away at (25.3, -14.4). A pedestrian with ID 15 is 29.1 meters away at (27.9, -8.3). A pedestrian with ID 16 is 29.9 meters away at (28.8, -8.3). A pedestrian with ID 17 is 30.5 meters away at (30.0, -5.3). A pedestrian with ID 18 is 31.2 meters away at (30.5, -6.6). A pedestrian with ID 19 is 32.0 meters away at (31.4, -6.4). A vehicle with ID 20 is 36.1 meters away at (29.2, -21.2).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.230533   2.4821959] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.02373559  0.01151779] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.04997615 -0.00961137] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.02776488 -0.00862317] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.00308844 0.00821945] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.02049096  0.00989051] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-15.928888    3.3765965], 16.282840728759766 meters away.)"}
{"file_name": "images/scenario_915_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 4.6) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 6.0 meters away at (-2.1, -5.6). A unknown object with ID 14 is 32.9 meters away at (32.8, -2.6). A vehicle with ID 21 is 40.6 meters away at (37.0, -16.6). A unknown object with ID 12 is 41.8 meters away at (-39.6, 13.4). A pedestrian with ID 15 is 45.2 meters away at (41.8, -17.0). A pedestrian with ID 16 is 45.9 meters away at (42.6, -17.1). A pedestrian with ID 17 is 46.2 meters away at (44.0, -14.2). A pedestrian with ID 18 is 47.0 meters away at (44.4, -15.4). A pedestrian with ID 19 is 47.8 meters away at (45.3, -15.1). A vehicle with ID 20 is 52.5 meters away at (43.1, -30.0).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0.2978955 3.5322912] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00645    -0.01104345] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.00510487  0.03167291] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.01472604 -0.01619303] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.01933401 -0.00302783] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00664679 -0.01403659] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.1096954 -5.5706367], 5.95674467086792 meters away.)"}
{"file_name": "images/scenario_915_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 5.0) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 19.9 meters away at (13.0, -15.2). A unknown object with ID 12 is 24.9 meters away at (-24.6, 3.9). A pedestrian with ID 2 is 36.7 meters away at (-22.9, 28.7). A vehicle with ID 21 is 58.4 meters away at (54.7, -20.5). A pedestrian with ID 15 is 63.1 meters away at (57.0, -27.0). A pedestrian with ID 16 is 63.6 meters away at (57.7, -26.7). A pedestrian with ID 17 is 63.6 meters away at (59.0, -23.8). A pedestrian with ID 18 is 64.5 meters away at (59.4, -25.1). A pedestrian with ID 19 is 65.3 meters away at (60.4, -24.8). A vehicle with ID 20 is 70.1 meters away at (58.0, -39.4).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.00672692 -0.02479624] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [1.2676305 1.8422765] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.0162311  -0.00231701] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.02083402  0.00889184] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.04358357 0.12823257] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.02862079 -0.00238557] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.0200051   0.01592655] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 12.967623 -15.151538], 19.943126678466797 meters away.)"}
{"file_name": "images/scenario_915_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 5.3) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 2 is 19.9 meters away at (-7.3, 18.5). A unknown object with ID 10 is 38.4 meters away at (29.0, -25.2). A unknown object with ID 22 is 38.5 meters away at (28.8, -25.5). A unknown object with ID 7 is 67.5 meters away at (63.7, -22.4). A vehicle with ID 5 is 77.3 meters away at (74.1, -22.2).", "velocity_description": "The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.06113283  0.0042108 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.260586 18.505451], 19.878828048706055 meters away.)"}
{"file_name": "images/scenario_916_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A pedestrian with ID 50 is 13.7 meters away at (-13.5, 2.2). A vehicle with ID 51 is 16.3 meters away at (-0.2, -16.3). A vehicle with ID 9 is 20.4 meters away at (20.2, 2.5). A vehicle with ID 52 is 20.8 meters away at (-4.0, -20.4). A vehicle with ID 53 is 25.4 meters away at (5.7, -24.7). A unknown object with ID 16 is 25.7 meters away at (17.7, 18.7). A vehicle with ID 54 is 26.6 meters away at (-8.1, -25.3). A vehicle with ID 55 is 28.0 meters away at (2.0, -27.9). A pedestrian with ID 40 is 31.8 meters away at (1.2, 31.8). A vehicle with ID 56 is 32.4 meters away at (-1.6, -32.4).", "velocity_description": "The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.0541672  -0.80354095] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.5841064  -0.55349934] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.09808685 -0.09312867] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(234.80813598632812, -144.44752502441406)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-13.480039    2.2499368], 13.666515350341797 meters away.)"}
{"file_name": "images/scenario_916_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -2.1) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 4.4 meters away at (-3.0, -3.2). A pedestrian with ID 50 is 14.1 meters away at (-13.9, 2.6). A vehicle with ID 51 is 14.5 meters away at (-2.9, -14.2). A vehicle with ID 9 is 17.6 meters away at (17.1, 4.1). A vehicle with ID 52 is 19.5 meters away at (-6.7, -18.3). A unknown object with ID 24 is 21.2 meters away at (-20.0, 6.8). A vehicle with ID 53 is 22.8 meters away at (2.9, -22.6). A vehicle with ID 54 is 25.6 meters away at (-10.8, -23.2). A vehicle with ID 55 is 25.9 meters away at (-0.8, -25.8). A vehicle with ID 56 is 30.6 meters away at (-4.3, -30.3).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.3008494 -0.858031 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(234.80813598632812, -144.44752502441406)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.9771488 -3.176778 ], 4.353772163391113 meters away.)"}
{"file_name": "images/scenario_916_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -3.7) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 13.2 meters away at (8.9, 9.8). A vehicle with ID 51 is 13.7 meters away at (-10.9, -8.4). A vehicle with ID 53 is 17.4 meters away at (-5.0, -16.7). A vehicle with ID 52 is 19.2 meters away at (-14.6, -12.5). A pedestrian with ID 50 is 20.5 meters away at (-19.3, 6.9). A pedestrian with ID 41 is 21.1 meters away at (12.9, -16.7). A vehicle with ID 55 is 21.8 meters away at (-8.7, -19.9). A vehicle with ID 54 is 25.6 meters away at (-18.7, -17.5). A unknown object with ID 44 is 25.8 meters away at (16.4, -19.9). A pedestrian with ID 49 is 26.7 meters away at (17.7, -20.0).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.38086918 -0.6664734 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.2078097 -1.0591367] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.00093831  0.00085873] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.01122082 0.00044768] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(234.80813598632812, -144.44752502441406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [8.936229 9.766902], 13.238147735595703 meters away.)"}
{"file_name": "images/scenario_916_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -4.4) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 41 is 9.2 meters away at (2.3, -8.9). A pedestrian with ID 49 is 14.3 meters away at (7.2, -12.4). A vehicle with ID 9 is 16.3 meters away at (-2.8, 16.0). A vehicle with ID 53 is 17.9 meters away at (-15.5, -9.0). A vehicle with ID 51 is 21.5 meters away at (-21.4, -0.7). A vehicle with ID 55 is 22.9 meters away at (-19.3, -12.3). A vehicle with ID 52 is 25.5 meters away at (-25.1, -4.7). A unknown object with ID 26 is 27.3 meters away at (16.9, -21.4). A vehicle with ID 56 is 28.2 meters away at (-22.7, -16.7). A pedestrian with ID 50 is 30.6 meters away at (-27.8, 12.8).", "velocity_description": "The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.01986761 -0.00401647] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.010736   -0.04596326] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.60695755 -0.9905399 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.0624855 -1.0027045] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(234.80813598632812, -144.44752502441406)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 2.3312397 -8.852612 ], 9.154419898986816 meters away.)"}
{"file_name": "images/scenario_917_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 5.9) m/s. Its current heading (yaw) is 2.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 14.2 meters away at (7.9, -11.7). A vehicle with ID 68 is 18.5 meters away at (-15.6, 9.9). A vehicle with ID 65 is 20.5 meters away at (-9.3, 18.2). A unknown object with ID 54 is 23.1 meters away at (11.3, -20.2). A vehicle with ID 58 is 23.4 meters away at (16.4, -16.7). A unknown object with ID 56 is 24.0 meters away at (19.7, -13.8). A pedestrian with ID 61 is 25.0 meters away at (-3.4, -24.7). A vehicle with ID 63 is 25.3 meters away at (-9.8, -23.4). A vehicle with ID 67 is 25.9 meters away at (-12.5, 22.7). A pedestrian with ID 62 is 25.9 meters away at (-2.2, -25.9).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [-5.5970063  2.721009 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 2.5488982 -3.6015873] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-3.995377   2.5488002] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.8139673 1.1465743] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.5642658 1.3038565] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  7.949602 -11.734694], 14.173891067504883 meters away.)"}
{"file_name": "images/scenario_917_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 6.6) m/s. Its current heading (yaw) is 2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 5.7 meters away at (0.2, 5.7). A vehicle with ID 68 is 9.2 meters away at (-2.1, -9.0). A vehicle with ID 67 is 10.5 meters away at (-2.9, 10.1). A vehicle with ID 70 is 15.8 meters away at (-6.2, 14.5). A vehicle with ID 55 is 23.5 meters away at (4.8, -23.0). A vehicle with ID 73 is 24.7 meters away at (-11.7, 21.8). A vehicle with ID 58 is 30.9 meters away at (18.9, -24.5). A vehicle with ID 29 is 31.1 meters away at (-15.5, 27.0). A vehicle with ID 63 is 36.1 meters away at (-0.5, -36.1). A pedestrian with ID 61 is 36.3 meters away at (8.2, -35.3).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 1.3043252 -2.7003493] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-6.351069  -1.9402397] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-3.382841  2.379045] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.95285374 0.9127893 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.18644333 5.6713943 ], 5.674458026885986 meters away.)"}
{"file_name": "images/scenario_917_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 6.6) m/s. Its current heading (yaw) is 2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 5.1 meters away at (4.9, 1.5). A vehicle with ID 73 is 8.6 meters away at (-0.5, 8.6). A vehicle with ID 67 is 8.7 meters away at (8.2, -3.0). A vehicle with ID 65 is 13.4 meters away at (11.2, -7.4). A vehicle with ID 29 is 14.5 meters away at (-4.3, 13.8). A vehicle with ID 25 is 20.0 meters away at (-7.7, 18.5). A vehicle with ID 24 is 25.2 meters away at (-11.0, 22.7). A vehicle with ID 68 is 29.9 meters away at (10.5, -28.0). A vehicle with ID 52 is 31.4 meters away at (-14.5, 27.8). A vehicle with ID 10 is 37.7 meters away at (-18.3, 32.9).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 0.01068044 -3.5253332 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.8919735 1.4805374], 5.111104965209961 meters away.)"}
{"file_name": "images/scenario_917_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 6.3) m/s. Its current heading (yaw) is 2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 6.4 meters away at (3.3, 5.5). A vehicle with ID 29 is 6.7 meters away at (6.7, 1.0). A vehicle with ID 24 is 9.8 meters away at (0.0, 9.8). A vehicle with ID 73 is 11.1 meters away at (10.3, -4.2). A vehicle with ID 52 is 15.3 meters away at (-3.5, 14.9). A vehicle with ID 70 is 19.6 meters away at (15.9, -11.5). A vehicle with ID 10 is 21.3 meters away at (-7.2, 20.0). A vehicle with ID 9 is 21.7 meters away at (-10.3, 19.1). A vehicle with ID 67 is 25.0 meters away at (19.2, -16.0). A vehicle with ID 7 is 29.1 meters away at (-12.0, 26.5).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.2909164 5.5274696], 6.432966232299805 meters away.)"}
{"file_name": "images/scenario_918_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -1.0) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 22 is 18.5 meters away at (-11.7, 14.4). A unknown object with ID 25 is 28.6 meters away at (-27.8, 6.6). A unknown object with ID 26 is 29.1 meters away at (-28.7, 5.1). A vehicle with ID 1 is 29.7 meters away at (-14.2, -26.0). A unknown object with ID 27 is 30.4 meters away at (-29.4, 7.6). A unknown object with ID 28 is 32.1 meters away at (-31.1, 7.8). A unknown object with ID 29 is 32.3 meters away at (-31.1, 8.7). A unknown object with ID 31 is 33.4 meters away at (-32.5, 7.4). A unknown object with ID 32 is 37.1 meters away at (-35.2, 11.9). A unknown object with ID 34 is 41.3 meters away at (-39.7, 11.3).", "velocity_description": "The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.04157371 -0.02170484] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-11.657324  14.389187], 18.51869010925293 meters away.)"}
{"file_name": "images/scenario_918_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A pedestrian with ID 22 is 19.4 meters away at (-12.4, 14.9). A unknown object with ID 25 is 29.5 meters away at (-28.7, 7.0). A vehicle with ID 1 is 29.8 meters away at (-15.2, -25.6). A unknown object with ID 26 is 30.0 meters away at (-29.4, 5.5). A unknown object with ID 27 is 31.2 meters away at (-30.2, 8.1). A unknown object with ID 29 is 33.2 meters away at (-31.8, 9.3). A unknown object with ID 31 is 34.3 meters away at (-33.3, 8.2). A unknown object with ID 32 is 38.0 meters away at (-36.0, 12.4). A unknown object with ID 34 is 42.1 meters away at (-40.4, 11.8). A unknown object with ID 36 is 44.1 meters away at (-41.4, 15.0).", "velocity_description": "The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.06034466  0.0429051 ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-12.4304905  14.873232 ], 19.383758544921875 meters away.)"}
{"file_name": "images/scenario_918_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -1.0) m/s. Its current heading (yaw) is -0.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 22 is 21.6 meters away at (-14.3, 16.2). A vehicle with ID 1 is 29.8 meters away at (-17.0, -24.4). A unknown object with ID 25 is 31.6 meters away at (-30.4, 8.4). A unknown object with ID 26 is 32.1 meters away at (-31.3, 6.9). A unknown object with ID 27 is 33.4 meters away at (-32.1, 9.4). A unknown object with ID 15 is 35.1 meters away at (-33.7, 9.6). A unknown object with ID 29 is 35.3 meters away at (-33.7, 10.5). A unknown object with ID 13 is 36.4 meters away at (-35.2, 9.3). A unknown object with ID 32 is 40.2 meters away at (-37.8, 13.7). A unknown object with ID 34 is 44.3 meters away at (-42.4, 13.1).", "velocity_description": "The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.03466946 -0.00128394] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-14.306494  16.193203], 21.60776710510254 meters away.)"}
{"file_name": "images/scenario_918_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -2.0) m/s. Its current heading (yaw) is -0.93 ", "actor_description": " The most relevant actors are: A pedestrian with ID 22 is 25.7 meters away at (-17.6, 18.7). A vehicle with ID 1 is 29.8 meters away at (-20.3, -21.9). A unknown object with ID 25 is 35.4 meters away at (-33.7, 10.9). A unknown object with ID 26 is 35.8 meters away at (-34.5, 9.5). A unknown object with ID 27 is 37.3 meters away at (-35.3, 12.0). A unknown object with ID 15 is 38.9 meters away at (-36.9, 12.2). A unknown object with ID 29 is 39.2 meters away at (-37.0, 13.1). A unknown object with ID 13 is 40.2 meters away at (-38.4, 11.9). A unknown object with ID 32 is 44.2 meters away at (-41.1, 16.2). A unknown object with ID 16 is 47.1 meters away at (-43.6, 17.9).", "velocity_description": "The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.10150407 -0.03909833] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-17.61491  18.71904], 25.703842163085938 meters away.)"}
{"file_name": "images/scenario_919_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -8.8) m/s. Its current heading (yaw) is -1.32 ", "actor_description": " The most relevant actors are: A unknown object with ID 61 is 15.1 meters away at (-11.1, -10.2). A unknown object with ID 79 is 15.8 meters away at (-15.3, 3.7). A unknown object with ID 51 is 15.8 meters away at (-10.7, -11.7). A unknown object with ID 84 is 18.9 meters away at (-11.0, -15.4). A unknown object with ID 85 is 19.9 meters away at (-10.3, -17.0). A unknown object with ID 82 is 35.5 meters away at (-18.4, 30.4). A vehicle with ID 36 is 67.5 meters away at (2.7, -67.4). A pedestrian with ID 49 is 70.7 meters away at (18.4, -68.3). A pedestrian with ID 50 is 72.4 meters away at (19.2, -69.8). A pedestrian with ID 68 is 72.5 meters away at (20.0, -69.7).", "velocity_description": "The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.01580467 -0.01229573] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.01486535 -0.03411186] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.00429789 0.00353324] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-14.632856369018555, -62.21569061279297)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.122498 -10.217611], 15.10329532623291 meters away.)"}
{"file_name": "images/scenario_919_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -8.7) m/s. Its current heading (yaw) is -1.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 85 is 15.3 meters away at (-15.3, 0.4). A unknown object with ID 51 is 15.9 meters away at (-14.9, 5.6). A unknown object with ID 84 is 16.2 meters away at (-16.0, 2.0). A unknown object with ID 75 is 16.8 meters away at (-15.8, 5.7). A unknown object with ID 28 is 17.1 meters away at (-16.8, 3.5). A unknown object with ID 46 is 17.4 meters away at (-17.0, 3.9). A unknown object with ID 61 is 17.7 meters away at (-16.2, 7.1). A vehicle with ID 36 is 49.6 meters away at (-2.3, -49.5). A pedestrian with ID 49 is 52.6 meters away at (13.3, -50.9). A pedestrian with ID 68 is 54.4 meters away at (14.8, -52.4).", "velocity_description": "The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.0119032  0.00527838] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.02025065 -0.00045403] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-14.632856369018555, -62.21569061279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-15.332842    0.3791008], 15.337528228759766 meters away.)"}
{"file_name": "images/scenario_919_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -8.5) m/s. Its current heading (yaw) is -1.13 ", "actor_description": " The most relevant actors are: A unknown object with ID 85 is 28.6 meters away at (-22.3, 17.9). A unknown object with ID 56 is 29.5 meters away at (-22.9, 18.7). A unknown object with ID 84 is 30.2 meters away at (-23.0, 19.5). A unknown object with ID 28 is 31.9 meters away at (-23.8, 21.2). A unknown object with ID 75 is 32.5 meters away at (-22.8, 23.2). A vehicle with ID 36 is 33.4 meters away at (-9.5, -32.0). A unknown object with ID 61 is 33.9 meters away at (-23.2, 24.7). A pedestrian with ID 49 is 33.9 meters away at (6.3, -33.3). A pedestrian with ID 68 is 35.7 meters away at (7.9, -34.8). A pedestrian with ID 50 is 35.9 meters away at (7.2, -35.2).", "velocity_description": "The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.04653411 -0.02366569] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.05974351 -0.04909124] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.0467041  -0.06448045] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-14.632856369018555, -62.21569061279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-22.34429  17.89391], 28.626197814941406 meters away.)"}
{"file_name": "images/scenario_919_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -8.4) m/s. Its current heading (yaw) is -1.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 49 is 16.4 meters away at (-2.5, -16.2). A unknown object with ID 31 is 16.7 meters away at (-1.5, -16.6). A pedestrian with ID 68 is 17.6 meters away at (-0.9, -17.6). A pedestrian with ID 50 is 18.0 meters away at (-1.6, -18.0). A pedestrian with ID 40 is 19.0 meters away at (-1.9, -18.9). A pedestrian with ID 73 is 20.5 meters away at (-1.1, -20.5). A pedestrian with ID 44 is 23.2 meters away at (17.0, -15.8). A vehicle with ID 36 is 23.5 meters away at (-18.3, -14.7). A unknown object with ID 34 is 27.7 meters away at (-17.0, -21.8). A vehicle with ID 45 is 30.0 meters away at (10.5, -28.1).", "velocity_description": "The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.07895321 -0.00536909] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.10468259 -0.09563807] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.0419176  -0.00670435] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.01130542 -0.03144883] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.32459942 0.09457663] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.01332186 0.00553626] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.3937387  2.7660048] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-14.632856369018555, -62.21569061279297)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -2.4827461 -16.17411  ], 16.363554000854492 meters away.)"}
{"file_name": "images/scenario_920_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -4.0) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 7.5 meters away at (-7.2, 2.2). A vehicle with ID 37 is 29.4 meters away at (12.4, -26.7). A vehicle with ID 6 is 31.8 meters away at (-1.7, -31.8). A vehicle with ID 35 is 32.2 meters away at (32.2, 1.2). A vehicle with ID 32 is 32.6 meters away at (-19.6, 26.0). A vehicle with ID 38 is 33.1 meters away at (30.2, -13.7). A vehicle with ID 43 is 34.6 meters away at (29.7, -17.9). A vehicle with ID 41 is 38.4 meters away at (34.2, -17.4). A vehicle with ID 22 is 41.6 meters away at (40.2, 10.7). A vehicle with ID 33 is 44.5 meters away at (-39.9, 19.6).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [1.3889456 1.5493851] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-4.477795  -5.3475747] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [2.8109965 3.3052106] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.3513533  1.9331858] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-3.36194    2.6232505] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.556675   1.3448488] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [1.8636281 2.2542925] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 30.92872  -24.754244]\n [ 32.037    -26.460356]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.23532    2.1564612], 7.549846649169922 meters away.)"}
{"file_name": "images/scenario_920_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -4.7) m/s. Its current heading (yaw) is -1.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 13.0 meters away at (12.8, -2.2). A vehicle with ID 37 is 18.1 meters away at (6.0, -17.0). A vehicle with ID 31 is 18.2 meters away at (-14.9, 10.5). A vehicle with ID 38 is 20.5 meters away at (20.5, 0.7). A vehicle with ID 9 is 20.9 meters away at (-1.6, -20.8). A vehicle with ID 41 is 23.2 meters away at (22.8, -4.6). A vehicle with ID 35 is 32.4 meters away at (28.8, 14.9). A vehicle with ID 25 is 34.3 meters away at (32.2, -11.9). A vehicle with ID 6 is 38.0 meters away at (-17.6, -33.6). A vehicle with ID 17 is 40.0 meters away at (-12.5, -38.0).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [-6.0249257  4.651857 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.3231517  3.6377974] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [3.3771589 4.024781 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.6843419  2.837676 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [1.4255582 1.8375558] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-3.0523107  1.3444417] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-4.1428094 -5.0715084] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.8046956 5.452633 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.546713 -21.74582 ]\n [ 28.410114 -22.647196]\n [ 30.92872  -24.754244]\n [ 39.10532  -16.49118 ]\n [ 32.037    -26.460356]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.763859  -2.1915665], 12.950638771057129 meters away.)"}
{"file_name": "images/scenario_920_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -4.4) m/s. Its current heading (yaw) is -2.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 6.8 meters away at (2.8, -6.2). A vehicle with ID 37 is 9.7 meters away at (6.1, -7.6). A vehicle with ID 43 is 19.0 meters away at (-1.9, 18.9). A vehicle with ID 17 is 21.2 meters away at (-5.5, -20.5). A vehicle with ID 41 is 23.7 meters away at (21.0, 11.0). A vehicle with ID 31 is 24.8 meters away at (-14.8, 19.9). A vehicle with ID 25 is 25.9 meters away at (25.9, 0.8). A vehicle with ID 38 is 27.0 meters away at (21.8, 16.0). A unknown object with ID 29 is 28.8 meters away at (28.6, 2.7). A pedestrian with ID 23 is 30.0 meters away at (-22.1, 20.3).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0.9537544 1.1558459] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-8.503909  7.006366] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.1030734 2.5061278] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0.12767564 2.6558135 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-2.8519962  1.8641453] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [1.3513076 2.4510195] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.52604413 1.088248  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.546713 -21.74582 ]\n [ 28.410114 -22.647196]\n [ 30.92872  -24.754244]\n [ 39.10532  -16.49118 ]\n [ 32.037    -26.460356]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.793579  -6.2243958], 6.822549819946289 meters away.)"}
{"file_name": "images/scenario_920_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -5.6) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 9.4 meters away at (5.1, -7.9). A vehicle with ID 9 is 11.9 meters away at (11.3, 3.9). A vehicle with ID 37 is 14.1 meters away at (14.0, 1.9). A vehicle with ID 12 is 14.7 meters away at (-0.6, -14.7). A vehicle with ID 25 is 32.7 meters away at (29.3, 14.6). A vehicle with ID 41 is 38.7 meters away at (30.0, 24.5). A vehicle with ID 6 is 40.5 meters away at (-24.7, -32.1). A vehicle with ID 7 is 40.7 meters away at (-21.5, -34.6). A vehicle with ID 38 is 43.6 meters away at (32.5, 29.0). A vehicle with ID 35 is 53.1 meters away at (39.0, 36.1).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0.90646315 0.9652982 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [1.6114602 1.7793331] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-1.5739425  2.065388 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0.661316 1.077859] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.9002354 -3.487322 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [4.9025683 5.700866 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.861796   0.91365737] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.546713 -21.74582 ]\n [ 28.410114 -22.647196]\n [ 30.92872  -24.754244]\n [ 32.037    -26.460356]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.0607653 -7.8692055], 9.356054306030273 meters away.)"}
{"file_name": "images/scenario_921_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 8.0) m/s. Its current heading (yaw) is 1.95 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(22.798828125, 287.5056457519531)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_921_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 8.9) m/s. Its current heading (yaw) is 1.92 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 25.6 meters away at (-15.6, 20.3). A unknown object with ID 15 is 26.0 meters away at (-15.6, 20.7).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(22.798828125, 287.5056457519531)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-15.623527  20.317635], 25.630077362060547 meters away.)"}
{"file_name": "images/scenario_921_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 9.0) m/s. Its current heading (yaw) is 1.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 29.5 meters away at (7.3, -28.6). A unknown object with ID 12 is 59.0 meters away at (33.8, -48.4). A unknown object with ID 8 is 69.2 meters away at (3.9, 69.1).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(22.798828125, 287.5056457519531)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  7.320545 -28.625957], 29.54718017578125 meters away.)"}
{"file_name": "images/scenario_921_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 8.0) m/s. Its current heading (yaw) is 1.64 ", "actor_description": " The most relevant actors are: A unknown object with ID 17 is 20.3 meters away at (-16.8, -11.5).", "velocity_description": "The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(22.798828125, 287.5056457519531)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-16.765053 -11.460571], 20.30792236328125 meters away.)"}
{"file_name": "images/scenario_922_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.7) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 58 is 2.2 meters away at (-1.2, -1.9). A unknown object with ID 56 is 4.9 meters away at (-4.9, 0.5). A unknown object with ID 44 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 57 is 9.1 meters away at (9.0, -0.9). A vehicle with ID 62 is 9.2 meters away at (-5.3, 7.5). A vehicle with ID 59 is 12.3 meters away at (-10.3, 6.8). A unknown object with ID 67 is 15.5 meters away at (8.0, 13.3). A unknown object with ID 64 is 17.8 meters away at (1.6, 17.8). A pedestrian with ID 60 is 18.0 meters away at (-17.4, 4.6). A unknown object with ID 63 is 18.2 meters away at (-16.4, 7.9).", "velocity_description": "The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [ 6.5872574 -3.6975057] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 3.8923318 -2.7071028] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 1.763813  -1.1344789] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.4141713   0.86565244] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 33.43071   -10.940168 ]\n [ 29.939829   -5.2355375]\n [ 32.71238   -12.44669  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-1.1863825 -1.88309  ], 2.2256531715393066 meters away.)"}
{"file_name": "images/scenario_922_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -3.1) m/s. Its current heading (yaw) is -0.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 6.0 meters away at (-1.7, 5.8). A unknown object with ID 58 is 7.9 meters away at (-7.3, 2.9). A vehicle with ID 59 is 13.4 meters away at (-10.8, 8.0). A vehicle with ID 26 is 14.2 meters away at (-0.7, -14.2). A unknown object with ID 67 is 18.2 meters away at (1.9, 18.1). A vehicle with ID 57 is 20.0 meters away at (19.2, -5.6). A unknown object with ID 64 is 23.0 meters away at (-4.6, 22.6). A unknown object with ID 63 is 25.9 meters away at (-22.6, 12.7). A vehicle with ID 70 is 26.4 meters away at (26.3, -1.6). A vehicle with ID 69 is 26.9 meters away at (26.2, -6.0).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [ 6.162831  -3.8521576] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 4.2404675 -2.680291 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [ 9.8293495 -5.989226 ] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [-3.8719008  2.6229436] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.0366619  0.6637022] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.7341852  5.7791195], 6.033707141876221 meters away.)"}
{"file_name": "images/scenario_922_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -4.2) m/s. Its current heading (yaw) is -1.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 8.4 meters away at (-4.8, -6.9). A vehicle with ID 59 is 9.6 meters away at (-3.9, 8.7). A vehicle with ID 62 is 9.6 meters away at (8.4, 4.5). A unknown object with ID 58 is 15.3 meters away at (-11.4, 10.1). A vehicle with ID 70 is 17.2 meters away at (10.9, 13.2). A vehicle with ID 69 is 19.9 meters away at (19.7, 2.8). A vehicle with ID 13 is 22.9 meters away at (-6.3, -22.0). A vehicle with ID 71 is 24.6 meters away at (22.5, -10.0). A vehicle with ID 31 is 25.0 meters away at (24.7, 3.8). A unknown object with ID 67 is 25.4 meters away at (-2.2, 25.3).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 6.871347  -3.9934206] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.209541  -5.0526896] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [-7.231969   4.9217167] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.8275154   0.46442452] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-4.9385357  3.202765 ] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 33.43071  -10.940168]\n [ 32.71238  -12.44669 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.796156 -6.87519 ], 8.382801055908203 meters away.)"}
{"file_name": "images/scenario_922_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -4.0) m/s. Its current heading (yaw) is -1.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 4.2 meters away at (-4.1, 1.2). A vehicle with ID 59 is 14.7 meters away at (12.3, 8.1). A vehicle with ID 13 is 14.9 meters away at (-5.8, -13.7). A vehicle with ID 10 is 19.3 meters away at (-5.4, -18.6). A vehicle with ID 8 is 20.5 meters away at (-2.4, -20.3). A vehicle with ID 69 is 22.7 meters away at (19.7, 11.3). A vehicle with ID 71 is 23.3 meters away at (23.2, -2.1). A vehicle with ID 7 is 24.1 meters away at (-4.1, -23.8). A vehicle with ID 31 is 24.3 meters away at (12.6, 20.7). A vehicle with ID 62 is 27.3 meters away at (27.3, 1.3).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 8.466444  -4.9524894] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-7.479943   5.2583094] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 9.787494 -6.093742] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 33.43071  -10.940168]\n [ 32.71238  -12.44669 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.0589447  1.2479267], 4.2464518547058105 meters away.)"}
{"file_name": "images/scenario_923_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.3) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 20.7 meters away at (-14.7, 14.5). A vehicle with ID 53 is 22.6 meters away at (-14.6, -17.2). A vehicle with ID 55 is 27.7 meters away at (-21.9, 17.0). A vehicle with ID 57 is 33.3 meters away at (-16.6, 28.8). A vehicle with ID 24 is 37.9 meters away at (37.6, -5.0). A unknown object with ID 28 is 44.7 meters away at (22.5, 38.7). A vehicle with ID 34 is 45.0 meters away at (44.3, -7.6). A vehicle with ID 52 is 45.7 meters away at (7.3, 45.2). A vehicle with ID 58 is 47.9 meters away at (31.9, 35.7). A pedestrian with ID 46 is 58.2 meters away at (-52.0, 26.2).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.05696604 -0.8956351 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(180.7281494140625, 75.16071319580078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-14.688154  14.547834], 20.67320442199707 meters away.)"}
{"file_name": "images/scenario_923_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 3.7) m/s. Its current heading (yaw) is 1.26 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 18.5 meters away at (15.8, 9.6). A vehicle with ID 54 is 19.0 meters away at (-16.1, 10.1). A vehicle with ID 55 is 26.5 meters away at (-23.4, 12.5). A vehicle with ID 53 is 26.9 meters away at (-16.0, -21.6). A vehicle with ID 57 is 30.3 meters away at (-18.1, 24.4). A pedestrian with ID 47 is 35.0 meters away at (33.5, -10.0). A vehicle with ID 24 is 37.5 meters away at (36.3, -9.5). A unknown object with ID 28 is 40.1 meters away at (20.8, 34.3). A vehicle with ID 52 is 41.1 meters away at (5.8, 40.7). A vehicle with ID 34 is 44.5 meters away at (42.8, -12.0).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.06060411 -0.1605493 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(180.7281494140625, 75.16071319580078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [15.828676  9.578785], 18.501354217529297 meters away.)"}
{"file_name": "images/scenario_923_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 6.6) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 12.6 meters away at (12.6, -0.7). A vehicle with ID 54 is 19.4 meters away at (-19.4, -0.2). A vehicle with ID 57 is 25.6 meters away at (-21.3, 14.1). A vehicle with ID 55 is 26.7 meters away at (-26.6, 2.3). A vehicle with ID 52 is 30.5 meters away at (2.6, 30.4). A pedestrian with ID 47 is 36.7 meters away at (30.4, -20.6). A vehicle with ID 53 is 37.3 meters away at (-19.3, -32.0). A vehicle with ID 24 is 38.6 meters away at (33.1, -19.9). A vehicle with ID 34 is 45.5 meters away at (39.7, -22.2). A vehicle with ID 43 is 48.0 meters away at (-45.8, 14.5).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.50218713 0.22240478] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 5.7723455 -1.9231706] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(180.7281494140625, 75.16071319580078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [12.622143   -0.66415024], 12.639603614807129 meters away.)"}
{"file_name": "images/scenario_923_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 8.1) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 15.9 meters away at (-2.0, 15.7). A unknown object with ID 33 is 17.3 meters away at (8.0, -15.3). A vehicle with ID 23 is 25.1 meters away at (24.3, 6.5). A vehicle with ID 57 is 25.9 meters away at (-25.9, -0.5). A vehicle with ID 54 is 28.2 meters away at (-24.0, -14.7). A vehicle with ID 55 is 33.5 meters away at (-31.1, -12.4). A vehicle with ID 21 is 33.9 meters away at (2.6, -33.8). A vehicle with ID 43 is 39.1 meters away at (-38.9, -4.1). A vehicle with ID 51 is 41.5 meters away at (16.1, 38.2). A vehicle with ID 24 is 44.7 meters away at (28.5, -34.5).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 5.0251927 -1.7872089] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(180.7281494140625, 75.16071319580078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.0031815 15.744469 ], 15.871390342712402 meters away.)"}
{"file_name": "images/scenario_924_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -2.9) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 7.7 meters away at (5.2, 5.7). A unknown object with ID 5 is 8.5 meters away at (7.0, 4.8). A unknown object with ID 4 is 10.0 meters away at (9.2, 3.9). A unknown object with ID 33 is 12.4 meters away at (7.3, 10.0). A unknown object with ID 36 is 12.8 meters away at (8.7, 9.5). A unknown object with ID 37 is 13.4 meters away at (9.9, 9.0). A vehicle with ID 21 is 15.6 meters away at (1.0, -15.5). A pedestrian with ID 31 is 23.3 meters away at (-17.4, 15.5). A pedestrian with ID 26 is 28.0 meters away at (27.8, -3.6). A vehicle with ID 19 is 30.5 meters away at (-5.8, -30.0).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.426283   1.8167301] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.03823178 -0.00738764] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 3.435232  -1.0476527] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [5.1757307 5.6506243], 7.662750244140625 meters away.)"}
{"file_name": "images/scenario_924_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -2.4) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 9.5 meters away at (-2.9, 9.1). A unknown object with ID 5 is 11.2 meters away at (-5.0, 10.0). A unknown object with ID 6 is 12.9 meters away at (-6.9, 10.9). A unknown object with ID 37 is 14.3 meters away at (-2.1, 14.2). A unknown object with ID 36 is 15.1 meters away at (-3.4, 14.7). A pedestrian with ID 26 is 15.8 meters away at (15.7, 1.6). A unknown object with ID 33 is 16.0 meters away at (-4.7, 15.3). A vehicle with ID 21 is 21.0 meters away at (-19.9, -6.7). A vehicle with ID 19 is 27.7 meters away at (-12.4, -24.8). A vehicle with ID 45 is 33.9 meters away at (-31.8, 11.8).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00246107 -0.010649  ] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-5.243756   2.0617943] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [1.7999254 0.572114 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [11.593838  -5.4912167] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.8748398  9.08708  ], 9.530987739562988 meters away.)"}
{"file_name": "images/scenario_924_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -1.5) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 17.6 meters away at (-12.0, 12.9). A vehicle with ID 45 is 19.6 meters away at (-18.9, 5.1). A unknown object with ID 5 is 19.8 meters away at (-14.1, 13.9). A unknown object with ID 10 is 20.0 meters away at (-9.9, 17.4). A unknown object with ID 37 is 21.2 meters away at (-11.2, 18.0). A unknown object with ID 6 is 21.7 meters away at (-16.0, 14.7). A unknown object with ID 36 is 22.3 meters away at (-12.5, 18.5). A unknown object with ID 33 is 23.5 meters away at (-13.8, 19.1). A pedestrian with ID 34 is 25.8 meters away at (25.7, -1.5). A pedestrian with ID 35 is 26.5 meters away at (26.5, -1.1).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [10.847976  -5.1517262] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0786595   0.49782142] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.1329213  0.5385874] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-11.983486  12.881725], 17.593828201293945 meters away.)"}
{"file_name": "images/scenario_924_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -0.0) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 4.8 meters away at (-3.7, -3.1). A unknown object with ID 13 is 12.7 meters away at (-12.5, -1.9). A pedestrian with ID 34 is 17.4 meters away at (17.3, 1.1). A pedestrian with ID 35 is 17.9 meters away at (17.8, 1.6). A pedestrian with ID 32 is 23.0 meters away at (16.3, 16.2). A unknown object with ID 4 is 23.5 meters away at (-18.2, 14.8). A unknown object with ID 5 is 25.8 meters away at (-20.5, 15.7). A unknown object with ID 37 is 26.5 meters away at (-17.7, 19.7). A cyclist with ID 44 is 27.6 meters away at (-26.3, 8.4). A unknown object with ID 36 is 27.8 meters away at (-19.0, 20.3).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [10.951894 -4.903216] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.9983796  0.5309047] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.006424   0.5383699] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.4886643  -0.30668426] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [10.804343 -5.199339] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.6699333 -3.1050167], 4.8072381019592285 meters away.)"}
{"file_name": "images/scenario_925_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -0.1) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 7.6 meters away at (6.0, -4.6). A vehicle with ID 44 is 12.9 meters away at (12.4, 3.6). A vehicle with ID 49 is 15.7 meters away at (13.8, -7.4). A vehicle with ID 43 is 19.3 meters away at (19.3, 1.2). A cyclist with ID 45 is 21.5 meters away at (-18.3, -11.2). A vehicle with ID 52 is 22.3 meters away at (20.1, -9.6). A vehicle with ID 53 is 23.9 meters away at (2.7, 23.8). A vehicle with ID 48 is 25.2 meters away at (-24.2, 7.1). A vehicle with ID 42 is 25.7 meters away at (25.7, -0.9). A vehicle with ID 34 is 30.4 meters away at (5.3, 30.0).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [-0.7941309 -3.8880665] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(262.9075012207031, -122.65544891357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.96157 -4.64098], 7.555065155029297 meters away.)"}
{"file_name": "images/scenario_925_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -1.7) m/s. Its current heading (yaw) is -0.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 4.9 meters away at (-4.2, -2.5). A vehicle with ID 44 is 6.2 meters away at (2.2, 5.8). A vehicle with ID 49 is 6.4 meters away at (3.6, -5.3). A vehicle with ID 43 is 9.6 meters away at (9.0, 3.3). A vehicle with ID 52 is 12.4 meters away at (9.9, -7.5). A vehicle with ID 42 is 15.4 meters away at (15.4, 1.2). A vehicle with ID 41 is 22.2 meters away at (22.1, -1.4). A vehicle with ID 20 is 24.6 meters away at (21.9, -11.2). A vehicle with ID 53 is 26.9 meters away at (-7.4, 25.9). A vehicle with ID 40 is 33.1 meters away at (32.7, -5.1).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(262.9075012207031, -122.65544891357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.1598873 -2.5334153], 4.870611667633057 meters away.)"}
{"file_name": "images/scenario_925_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -2.3) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 4.2 meters away at (-2.5, -3.4). A vehicle with ID 42 is 6.1 meters away at (2.9, 5.4). A vehicle with ID 43 is 8.2 meters away at (-3.4, 7.4). A vehicle with ID 49 is 8.9 meters away at (-8.8, -1.2). A vehicle with ID 41 is 10.0 meters away at (9.6, 2.8). A vehicle with ID 20 is 11.6 meters away at (9.3, -7.0). A vehicle with ID 44 is 14.3 meters away at (-10.3, 9.9). A vehicle with ID 46 is 16.8 meters away at (-16.7, 1.6). A vehicle with ID 40 is 20.4 meters away at (20.3, -0.9). A unknown object with ID 36 is 23.6 meters away at (-23.4, -3.0).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(262.9075012207031, -122.65544891357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.4807777 -3.3808022], 4.193337917327881 meters away.)"}
{"file_name": "images/scenario_925_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, -2.6) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 4.8 meters away at (-4.3, -2.1). A vehicle with ID 40 is 7.7 meters away at (6.5, 4.1). A vehicle with ID 41 is 8.8 meters away at (-4.1, 7.8). A vehicle with ID 42 is 14.9 meters away at (-10.8, 10.3). A vehicle with ID 52 is 16.3 meters away at (-16.2, 1.6). A unknown object with ID 23 is 20.9 meters away at (6.5, -19.9). A vehicle with ID 43 is 21.1 meters away at (-17.2, 12.4). A vehicle with ID 49 is 23.0 meters away at (-22.6, 3.8). A vehicle with ID 44 is 28.5 meters away at (-24.3, 14.9). A vehicle with ID 46 is 31.3 meters away at (-30.6, 6.6).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(262.9075012207031, -122.65544891357422)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.321373  -2.0749235], 4.793701171875 meters away.)"}
{"file_name": "images/scenario_926_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -1.9) m/s. Its current heading (yaw) is -2.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 16 is 23.2 meters away at (1.7, -23.2). A vehicle with ID 17 is 24.0 meters away at (1.0, -24.0). A cyclist with ID 2 is 29.9 meters away at (25.6, 15.5). A vehicle with ID 19 is 30.3 meters away at (14.4, -26.6). A unknown object with ID 20 is 37.7 meters away at (0.8, 37.7). A vehicle with ID 21 is 39.9 meters away at (-2.5, -39.8). A unknown object with ID 11 is 44.8 meters away at (-4.9, -44.6). A vehicle with ID 23 is 50.3 meters away at (49.5, 8.7). A vehicle with ID 24 is 65.8 meters away at (65.6, -5.2). A vehicle with ID 26 is 70.4 meters away at (69.9, -8.0).", "velocity_description": "The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.05351128 0.01824601] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-4.7883368  3.7533379] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-40.629791259765625, 13.448115348815918)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  1.7109958 -23.171349 ], 23.234432220458984 meters away.)"}
{"file_name": "images/scenario_926_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 1.2) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A pedestrian with ID 16 is 23.1 meters away at (8.5, -21.5). A vehicle with ID 17 is 23.6 meters away at (7.6, -22.4). A cyclist with ID 2 is 32.6 meters away at (22.2, 23.9). A vehicle with ID 19 is 32.7 meters away at (21.0, -25.1). A vehicle with ID 21 is 38.5 meters away at (4.2, -38.2). A unknown object with ID 20 is 39.9 meters away at (7.3, 39.3). A unknown object with ID 11 is 43.0 meters away at (1.9, -42.9). A vehicle with ID 23 is 57.0 meters away at (56.1, 10.2). A vehicle with ID 24 is 72.3 meters away at (72.2, -3.5). A vehicle with ID 26 is 76.7 meters away at (76.5, -6.3).", "velocity_description": "The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00966193 0.01207334] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-5.269115   3.1052644] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-40.629791259765625, 13.448115348815918)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  8.496542 -21.499235], 23.117273330688477 meters away.)"}
{"file_name": "images/scenario_926_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 3.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A pedestrian with ID 16 is 31.6 meters away at (17.3, -26.4). A vehicle with ID 17 is 31.8 meters away at (16.3, -27.3). A cyclist with ID 2 is 31.9 meters away at (20.5, 24.4). A unknown object with ID 20 is 38.2 meters away at (16.6, 34.4). A vehicle with ID 19 is 42.3 meters away at (29.7, -30.1). A vehicle with ID 21 is 44.9 meters away at (12.8, -43.1). A vehicle with ID 4 is 63.4 meters away at (63.0, 7.4). A vehicle with ID 23 is 65.3 meters away at (65.1, 5.0). A vehicle with ID 24 is 81.5 meters away at (81.0, -9.3).", "velocity_description": "The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.03843039 -0.03271015] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-5.553083   2.7819028] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-40.629791259765625, 13.448115348815918)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 17.287653 -26.396929], 31.554092407226562 meters away.)"}
{"file_name": "images/scenario_926_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 3.5) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A cyclist with ID 2 is 32.1 meters away at (21.4, 23.9). A unknown object with ID 20 is 39.3 meters away at (28.0, 27.5). A pedestrian with ID 16 is 43.8 meters away at (28.6, -33.2). A vehicle with ID 17 is 43.9 meters away at (27.6, -34.1). A vehicle with ID 19 is 55.2 meters away at (41.1, -36.9). A vehicle with ID 4 is 74.4 meters away at (74.4, 0.5). A vehicle with ID 23 is 76.6 meters away at (76.5, -1.7).", "velocity_description": "The cyclist with ID 2 is traveling at a (x, y) velocity of [-5.0030007  2.932283 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.02028419 -0.03193162] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-40.629791259765625, 13.448115348815918)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [21.383621 23.910343], 32.07746505737305 meters away.)"}
{"file_name": "images/scenario_927_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.2) m/s. Its current heading (yaw) is 0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 59.2 meters away at (-16.4, 56.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ 5.387626  -7.0884933] m/s.", "light_description": "There are active red lights at the following coordinates: [[8.660237  7.9324613]]", "nav_goal": "(-156.39566040039062, 237.0010986328125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-16.388376  56.85968 ], 59.17433547973633 meters away.)"}
{"file_name": "images/scenario_927_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 2.5) m/s. Its current heading (yaw) is 0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 44.3 meters away at (-10.8, 42.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ 3.0052848 -4.0483127] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-156.39566040039062, 237.0010986328125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.810553  42.919086], 44.2596435546875 meters away.)"}
{"file_name": "images/scenario_927_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 5.5) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 17.1 meters away at (10.6, 13.5). A vehicle with ID 5 is 32.8 meters away at (-13.0, 30.1).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 0.887818  -1.1306537] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.832056 21.8276  ]\n [ 8.461705 23.765614]]", "nav_goal": "(-156.39566040039062, 237.0010986328125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [10.584637 13.464816], 17.12704849243164 meters away.)"}
{"file_name": "images/scenario_927_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 6.6) m/s. Its current heading (yaw) is 1.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 11.6 meters away at (-11.6, -0.5). A vehicle with ID 5 is 20.5 meters away at (-12.6, 16.2).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 0.294593   -0.44001386] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.832056 21.8276  ]\n [ 8.461705 23.765614]]", "nav_goal": "(-156.39566040039062, 237.0010986328125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.582594   -0.4668808], 11.591999053955078 meters away.)"}
{"file_name": "images/scenario_928_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.2) m/s. Its current heading (yaw) is -1.69 ", "actor_description": " The most relevant actors are: A unknown object with ID 17 is 2.4 meters away at (-2.3, 0.8). A unknown object with ID 16 is 3.8 meters away at (-2.2, -3.1). A unknown object with ID 18 is 4.2 meters away at (-2.3, 3.5). A pedestrian with ID 19 is 6.0 meters away at (-5.9, -1.0). A unknown object with ID 20 is 6.5 meters away at (-2.4, 6.0). A unknown object with ID 12 is 6.8 meters away at (-6.7, 1.5). A unknown object with ID 15 is 7.6 meters away at (-2.1, -7.3). A unknown object with ID 7 is 7.7 meters away at (-7.3, 2.3). A unknown object with ID 21 is 8.9 meters away at (-2.5, 8.5). A unknown object with ID 14 is 11.6 meters away at (-2.0, -11.4).", "velocity_description": "The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00799691 -0.00682235] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.2732096   0.75090957], 2.3940231800079346 meters away.)"}
{"file_name": "images/scenario_928_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -2.4) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 2.4 meters away at (-2.0, 1.3). A unknown object with ID 15 is 3.3 meters away at (-1.9, -2.7). A unknown object with ID 17 is 5.7 meters away at (-2.1, 5.3). A pedestrian with ID 19 is 6.7 meters away at (-5.7, 3.6). A unknown object with ID 14 is 7.1 meters away at (-1.8, -6.9). A unknown object with ID 18 is 8.3 meters away at (-2.2, 8.0). A unknown object with ID 7 is 9.8 meters away at (-7.1, 6.8). A unknown object with ID 20 is 10.8 meters away at (-2.2, 10.5). A unknown object with ID 23 is 12.9 meters away at (-1.7, -12.8). A unknown object with ID 21 is 13.3 meters away at (-2.3, 13.1).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00296006 -0.00261066] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.9957453  1.3478289], 2.4082446098327637 meters away.)"}
{"file_name": "images/scenario_928_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -2.5) m/s. Its current heading (yaw) is -1.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 2.8 meters away at (-1.9, -2.0). A unknown object with ID 15 is 2.9 meters away at (-2.0, 2.1). A unknown object with ID 16 is 6.6 meters away at (-2.1, 6.2). A unknown object with ID 23 is 8.1 meters away at (-1.8, -7.9). A pedestrian with ID 19 is 10.2 meters away at (-5.8, 8.4). A unknown object with ID 17 is 10.4 meters away at (-2.2, 10.2). A unknown object with ID 18 is 13.1 meters away at (-2.3, 12.9). A unknown object with ID 7 is 13.8 meters away at (-7.3, 11.7). A unknown object with ID 20 is 15.6 meters away at (-2.4, 15.4). A unknown object with ID 21 is 18.1 meters away at (-2.4, 18.0).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.0038204  0.00145521] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.8832906 -2.0453434], 2.7803261280059814 meters away.)"}
{"file_name": "images/scenario_928_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -1.8) m/s. Its current heading (yaw) is -1.51 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 3.2 meters away at (-2.1, 2.4). A unknown object with ID 23 is 4.0 meters away at (-2.0, -3.5). A unknown object with ID 15 is 6.9 meters away at (-2.3, 6.5). A unknown object with ID 16 is 10.9 meters away at (-2.4, 10.7). A pedestrian with ID 19 is 14.2 meters away at (-6.1, 12.9). A unknown object with ID 17 is 14.8 meters away at (-2.5, 14.6). A unknown object with ID 18 is 17.6 meters away at (-2.5, 17.4). A unknown object with ID 20 is 20.0 meters away at (-2.6, 19.9). A pedestrian with ID 25 is 20.5 meters away at (-20.5, -0.3). A unknown object with ID 21 is 22.6 meters away at (-2.6, 22.4).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.01619416 -0.01064181] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.4575535  0.3952179] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.102463   2.3522768], 3.154925584793091 meters away.)"}
{"file_name": "images/scenario_929_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -8.0) m/s. Its current heading (yaw) is -1.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 33.2 meters away at (33.2, 0.9). A unknown object with ID 33 is 33.8 meters away at (33.8, -1.3). A unknown object with ID 31 is 33.9 meters away at (33.8, 3.0). A unknown object with ID 34 is 35.5 meters away at (35.5, -1.8). A unknown object with ID 35 is 38.2 meters away at (38.1, -2.7). A unknown object with ID 17 is 40.2 meters away at (40.0, -3.4). A unknown object with ID 11 is 42.2 meters away at (42.0, -4.3). A unknown object with ID 12 is 44.3 meters away at (44.1, -5.1). A unknown object with ID 2 is 46.0 meters away at (-3.8, -45.9). A pedestrian with ID 36 is 55.8 meters away at (-36.3, 42.4).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.7129578 -0.9179586] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-127.92945098876953, -133.2290802001953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [33.20831    0.9412279], 33.22164535522461 meters away.)"}
{"file_name": "images/scenario_929_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -7.8) m/s. Its current heading (yaw) is -1.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 30.2 meters away at (-3.6, -30.0). A unknown object with ID 29 is 31.9 meters away at (-4.2, -31.6). A unknown object with ID 33 is 36.9 meters away at (33.9, 14.6). A unknown object with ID 32 is 37.5 meters away at (33.4, 17.2). A unknown object with ID 34 is 38.3 meters away at (35.6, 14.1). A unknown object with ID 31 is 38.9 meters away at (34.0, 19.1). A unknown object with ID 35 is 40.5 meters away at (38.3, 13.2). A unknown object with ID 17 is 42.4 meters away at (40.5, 12.6). A pedestrian with ID 3 is 57.4 meters away at (-21.1, -53.3). A pedestrian with ID 5 is 69.1 meters away at (8.3, -68.6).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.51648927 -0.6296194 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.01566168 -0.00431545] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-127.92945098876953, -133.2290802001953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -3.5798864 -29.989458 ], 30.20237159729004 meters away.)"}
{"file_name": "images/scenario_929_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -6.5) m/s. Its current heading (yaw) is -1.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 15.8 meters away at (-3.5, -15.4). A unknown object with ID 29 is 17.4 meters away at (-4.2, -16.9). A unknown object with ID 1 is 17.7 meters away at (-4.3, -17.2). A pedestrian with ID 14 is 44.4 meters away at (-20.6, -39.3). A pedestrian with ID 3 is 44.6 meters away at (-21.3, -39.2). A pedestrian with ID 5 is 54.7 meters away at (8.4, -54.1). A pedestrian with ID 21 is 77.8 meters away at (-2.8, -77.8).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.3118579  0.84284914] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.22203934  0.01084415] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.03698343  0.00130149] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.10413508 -0.16222851] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-127.92945098876953, -133.2290802001953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -3.545869 -15.395409], 15.798474311828613 meters away.)"}
{"file_name": "images/scenario_929_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -4.2) m/s. Its current heading (yaw) is -1.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 6.0 meters away at (-3.5, -4.8). A unknown object with ID 29 is 7.6 meters away at (-4.2, -6.4). A unknown object with ID 1 is 7.8 meters away at (-4.2, -6.6). A pedestrian with ID 3 is 35.8 meters away at (-21.6, -28.6). A pedestrian with ID 5 is 44.3 meters away at (8.4, -43.5). A pedestrian with ID 21 is 67.1 meters away at (-2.6, -67.1).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.3879399  -0.21838485] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.03511916  0.01284002] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.04745782 0.02896197] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -0.84065807 -78.56464   ]\n [ -3.9386368  -77.6586    ]]", "nav_goal": "(-127.92945098876953, -133.2290802001953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.544371 -4.796852], 5.964256763458252 meters away.)"}
{"file_name": "images/scenario_930_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.2) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 4.5 meters away at (-2.0, 4.0). A vehicle with ID 72 is 13.2 meters away at (4.1, 12.5). A unknown object with ID 68 is 13.8 meters away at (0.4, 13.7). A unknown object with ID 69 is 16.0 meters away at (0.5, 16.0). A vehicle with ID 76 is 16.4 meters away at (-15.6, -4.9). A vehicle with ID 27 is 17.9 meters away at (-13.3, -12.0). A vehicle with ID 70 is 17.9 meters away at (2.8, 17.7). A vehicle with ID 77 is 19.5 meters away at (1.5, -19.4). A vehicle with ID 71 is 21.3 meters away at (-21.1, -2.9). A vehicle with ID 34 is 27.8 meters away at (-26.7, -7.7).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-1.4354924 -4.318356 ] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 0.601203   -0.19817586] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [4.3041086 1.2310351] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.2881474  -0.72261846] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(223.95787048339844, -85.9181137084961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.9614716  4.0096006], 4.463660717010498 meters away.)"}
{"file_name": "images/scenario_930_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 5.0 meters away at (-1.7, 4.7). A vehicle with ID 72 is 8.2 meters away at (2.5, 7.8). A unknown object with ID 68 is 14.5 meters away at (0.7, 14.4). A vehicle with ID 27 is 15.3 meters away at (-8.1, -13.0). A vehicle with ID 76 is 16.0 meters away at (-15.4, -4.1). A vehicle with ID 70 is 18.7 meters away at (3.0, 18.5). A pedestrian with ID 24 is 18.8 meters away at (14.9, -11.5). A vehicle with ID 71 is 21.1 meters away at (-21.0, -2.2). A vehicle with ID 77 is 23.2 meters away at (12.3, -19.7). A vehicle with ID 34 is 23.2 meters away at (-21.5, -8.8).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.40622413 -1.1273613 ] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 4.334285  -1.3325825] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0753659   0.40490812] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 6.164427  -1.7130647] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.908715  -0.9370142] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(223.95787048339844, -85.9181137084961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.7457073  4.7341847], 5.045790195465088 meters away.)"}
{"file_name": "images/scenario_930_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -3.2) m/s. Its current heading (yaw) is -1.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 7.6 meters away at (-0.8, 7.6). A vehicle with ID 72 is 9.1 meters away at (2.7, 8.7). A vehicle with ID 27 is 14.6 meters away at (4.2, -13.9). A vehicle with ID 76 is 14.6 meters away at (-14.5, -1.2). A pedestrian with ID 24 is 15.6 meters away at (13.6, -7.5). A vehicle with ID 34 is 17.2 meters away at (-15.3, -8.0). A vehicle with ID 71 is 20.1 meters away at (-20.1, 0.8). A vehicle with ID 70 is 21.7 meters away at (4.0, 21.3). A vehicle with ID 78 is 26.1 meters away at (-11.4, -23.4). A vehicle with ID 79 is 27.1 meters away at (2.8, -26.9).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.5819351 -1.7449701] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 6.7964106 -2.2788646] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0366355  0.4743745] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.2265334  -0.83391446] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(223.95787048339844, -85.9181137084961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.8026111  7.6047287], 7.646965503692627 meters away.)"}
{"file_name": "images/scenario_930_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -5.2) m/s. Its current heading (yaw) is -1.07 ", "actor_description": " The most relevant actors are: A pedestrian with ID 24 is 10.9 meters away at (10.7, 2.5). A vehicle with ID 34 is 12.8 meters away at (-12.8, -0.2). A vehicle with ID 72 is 13.2 meters away at (0.3, 13.2). A vehicle with ID 64 is 17.0 meters away at (-1.6, 16.9). A vehicle with ID 76 is 17.4 meters away at (-15.5, 8.1). A vehicle with ID 79 is 17.7 meters away at (1.9, -17.6). A vehicle with ID 78 is 18.7 meters away at (-12.3, -14.1). A unknown object with ID 28 is 19.3 meters away at (19.2, -2.4). A vehicle with ID 66 is 20.0 meters away at (15.6, -12.5). A vehicle with ID 27 is 21.1 meters away at (18.5, -10.0).", "velocity_description": "The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0695508  0.3343323] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.9461104 -1.2704747] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.7564177 -2.191481 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 7.89214   -2.7269444] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(223.95787048339844, -85.9181137084961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [10.656885  2.492876], 10.944570541381836 meters away.)"}
{"file_name": "images/scenario_931_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -2.5) m/s. Its current heading (yaw) is -1.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 42 is 19.4 meters away at (-9.9, -16.7). A vehicle with ID 26 is 25.5 meters away at (16.2, -19.7). A vehicle with ID 44 is 26.4 meters away at (10.5, -24.2). A cyclist with ID 41 is 27.3 meters away at (21.4, -16.9). A vehicle with ID 23 is 31.7 meters away at (21.1, -23.7). A pedestrian with ID 40 is 31.8 meters away at (3.9, -31.6). A pedestrian with ID 43 is 32.7 meters away at (4.7, -32.3). A vehicle with ID 24 is 38.4 meters away at (26.0, -28.3). A vehicle with ID 25 is 44.5 meters away at (30.7, -32.2). A unknown object with ID 9 is 44.5 meters away at (22.5, -38.4).", "velocity_description": "The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-7.3489966  5.9024158] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [ 2.9644299 -2.2845955] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.01440484 0.01142025] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.00687626 0.01576204] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.979544639587402, 22.860559463500977)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ -9.89481  -16.687668], 19.400657653808594 meters away.)"}
{"file_name": "images/scenario_931_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -3.8) m/s. Its current heading (yaw) is -1.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 7.6 meters away at (-5.7, -4.9). A unknown object with ID 42 is 14.7 meters away at (-11.0, -9.8). A vehicle with ID 26 is 19.8 meters away at (15.1, -12.9). A pedestrian with ID 40 is 24.8 meters away at (2.8, -24.7). A pedestrian with ID 43 is 25.7 meters away at (3.5, -25.5). A vehicle with ID 23 is 26.1 meters away at (19.8, -17.0). A pedestrian with ID 33 is 32.0 meters away at (-3.6, -31.8). A vehicle with ID 24 is 32.7 meters away at (24.5, -21.6). A unknown object with ID 13 is 36.6 meters away at (18.6, -31.6). A unknown object with ID 12 is 36.6 meters away at (20.2, -30.6).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [-7.794802   6.4412236] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.00276327 0.00038412] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.01432733 -0.00493416] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.09750909 0.04836969] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.979544639587402, 22.860559463500977)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.743369  -4.9496756], 7.5819244384765625 meters away.)"}
{"file_name": "images/scenario_931_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -3.5) m/s. Its current heading (yaw) is -0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 11.6 meters away at (10.1, -5.6). A unknown object with ID 42 is 16.2 meters away at (-16.0, -2.8). A pedestrian with ID 40 is 17.7 meters away at (-2.1, -17.5). A vehicle with ID 23 is 17.7 meters away at (14.8, -9.7). A pedestrian with ID 43 is 18.2 meters away at (-1.3, -18.2). A pedestrian with ID 32 is 20.0 meters away at (-2.8, -19.8). A vehicle with ID 24 is 24.2 meters away at (19.5, -14.3). A unknown object with ID 12 is 27.8 meters away at (15.1, -23.3). A unknown object with ID 13 is 28.0 meters away at (13.8, -24.4). A unknown object with ID 9 is 29.4 meters away at (16.5, -24.4).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.02884907 -0.02135022] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.02647427 0.0445787 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00391673 -0.00033412] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.979544639587402, 22.860559463500977)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [10.114792 -5.624197], 11.573271751403809 meters away.)"}
{"file_name": "images/scenario_931_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -3.6) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 3.8 meters away at (3.4, 1.6). A vehicle with ID 23 is 8.5 meters away at (8.1, -2.5). A unknown object with ID 17 is 13.3 meters away at (4.2, -12.6). A pedestrian with ID 43 is 13.4 meters away at (-7.9, -10.8). A pedestrian with ID 40 is 13.6 meters away at (-8.8, -10.3). A vehicle with ID 24 is 14.5 meters away at (12.8, -7.0). A pedestrian with ID 27 is 15.3 meters away at (-10.2, -11.5). A pedestrian with ID 32 is 15.7 meters away at (-9.6, -12.5). A unknown object with ID 12 is 18.1 meters away at (8.3, -16.0). A unknown object with ID 13 is 18.5 meters away at (7.0, -17.1).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.0250129  -0.03367419] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01581815  0.01605194] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.04135264  0.02363907] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00078822  0.00644692] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(9.979544639587402, 22.860559463500977)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.4098148 1.608263 ], 3.770059108734131 meters away.)"}
{"file_name": "images/scenario_932_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.4) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 10.8 meters away at (-9.3, 5.6). A vehicle with ID 20 is 25.5 meters away at (-22.8, 11.4). A vehicle with ID 30 is 34.3 meters away at (-34.1, -3.3). A cyclist with ID 39 is 35.5 meters away at (-23.3, 26.8). A vehicle with ID 33 is 35.9 meters away at (-9.9, 34.5). A cyclist with ID 31 is 37.3 meters away at (-37.3, 2.5). A vehicle with ID 36 is 37.4 meters away at (-37.3, -2.5). A vehicle with ID 38 is 38.8 meters away at (-15.9, 35.4). A vehicle with ID 37 is 39.9 meters away at (-39.8, 2.8). A pedestrian with ID 29 is 41.6 meters away at (-39.8, 12.2).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.3680743  0.764763 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-6.189989  4.340791] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [ 7.741809  -5.7535634] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 0.05182473 -0.02379863] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.4033381 -0.8314328] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.129295    7.795658 ]\n [-37.890278   13.343427 ]\n [-40.72119    16.918592 ]\n [-23.59538    26.612364 ]\n [-18.747065   19.663563 ]\n [-15.932051   16.256441 ]\n [-35.175602    7.5499835]\n [-21.096073   23.43811  ]\n [-18.044985   11.361626 ]\n [-31.384224    6.911933 ]\n [-27.176125   30.207542 ]\n [-18.780413    8.230999 ]]", "nav_goal": "(101.53199768066406, 246.238037109375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.283173   5.5751743], 10.828659057617188 meters away.)"}
{"file_name": "images/scenario_932_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.9) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 11.2 meters away at (-9.6, 5.8). A cyclist with ID 39 is 13.2 meters away at (-3.0, 12.8). A vehicle with ID 30 is 31.8 meters away at (-31.4, -5.0). A vehicle with ID 33 is 33.6 meters away at (-7.1, 32.9). A cyclist with ID 31 is 34.4 meters away at (-34.4, 0.8). A vehicle with ID 36 is 34.8 meters away at (-34.5, -4.2). A pedestrian with ID 29 is 35.6 meters away at (-34.4, 9.1). A vehicle with ID 38 is 36.2 meters away at (-13.2, 33.7). A vehicle with ID 37 is 37.0 meters away at (-36.9, 1.3). A vehicle with ID 20 is 39.7 meters away at (-34.3, 19.9).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.1839392   0.87197757] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [ 9.526999 -6.301251] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [0.00047312 0.01692731] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.1410042  -0.72938347] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-7.6678667  5.822675 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.129295    7.795658 ]\n [-37.890278   13.343427 ]\n [-40.72119    16.918592 ]\n [-23.59538    26.612364 ]\n [-18.747065   19.663563 ]\n [-40.66673    28.904325 ]\n [-15.932051   16.256441 ]\n [-35.175602    7.5499835]\n [-21.096073   23.43811  ]\n [-31.384224    6.911933 ]\n [-27.176125   30.207542 ]\n [-39.754738   31.670866 ]]", "nav_goal": "(101.53199768066406, 246.238037109375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.574251  5.775661], 11.181437492370605 meters away.)"}
{"file_name": "images/scenario_932_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.9) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 9.0 meters away at (-7.4, 5.1). A cyclist with ID 39 is 21.1 meters away at (21.0, -1.7). A vehicle with ID 48 is 27.1 meters away at (-16.2, 21.8). A vehicle with ID 30 is 29.0 meters away at (-28.2, -6.9). A pedestrian with ID 29 is 29.3 meters away at (-28.8, 5.5). A vehicle with ID 33 is 31.2 meters away at (-3.9, 31.0). A cyclist with ID 31 is 31.2 meters away at (-31.2, -1.1). A vehicle with ID 36 is 31.9 meters away at (-31.3, -6.2). A cyclist with ID 44 is 32.1 meters away at (-27.2, 17.2). A pedestrian with ID 34 is 33.1 meters away at (-32.2, 7.9).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.49112347  0.90364933] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [11.075002  -6.4375935] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 7.3611646 -5.580099 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.1502978  -0.74072665] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-0.00736002  0.01504108] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [ 0.9706422 -1.6527171] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.3080221 -0.8041287] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.129295    7.795658 ]\n [-37.890278   13.343427 ]\n [-40.72119    16.918592 ]\n [-23.59538    26.612364 ]\n [-18.747065   19.663563 ]\n [-40.66673    28.904325 ]\n [-15.932051   16.256441 ]\n [-35.175602    7.5499835]\n [-21.096073   23.43811  ]\n [-31.384224    6.911933 ]\n [-27.176125   30.207542 ]\n [-39.754738   31.670866 ]]", "nav_goal": "(101.53199768066406, 246.238037109375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.373605   5.1174655], 8.975439071655273 meters away.)"}
{"file_name": "images/scenario_932_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.2) m/s. Its current heading (yaw) is 2.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 9.1 meters away at (2.9, 8.6). A vehicle with ID 26 is 9.3 meters away at (-6.1, 7.0). A pedestrian with ID 29 is 24.9 meters away at (-24.7, 3.2). A vehicle with ID 30 is 27.8 meters away at (-26.7, -7.8). A pedestrian with ID 34 is 28.7 meters away at (-28.2, 5.4). A cyclist with ID 31 is 29.8 meters away at (-29.8, -1.9). A cyclist with ID 44 is 29.8 meters away at (-25.3, 15.8). A vehicle with ID 33 is 30.2 meters away at (-2.4, 30.1). A vehicle with ID 36 is 30.6 meters away at (-29.8, -7.1). A vehicle with ID 38 is 32.0 meters away at (-8.5, 30.9).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [10.032104 -6.620243] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0.7613298 2.2755344] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.2005845 -0.9153062] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.2479101 -0.8914923] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-0.00201336 -0.01754656] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [0.01997791 0.00616121] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.129295    7.795658 ]\n [-37.890278   13.343427 ]\n [-40.72119    16.918592 ]\n [-23.59538    26.612364 ]\n [-18.747065   19.663563 ]\n [-40.66673    28.904325 ]\n [-15.932051   16.256441 ]\n [-35.175602    7.5499835]\n [-21.096073   23.43811  ]\n [-18.044985   11.361626 ]\n [-31.384224    6.911933 ]\n [-27.176125   30.207542 ]\n [-18.780413    8.230999 ]\n [-39.754738   31.670866 ]]", "nav_goal": "(101.53199768066406, 246.238037109375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.8609848 8.612531 ], 9.075291633605957 meters away.)"}
{"file_name": "images/scenario_933_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -2.0) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A unknown object with ID 43 is 5.0 meters away at (-3.0, 4.0). A unknown object with ID 46 is 5.0 meters away at (-2.2, 4.5). A unknown object with ID 47 is 5.9 meters away at (-2.0, 5.6). A unknown object with ID 42 is 6.2 meters away at (-4.2, 4.6). A unknown object with ID 45 is 6.8 meters away at (-2.6, 6.3). A unknown object with ID 26 is 19.6 meters away at (-2.9, -19.4). A unknown object with ID 27 is 22.8 meters away at (4.6, -22.3). A unknown object with ID 12 is 24.9 meters away at (7.9, -23.6). A unknown object with ID 11 is 27.1 meters away at (10.6, -24.9). A unknown object with ID 10 is 28.5 meters away at (12.4, -25.6).", "velocity_description": "The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.9837074  3.9873433], 4.980102062225342 meters away.)"}
{"file_name": "images/scenario_933_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.4) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A unknown object with ID 46 is 17.1 meters away at (-14.6, 8.9). A pedestrian with ID 41 is 17.4 meters away at (-14.9, 9.0). A unknown object with ID 47 is 17.5 meters away at (-14.4, 10.0). A unknown object with ID 43 is 17.5 meters away at (-15.4, 8.4). A pedestrian with ID 35 is 18.0 meters away at (-15.4, 9.4). A unknown object with ID 45 is 18.4 meters away at (-15.1, 10.6). A unknown object with ID 42 is 18.9 meters away at (-16.7, 8.9). A unknown object with ID 27 is 19.6 meters away at (-7.8, -18.0). A unknown object with ID 12 is 19.8 meters away at (-4.5, -19.3). A unknown object with ID 19 is 20.1 meters away at (-11.7, -16.4).", "velocity_description": "The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [0.04379035 0.00100868] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.02180468 -0.04217956] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 59.38233  -42.365646]\n [ 62.69861  -43.55292 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-14.639394   8.853564], 17.108402252197266 meters away.)"}
{"file_name": "images/scenario_933_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.2) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 19.4 meters away at (-18.0, 7.4). A unknown object with ID 6 is 19.8 meters away at (-9.2, -17.6). A unknown object with ID 5 is 19.9 meters away at (-6.6, -18.8). A unknown object with ID 3 is 20.1 meters away at (-4.7, -19.5). A unknown object with ID 10 is 20.2 meters away at (-11.5, -16.6). A unknown object with ID 11 is 20.7 meters away at (-13.3, -15.9). A unknown object with ID 12 is 21.7 meters away at (-16.0, -14.6). A unknown object with ID 27 is 23.5 meters away at (-19.3, -13.3). A cyclist with ID 49 is 23.9 meters away at (-23.8, 1.0). A pedestrian with ID 16 is 24.8 meters away at (24.3, -5.0).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [ 9.364052  -3.3031423] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [10.170677 -5.006119] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.9646792 -1.2894787] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 59.38233  -42.365646]\n [ 62.69861  -43.55292 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-17.961145   7.366301], 19.413015365600586 meters away.)"}
{"file_name": "images/scenario_933_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -1.3) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 12.3 meters away at (-11.4, 4.8). A cyclist with ID 49 is 15.2 meters away at (-14.7, -3.9). A pedestrian with ID 16 is 17.4 meters away at (17.0, -3.8). A unknown object with ID 3 is 21.0 meters away at (-13.7, -15.9). A unknown object with ID 5 is 21.7 meters away at (-15.6, -15.1). A unknown object with ID 6 is 22.9 meters away at (-18.2, -14.0). A unknown object with ID 8 is 24.2 meters away at (-17.3, -16.9). A unknown object with ID 10 is 24.3 meters away at (-20.5, -13.0). A unknown object with ID 30 is 25.0 meters away at (-7.9, -23.7). A unknown object with ID 11 is 25.4 meters away at (-22.3, -12.2).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [ 6.356931  -2.6882973] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [ 8.125863  -3.7648752] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.926923  -1.0625507] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 59.38233  -42.365646]\n [ 62.69861  -43.55292 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-11.360832    4.7667456], 12.320323944091797 meters away.)"}
{"file_name": "images/scenario_934_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, 0.3) m/s. Its current heading (yaw) is 0.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 67.4 meters away at (-67.4, -0.7).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [-5.2628965 -4.225216 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(224.75694274902344, 192.14051818847656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-67.430405   -0.7186014], 67.43423461914062 meters away.)"}
{"file_name": "images/scenario_934_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 0.3) m/s. Its current heading (yaw) is 0.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 41.9 meters away at (-1.1, -41.9). A vehicle with ID 1 is 50.6 meters away at (-2.6, -50.5). A vehicle with ID 8 is 57.7 meters away at (-4.0, -57.5). A vehicle with ID 11 is 72.4 meters away at (-72.3, 4.5).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-3.7242177 -4.899856 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(224.75694274902344, 192.14051818847656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -1.0999146 -41.888702 ], 41.903141021728516 meters away.)"}
{"file_name": "images/scenario_934_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -0.5) m/s. Its current heading (yaw) is -0.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 43.0 meters away at (-8.3, -42.1). A vehicle with ID 1 is 51.7 meters away at (-9.6, -50.8).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(224.75694274902344, 192.14051818847656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -8.271683 -42.148575], 42.95256805419922 meters away.)"}
{"file_name": "images/scenario_934_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -3.0) m/s. Its current heading (yaw) is -1.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 41.1 meters away at (-13.4, -38.9). A vehicle with ID 1 is 49.6 meters away at (-14.8, -47.3). A vehicle with ID 3 is 56.7 meters away at (-16.2, -54.4).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(224.75694274902344, 192.14051818847656)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-13.437714 -38.86445 ], 41.12198257446289 meters away.)"}
{"file_name": "images/scenario_935_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 4.4) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 14.3 meters away at (11.3, -8.8). A vehicle with ID 44 is 17.3 meters away at (-5.5, 16.4). A cyclist with ID 45 is 18.0 meters away at (11.8, 13.5). A vehicle with ID 47 is 20.6 meters away at (12.1, 16.7). A cyclist with ID 46 is 20.6 meters away at (13.5, 15.6). A vehicle with ID 49 is 20.6 meters away at (-15.1, -14.0). A vehicle with ID 51 is 22.8 meters away at (10.6, 20.2). A vehicle with ID 50 is 24.4 meters away at (17.7, 16.8). A vehicle with ID 54 is 28.3 meters away at (17.3, 22.4). A cyclist with ID 48 is 29.1 meters away at (-19.0, -22.0).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.124505   2.7904837] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.8016514 6.4261403] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [0.02380257 0.03661414] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [-0.1080872   0.05281149] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-1.5358355 -6.2305484] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [-3.43447  -7.348741] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.847548    2.8317673]\n [-37.44431     6.213071 ]\n [-33.827377    5.6331086]\n [ -7.341934   16.293095 ]\n [-29.960295    4.509299 ]\n [ -3.6060483  15.585141 ]\n [  1.1400051  15.030593 ]]", "nav_goal": "(200.46722412109375, 176.36959838867188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.273147  -8.7837515], 14.291190147399902 meters away.)"}
{"file_name": "images/scenario_935_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 5.3) m/s. Its current heading (yaw) is 1.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 13.4 meters away at (6.9, -11.5). A cyclist with ID 45 is 17.3 meters away at (16.8, 4.2). A vehicle with ID 47 is 18.6 meters away at (17.2, 7.3). A vehicle with ID 51 is 19.0 meters away at (15.6, 10.9). A cyclist with ID 46 is 19.5 meters away at (18.5, 6.2). A vehicle with ID 44 is 21.6 meters away at (7.8, 20.1). A vehicle with ID 50 is 23.9 meters away at (22.8, 7.4). A vehicle with ID 55 is 25.6 meters away at (20.4, 15.5). A vehicle with ID 54 is 25.8 meters away at (22.2, 13.1). A vehicle with ID 56 is 31.7 meters away at (-19.5, -25.0).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-4.201408   4.0542026] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [ 0.03375679 -0.03630388] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [ 0.01314416 -0.04307373] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [5.8216386 7.0023866] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.847548    2.8317673]\n [-37.44431     6.213071 ]\n [-33.827377    5.6331086]\n [ -7.341934   16.293095 ]\n [-29.960295    4.509299 ]\n [ -3.6060483  15.585141 ]\n [  1.1400051  15.030593 ]]", "nav_goal": "(200.46722412109375, 176.36959838867188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  6.8806944 -11.495825 ], 13.397685050964355 meters away.)"}
{"file_name": "images/scenario_935_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 4.3) m/s. Its current heading (yaw) is 0.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 12.3 meters away at (-1.1, -12.3). A vehicle with ID 51 is 13.9 meters away at (13.9, 0.8). A vehicle with ID 47 is 15.8 meters away at (15.5, -2.8). A cyclist with ID 45 is 16.3 meters away at (15.2, -5.9). A cyclist with ID 46 is 17.4 meters away at (17.0, -3.8). A vehicle with ID 55 is 19.5 meters away at (18.7, 5.3). A vehicle with ID 54 is 20.7 meters away at (20.5, 3.0). A vehicle with ID 50 is 21.3 meters away at (21.1, -2.6). A vehicle with ID 58 is 27.0 meters away at (25.7, 8.4). A vehicle with ID 38 is 27.6 meters away at (25.0, 11.7).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.8768303  5.2898517] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [ 0.01757219 -0.02896618] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [ 0.07264859 -0.02774575] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.847548    2.8317673]\n [-37.44431     6.213071 ]\n [-33.827377    5.6331086]\n [ -7.341934   16.293095 ]\n [-29.960295    4.509299 ]\n [ -3.6060483  15.585141 ]\n [  1.1400051  15.030593 ]]", "nav_goal": "(200.46722412109375, 176.36959838867188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -1.0631781 -12.264839 ], 12.310833930969238 meters away.)"}
{"file_name": "images/scenario_935_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.3) m/s. Its current heading (yaw) is 0.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 10.5 meters away at (6.0, -8.6). A vehicle with ID 55 is 11.6 meters away at (10.8, -4.1). A vehicle with ID 54 is 14.2 meters away at (12.6, -6.4). A vehicle with ID 2 is 14.2 meters away at (-8.8, -11.1). A vehicle with ID 47 is 14.4 meters away at (7.6, -12.2). A cyclist with ID 45 is 17.1 meters away at (7.2, -15.5). A vehicle with ID 38 is 17.2 meters away at (17.1, 2.1). A vehicle with ID 58 is 17.9 meters away at (17.8, -1.1). A vehicle with ID 50 is 17.9 meters away at (13.2, -12.1). A vehicle with ID 59 is 22.2 meters away at (22.1, -1.8).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [2.1133876 5.0733066] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [-0.01990625  0.03215274] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.847548    2.8317673]\n [-37.44431     6.213071 ]\n [-33.827377    5.6331086]\n [ -7.341934   16.293095 ]\n [-29.960295    4.509299 ]\n [ -3.6060483  15.585141 ]\n [  1.1400051  15.030593 ]]", "nav_goal": "(200.46722412109375, 176.36959838867188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.981839 -8.622719], 10.49445915222168 meters away.)"}
{"file_name": "images/scenario_936_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.3) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 2.7 meters away at (-2.6, -1.0). A unknown object with ID 14 is 3.6 meters away at (1.2, -3.4). A vehicle with ID 12 is 4.0 meters away at (0.7, 4.0). A unknown object with ID 13 is 6.4 meters away at (-6.2, 1.5). A pedestrian with ID 17 is 13.1 meters away at (11.4, 6.4). A unknown object with ID 18 is 15.4 meters away at (-14.0, 6.5). A pedestrian with ID 11 is 19.2 meters away at (12.5, 14.6). A vehicle with ID 22 is 20.9 meters away at (7.6, -19.5). A vehicle with ID 25 is 23.6 meters away at (-17.7, 15.6). A vehicle with ID 27 is 25.5 meters away at (6.7, -24.6).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.95222366 -1.2434461 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.16755918 -0.82138497] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 5.329269 -3.48537 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.27887   -11.0330105]\n [ 19.858316  -21.950552 ]\n [ 19.426483  -21.811138 ]\n [ 13.126068  -13.406603 ]\n [ 20.23729   -22.130434 ]\n [ 13.372114   -5.0050898]\n [ 18.813028  -21.680052 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.5640643 -0.9635806], 2.7391445636749268 meters away.)"}
{"file_name": "images/scenario_936_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 2.9 meters away at (-2.7, -0.9). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.3). A vehicle with ID 12 is 4.1 meters away at (0.5, 4.1). A unknown object with ID 13 is 6.6 meters away at (-6.4, 1.6). A pedestrian with ID 17 is 10.5 meters away at (9.7, 4.0). A unknown object with ID 18 is 15.6 meters away at (-14.1, 6.6). A vehicle with ID 25 is 15.7 meters away at (-11.0, 11.2). A pedestrian with ID 11 is 16.4 meters away at (12.1, 11.1). A vehicle with ID 22 is 20.7 meters away at (7.4, -19.3). A vehicle with ID 27 is 25.3 meters away at (6.6, -24.4).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.91355556 -1.2460934 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.9957095 -1.2877204] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.34547094 -1.5085497 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.27887   -11.0330105]\n [ 19.858316  -21.950552 ]\n [ 19.426483  -21.811138 ]\n [ 13.126068  -13.406603 ]\n [ 20.23729   -22.130434 ]\n [ 13.372114   -5.0050898]\n [ 18.813028  -21.680052 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.7216496  -0.86137724], 2.854706048965454 meters away.)"}
{"file_name": "images/scenario_936_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 2.9 meters away at (-2.8, -0.8). A unknown object with ID 14 is 3.4 meters away at (1.0, -3.2). A vehicle with ID 12 is 4.1 meters away at (0.5, 4.1). A unknown object with ID 13 is 6.7 meters away at (-6.5, 1.6). A pedestrian with ID 17 is 8.3 meters away at (8.2, 1.5). A vehicle with ID 25 is 13.3 meters away at (-8.9, 9.8). A pedestrian with ID 11 is 13.8 meters away at (11.2, 8.0). A unknown object with ID 18 is 15.6 meters away at (-14.2, 6.6). A vehicle with ID 22 is 20.7 meters away at (7.4, -19.3). A pedestrian with ID 20 is 25.1 meters away at (-23.9, 7.5).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.8281045 -1.3014045] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.45005646 -1.5049422 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.1575155 -0.7654519] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.27887   -11.0330105]\n [ 19.858316  -21.950552 ]\n [ 19.426483  -21.811138 ]\n [ 13.126068  -13.406603 ]\n [ 20.23729   -22.130434 ]\n [ 13.372114   -5.0050898]\n [ 18.813028  -21.680052 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.756796  -0.8295047], 2.8788890838623047 meters away.)"}
{"file_name": "images/scenario_936_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 2.9 meters away at (-2.8, -0.8). A unknown object with ID 14 is 3.4 meters away at (0.9, -3.2). A vehicle with ID 12 is 4.2 meters away at (0.5, 4.1). A pedestrian with ID 17 is 6.5 meters away at (6.5, -0.9). A unknown object with ID 13 is 6.7 meters away at (-6.5, 1.6). A pedestrian with ID 11 is 11.4 meters away at (10.2, 5.0). A vehicle with ID 25 is 13.1 meters away at (-8.8, 9.7). A unknown object with ID 18 is 15.6 meters away at (-14.2, 6.6). A vehicle with ID 22 is 20.7 meters away at (7.4, -19.3). A pedestrian with ID 20 is 22.6 meters away at (-21.7, 6.1).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.9370199 -1.2200515] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.5502936 -1.475917 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.1291728 -0.7382832] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.27887   -11.0330105]\n [ 19.858316  -21.950552 ]\n [ 19.426483  -21.811138 ]\n [ 13.126068  -13.406603 ]\n [ 20.23729   -22.130434 ]\n [ 13.372114   -5.0050898]\n [ 18.813028  -21.680052 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.7705233 -0.8181901], 2.8888118267059326 meters away.)"}
{"file_name": "images/scenario_937_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 2.5) m/s. Its current heading (yaw) is 0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 17.7 meters away at (12.3, 12.8). A vehicle with ID 10 is 37.4 meters away at (37.4, 1.1). A vehicle with ID 11 is 41.7 meters away at (41.4, -4.5). A vehicle with ID 5 is 66.0 meters away at (58.9, -29.8).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [2.327641  6.1404505] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.0406677  1.3980862] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.9251942  1.1384221] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.5658722  5.050858 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-144.19644165039062, 235.63973999023438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.282946 12.751012], 17.704774856567383 meters away.)"}
{"file_name": "images/scenario_937_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.2) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 21.3 meters away at (3.5, 21.0). A vehicle with ID 10 is 27.8 meters away at (27.3, -5.2). A vehicle with ID 11 is 34.0 meters away at (32.0, -11.6). A vehicle with ID 5 is 52.8 meters away at (44.1, -29.1). A vehicle with ID 8 is 66.0 meters away at (52.0, -40.7). A cyclist with ID 2 is 71.2 meters away at (-41.5, -57.8).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.5112183  8.469506 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.1472003  2.9325235] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.430216  4.913917] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-0.05140072  0.17572285] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-144.19644165039062, 235.63973999023438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.4719334 20.96548  ], 21.25101661682129 meters away.)"}
{"file_name": "images/scenario_937_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 7.9) m/s. Its current heading (yaw) is 1.64 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 12.9 meters away at (-12.2, 4.3). A vehicle with ID 1 is 27.8 meters away at (-11.6, 25.3). A vehicle with ID 10 is 29.3 meters away at (22.4, -18.8). A vehicle with ID 11 is 36.9 meters away at (26.9, -25.3). A vehicle with ID 7 is 42.6 meters away at (-23.6, 35.4). A vehicle with ID 5 is 53.3 meters away at (36.3, -39.1). A vehicle with ID 8 is 63.1 meters away at (41.9, -47.2). A vehicle with ID 9 is 74.0 meters away at (48.0, -56.3).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-7.0249743  9.511155 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.5789204 -7.652215 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.6060074   0.77399606] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.4515007  2.0509183] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.1431475  2.9233518] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-144.19644165039062, 235.63973999023438)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-12.150068   4.342018], 12.902607917785645 meters away.)"}
{"file_name": "images/scenario_937_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 8.5) m/s. Its current heading (yaw) is 2.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 10.6 meters away at (-8.7, 6.1). A unknown object with ID 4 is 14.0 meters away at (-6.2, -12.5). A vehicle with ID 1 is 36.8 meters away at (-21.8, 29.7). A vehicle with ID 10 is 45.6 meters away at (28.5, -35.5). A vehicle with ID 11 is 53.1 meters away at (32.9, -41.7).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [ 3.4150841 -4.6714244] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.968616 11.772698] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[15.511304 28.630638]\n [12.881655 26.692625]]", "nav_goal": "(-144.19644165039062, 235.63973999023438)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.671159   6.0772324], 10.58875560760498 meters away.)"}
{"file_name": "images/scenario_938_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 0.1) m/s. Its current heading (yaw) is 0.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 17.5 meters away at (1.1, 17.4). A vehicle with ID 30 is 21.1 meters away at (1.5, 21.0). A vehicle with ID 73 is 22.0 meters away at (-20.3, -8.5). A vehicle with ID 68 is 27.8 meters away at (-16.0, 22.7). A unknown object with ID 77 is 30.2 meters away at (26.0, -15.2). A vehicle with ID 75 is 31.0 meters away at (-21.5, 22.3). A unknown object with ID 82 is 32.8 meters away at (28.2, -16.6). A vehicle with ID 76 is 34.8 meters away at (-26.3, -22.8). A unknown object with ID 84 is 35.5 meters away at (32.0, -15.4). A vehicle with ID 78 is 36.9 meters away at (-29.7, 21.9).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.0675743 17.420294 ], 17.45297622680664 meters away.)"}
{"file_name": "images/scenario_938_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 2.8) m/s. Its current heading (yaw) is 0.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 7.9 meters away at (-3.4, 7.1). A vehicle with ID 72 is 16.2 meters away at (-4.9, 15.5). A vehicle with ID 30 is 19.6 meters away at (-4.5, 19.1). A unknown object with ID 77 is 26.3 meters away at (19.7, -17.4). A vehicle with ID 73 is 28.4 meters away at (-26.5, -10.3). A unknown object with ID 82 is 28.9 meters away at (21.9, -18.8). A vehicle with ID 68 is 30.4 meters away at (-22.1, 20.9). A unknown object with ID 34 is 30.8 meters away at (13.9, -27.5). A unknown object with ID 84 is 31.1 meters away at (25.7, -17.6). A unknown object with ID 85 is 33.8 meters away at (28.0, -18.9).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-3.3577614  7.1460567], 7.895611763000488 meters away.)"}
{"file_name": "images/scenario_938_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 6.4) m/s. Its current heading (yaw) is 1.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 12.4 meters away at (-10.9, 5.9). A vehicle with ID 30 is 14.2 meters away at (-10.5, 9.5). A unknown object with ID 45 is 27.8 meters away at (7.7, -26.8). A unknown object with ID 51 is 29.8 meters away at (9.8, -28.1). A unknown object with ID 77 is 30.2 meters away at (13.8, -26.8). A vehicle with ID 68 is 30.3 meters away at (-28.2, 11.1). A unknown object with ID 82 is 32.5 meters away at (16.0, -28.2). A unknown object with ID 84 is 33.5 meters away at (19.8, -27.0). A vehicle with ID 66 is 34.0 meters away at (-24.9, 23.1). A vehicle with ID 75 is 35.4 meters away at (-33.7, 10.7).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-10.908399    5.8591423], 12.382354736328125 meters away.)"}
{"file_name": "images/scenario_938_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 7.8) m/s. Its current heading (yaw) is 1.58 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 12.4 meters away at (-11.3, 5.1). A vehicle with ID 30 is 12.6 meters away at (-11.6, -4.8). A vehicle with ID 72 is 14.6 meters away at (-11.9, -8.5). A vehicle with ID 66 is 27.4 meters away at (-25.9, 8.8). A vehicle with ID 68 is 29.5 meters away at (-29.3, -3.3). A vehicle with ID 67 is 30.0 meters away at (-26.2, 14.7). A vehicle with ID 69 is 30.4 meters away at (-28.8, 9.8). A vehicle with ID 13 is 32.5 meters away at (-28.9, 14.9). A vehicle with ID 2 is 34.5 meters away at (-11.4, 32.5). A vehicle with ID 75 is 35.0 meters away at (-34.8, -3.6).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.4537106  0.02681212] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-11.334119   5.146929], 12.448017120361328 meters away.)"}
{"file_name": "images/scenario_939_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 1.6) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 4.0 meters away at (3.8, 1.0). A unknown object with ID 56 is 11.8 meters away at (10.9, -4.5). A vehicle with ID 14 is 12.6 meters away at (9.7, -7.9). A vehicle with ID 57 is 13.7 meters away at (-5.1, -12.6). A vehicle with ID 59 is 14.1 meters away at (-7.9, -11.7). A vehicle with ID 58 is 15.5 meters away at (13.8, -7.1). A vehicle with ID 60 is 18.0 meters away at (0.3, -18.0). A vehicle with ID 61 is 19.8 meters away at (2.5, -19.7). A unknown object with ID 47 is 21.3 meters away at (5.9, -20.5). A vehicle with ID 62 is 21.6 meters away at (-19.1, -10.1).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.7862036  2.3864176] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-156.2807159423828, 167.01318359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.8386335  0.96591043], 3.958293914794922 meters away.)"}
{"file_name": "images/scenario_939_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 2.7) m/s. Its current heading (yaw) is 2.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 12.3 meters away at (11.7, -3.9). A vehicle with ID 14 is 15.3 meters away at (12.6, -8.7). A vehicle with ID 72 is 15.9 meters away at (-7.5, -14.0). A vehicle with ID 63 is 16.2 meters away at (-0.9, 16.2). A vehicle with ID 59 is 16.4 meters away at (-0.1, -16.4). A vehicle with ID 57 is 17.7 meters away at (2.5, -17.5). A vehicle with ID 62 is 18.6 meters away at (-11.2, -14.8). A unknown object with ID 56 is 21.1 meters away at (18.8, -9.4). A vehicle with ID 66 is 22.1 meters away at (1.1, 22.1). A vehicle with ID 65 is 23.2 meters away at (-12.7, -19.4).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.1439884  1.8912675] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [1.1984504 4.56576  ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-156.2807159423828, 167.01318359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [11.718695  -3.8821816], 12.34500503540039 meters away.)"}
{"file_name": "images/scenario_939_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 2.4) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 11.3 meters away at (-11.0, -2.5). A vehicle with ID 72 is 15.3 meters away at (5.8, -14.2). A vehicle with ID 51 is 15.6 meters away at (-15.5, -1.1). A vehicle with ID 63 is 15.9 meters away at (11.0, 11.5). A vehicle with ID 62 is 19.5 meters away at (0.9, -19.5). A unknown object with ID 27 is 20.3 meters away at (12.8, -15.8). A vehicle with ID 53 is 20.9 meters away at (-20.9, 0.5). A vehicle with ID 66 is 21.7 meters away at (13.0, 17.4). A vehicle with ID 65 is 24.0 meters away at (-0.7, -24.0). A vehicle with ID 59 is 24.3 meters away at (12.0, -21.1).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0.38936085 1.2894773 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-156.2807159423828, 167.01318359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.962038   -2.5433226], 11.25321102142334 meters away.)"}
{"file_name": "images/scenario_939_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 2.3) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 5.9 meters away at (-1.8, -5.6). A vehicle with ID 50 is 7.5 meters away at (2.7, -7.0). A vehicle with ID 53 is 8.1 meters away at (-7.1, -4.0). A vehicle with ID 52 is 11.8 meters away at (-11.6, -2.3). A vehicle with ID 48 is 12.4 meters away at (-10.5, 6.6). A vehicle with ID 49 is 17.3 meters away at (-15.3, 8.0). A vehicle with ID 72 is 26.5 meters away at (21.8, -15.1). A vehicle with ID 14 is 36.0 meters away at (33.4, -13.4). A vehicle with ID 55 is 36.3 meters away at (-35.9, 5.5). A vehicle with ID 59 is 36.4 meters away at (25.9, -25.6).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [2.7087533 2.0545704] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.9400353  1.7325354] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-156.2807159423828, 167.01318359375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.8299065 -5.5736675], 5.866372585296631 meters away.)"}
{"file_name": "images/scenario_940_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -5.8) m/s. Its current heading (yaw) is -0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 4.4 meters away at (1.2, 4.3). A vehicle with ID 74 is 7.7 meters away at (7.4, 2.1). A vehicle with ID 63 is 8.7 meters away at (1.8, 8.5). A pedestrian with ID 71 is 9.7 meters away at (-5.6, -8.0). A vehicle with ID 57 is 11.0 meters away at (-4.0, 10.3). A vehicle with ID 84 is 13.1 meters away at (12.7, -3.1). A vehicle with ID 68 is 14.1 meters away at (2.8, 13.8). A vehicle with ID 59 is 14.2 meters away at (-2.6, 13.9). A vehicle with ID 18 is 14.2 meters away at (-9.2, 10.9). A pedestrian with ID 80 is 15.4 meters away at (1.1, -15.4).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.9213115 -1.2437446] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-0.8050754   0.92902744] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 5.753833  -5.8325143] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.862039 -1.150985] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.68752956  10.890002  ]\n [ -2.3048716    9.186935  ]\n [-17.595816    13.267848  ]\n [  0.66978437  10.5655    ]\n [-14.473866     6.3803835 ]\n [ -2.4128594    9.111406  ]\n [ -2.0657382    9.365252  ]\n [  2.9158518   13.469378  ]]", "nav_goal": "(238.22171020507812, -180.5693817138672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.2267799 4.2726235], 4.445256233215332 meters away.)"}
{"file_name": "images/scenario_940_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -6.1) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 84 is 8.7 meters away at (1.3, 8.6). A pedestrian with ID 80 is 10.5 meters away at (-8.8, -5.7). A pedestrian with ID 81 is 10.9 meters away at (-9.0, -6.1). A vehicle with ID 18 is 12.9 meters away at (-9.0, 9.3). A vehicle with ID 74 is 14.5 meters away at (-3.9, 13.9). A pedestrian with ID 71 is 15.3 meters away at (-15.2, 1.9). A pedestrian with ID 89 is 17.5 meters away at (17.0, 4.4). A vehicle with ID 65 is 19.1 meters away at (-10.1, 16.2). A vehicle with ID 63 is 22.4 meters away at (-9.5, 20.3). A vehicle with ID 57 is 27.1 meters away at (-15.4, 22.3).", "velocity_description": "The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.8925319  -0.98045295] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.9347647 -0.9780067] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 6.0727057 -6.8079314] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.9520589 -1.0537413] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.9832078 -0.9984698] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  0.68752956  10.890002  ]\n [ -2.3048716    9.186935  ]\n [  0.66978437  10.5655    ]\n [-14.473866     6.3803835 ]\n [ -2.4128594    9.111406  ]\n [ -2.0657382    9.365252  ]\n [  2.9158518   13.469378  ]]", "nav_goal": "(238.22171020507812, -180.5693817138672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.3187885 8.61261  ], 8.712993621826172 meters away.)"}
{"file_name": "images/scenario_940_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -6.0) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 12.5 meters away at (-9.3, 8.3). A pedestrian with ID 89 is 15.8 meters away at (5.5, 14.8). A pedestrian with ID 54 is 17.1 meters away at (5.3, -16.2). A pedestrian with ID 80 is 20.9 meters away at (-20.3, 4.7). A pedestrian with ID 81 is 21.1 meters away at (-20.7, 4.1). A pedestrian with ID 104 is 23.3 meters away at (23.0, 3.6). A pedestrian with ID 105 is 23.4 meters away at (23.2, 2.4). A vehicle with ID 84 is 24.2 meters away at (-12.1, 20.9). A pedestrian with ID 103 is 28.5 meters away at (28.4, -2.7). A pedestrian with ID 71 is 29.2 meters away at (-26.6, 12.0).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [ 6.856515 -6.317648] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 1.0894371  -0.85693955] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-2.8105514  2.1492763] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.97852963 -0.94823724] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.9366446 -0.9827455] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [-1.0502601  0.7539718] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [-0.8842498   0.72785515] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 1.1470402 -0.7495629] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.9923637 -1.1582594] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.68752956 10.890002  ]\n [-2.3048716   9.186935  ]\n [ 0.66978437 10.5655    ]\n [-2.4128594   9.111406  ]\n [-2.0657382   9.365252  ]\n [ 2.9158518  13.469378  ]]", "nav_goal": "(238.22171020507812, -180.5693817138672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.341627  8.340616], 12.523253440856934 meters away.)"}
{"file_name": "images/scenario_940_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -5.7) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 13.6 meters away at (-10.8, 8.1). A pedestrian with ID 54 is 15.5 meters away at (-15.5, -0.1). A pedestrian with ID 105 is 16.9 meters away at (6.1, 15.8). A pedestrian with ID 103 is 17.0 meters away at (15.4, 7.3). A pedestrian with ID 104 is 17.9 meters away at (5.8, 16.9). A pedestrian with ID 48 is 26.0 meters away at (25.9, 1.9). A pedestrian with ID 89 is 26.2 meters away at (-7.8, 25.0). A pedestrian with ID 36 is 30.9 meters away at (30.6, -4.0). A pedestrian with ID 37 is 31.2 meters away at (31.0, -3.3). A pedestrian with ID 80 is 36.7 meters away at (-33.7, 14.6).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [ 7.3613653 -6.0360913] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-2.6698225  2.0403037] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [-0.8803582  0.7390589] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 1.1131235 -0.8990489] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [-0.9358076  0.741842 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.0230051   0.71230316] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.9392348 -0.8789965] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.0368572  -0.63709694] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.0170753  -0.66089064] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.96188444 -1.0613269 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 0.68752956 10.890002  ]\n [-2.3048716   9.186935  ]\n [-2.4128594   9.111406  ]\n [-2.0657382   9.365252  ]\n [ 2.9158518  13.469378  ]]", "nav_goal": "(238.22171020507812, -180.5693817138672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.830822   8.149368], 13.55429458618164 meters away.)"}
{"file_name": "images/scenario_941_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -4.0) m/s. Its current heading (yaw) is -2.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 6.9 meters away at (6.5, 2.4). A unknown object with ID 19 is 13.3 meters away at (-1.9, -13.2). A unknown object with ID 10 is 13.3 meters away at (-0.9, -13.3). A unknown object with ID 29 is 13.4 meters away at (-1.1, -13.3). A unknown object with ID 22 is 14.0 meters away at (-10.4, 9.3). A unknown object with ID 23 is 14.1 meters away at (-9.8, 10.1). A unknown object with ID 18 is 14.8 meters away at (-3.4, -14.4). A unknown object with ID 24 is 14.9 meters away at (-11.1, 9.9). A unknown object with ID 25 is 15.1 meters away at (-10.7, 10.7). A unknown object with ID 20 is 16.8 meters away at (-4.3, -16.2).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.4635625 -7.1002574] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-47.47491 -51.10681]\n [-47.30726 -50.92136]]", "nav_goal": "(-211.937255859375, 86.67393493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.4732733 2.4458942], 6.919947147369385 meters away.)"}
{"file_name": "images/scenario_941_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -3.6) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 4.9 meters away at (3.1, -3.8). A unknown object with ID 18 is 8.1 meters away at (4.4, -6.8). A unknown object with ID 19 is 8.1 meters away at (5.9, -5.6). A unknown object with ID 20 is 9.3 meters away at (3.5, -8.6). A unknown object with ID 1 is 10.8 meters away at (2.2, -10.6). A unknown object with ID 22 is 17.0 meters away at (-2.6, 16.8). A unknown object with ID 24 is 17.7 meters away at (-3.3, 17.4). A unknown object with ID 23 is 17.8 meters away at (-2.1, 17.7). A unknown object with ID 25 is 18.5 meters away at (-2.9, 18.2). A vehicle with ID 28 is 32.6 meters away at (-21.5, -24.5).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.442435  -6.9241004] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-47.47491  -51.10681 ]\n [ 17.702568  44.848824]\n [ 17.757397  44.914677]\n [-59.803356 -66.19857 ]\n [-47.30726  -50.92136 ]\n [ 17.697216  44.843025]]", "nav_goal": "(-211.937255859375, 86.67393493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.1454782 -3.814743 ], 4.944319725036621 meters away.)"}
{"file_name": "images/scenario_941_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -3.4) m/s. Its current heading (yaw) is -2.34 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 10.0 meters away at (9.3, -3.7). A unknown object with ID 20 is 10.8 meters away at (10.6, -1.7). A unknown object with ID 18 is 11.5 meters away at (11.5, 0.1). A vehicle with ID 27 is 11.6 meters away at (1.0, -11.5). A unknown object with ID 19 is 13.1 meters away at (13.0, 1.3). A vehicle with ID 28 is 22.7 meters away at (-14.5, -17.4). A unknown object with ID 22 is 24.2 meters away at (4.6, 23.8). A unknown object with ID 24 is 24.8 meters away at (3.9, 24.5). A unknown object with ID 23 is 25.1 meters away at (5.2, 24.6). A unknown object with ID 25 is 25.5 meters away at (4.3, 25.2).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-3.379805 -8.054558] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-47.47491  -51.10681 ]\n [-59.803356 -66.19857 ]\n [-47.30726  -50.92136 ]]", "nav_goal": "(-211.937255859375, 86.67393493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 9.305955 -3.655531], 9.998185157775879 meters away.)"}
{"file_name": "images/scenario_941_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.3) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 14.6 meters away at (14.5, 2.0). A vehicle with ID 28 is 14.9 meters away at (-9.3, -11.6). A unknown object with ID 15 is 15.6 meters away at (15.2, 3.4). A unknown object with ID 20 is 16.3 meters away at (15.8, 4.0). A unknown object with ID 18 is 17.6 meters away at (16.6, 5.8). A unknown object with ID 19 is 19.5 meters away at (18.2, 7.0). A vehicle with ID 27 is 22.2 meters away at (1.7, -22.1). A unknown object with ID 22 is 31.1 meters away at (9.8, 29.5). A unknown object with ID 24 is 31.6 meters away at (9.3, 30.2). A unknown object with ID 23 is 32.1 meters away at (10.4, 30.3).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.2368723 -7.520366 ] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-47.47491  -51.10681 ]\n [-59.803356 -66.19857 ]\n [-47.30726  -50.92136 ]]", "nav_goal": "(-211.937255859375, 86.67393493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [14.459749   1.9886589], 14.59585952758789 meters away.)"}
{"file_name": "images/scenario_942_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 6.1 meters away at (-2.1, 5.7). A vehicle with ID 11 is 7.5 meters away at (-6.1, 4.5). A vehicle with ID 13 is 9.4 meters away at (-5.6, -7.6). A vehicle with ID 14 is 9.7 meters away at (8.2, -5.2). A vehicle with ID 15 is 10.5 meters away at (-1.0, -10.4). A vehicle with ID 17 is 11.3 meters away at (-10.4, -4.5). A vehicle with ID 21 is 16.0 meters away at (15.7, -3.1). A pedestrian with ID 16 is 20.5 meters away at (20.4, -1.9). A vehicle with ID 25 is 21.8 meters away at (20.8, -6.3). A vehicle with ID 26 is 23.6 meters away at (21.3, -10.2).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.1583045  1.451448 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.34369183  0.22143403] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.4594445  -0.19798014] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.983442   -0.7510446]\n [-35.848618   16.3743   ]\n [-13.807767    9.261953 ]\n [-29.794249   -0.4317488]\n [-29.362417   -0.5711619]\n [-33.941864   10.346379 ]\n [-17.298649   14.966584 ]\n [-14.526097    7.7554326]\n [-30.407705   -0.3006616]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.1459255  5.706796 ], 6.096927165985107 meters away.)"}
{"file_name": "images/scenario_942_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.5 meters away at (-6.0, 4.5). A vehicle with ID 10 is 8.4 meters away at (-4.3, 7.2). A vehicle with ID 13 is 9.4 meters away at (-5.6, -7.6). A vehicle with ID 14 is 9.7 meters away at (8.2, -5.2). A vehicle with ID 15 is 10.5 meters away at (-1.0, -10.4). A vehicle with ID 17 is 11.3 meters away at (-10.4, -4.5). A vehicle with ID 21 is 16.0 meters away at (15.7, -3.1). A vehicle with ID 26 is 19.0 meters away at (16.5, -9.5). A pedestrian with ID 16 is 19.8 meters away at (19.8, -1.4). A vehicle with ID 25 is 21.8 meters away at (20.8, -6.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.6832311  0.50254  ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.04302106  0.01471272] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.983442   -0.7510446]\n [-35.848618   16.3743   ]\n [-13.807767    9.261953 ]\n [-29.794249   -0.4317488]\n [-29.362417   -0.5711619]\n [-33.941864   10.346379 ]\n [-17.298649   14.966584 ]\n [-14.526097    7.7554326]\n [-30.407705   -0.3006616]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.0485888  4.463745 ], 7.517343044281006 meters away.)"}
{"file_name": "images/scenario_942_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.5 meters away at (-6.0, 4.5). A vehicle with ID 10 is 8.4 meters away at (-4.3, 7.2). A vehicle with ID 13 is 9.4 meters away at (-5.6, -7.6). A vehicle with ID 14 is 9.7 meters away at (8.2, -5.2). A vehicle with ID 15 is 10.5 meters away at (-0.9, -10.4). A vehicle with ID 17 is 11.3 meters away at (-10.4, -4.5). A vehicle with ID 21 is 16.0 meters away at (15.7, -3.1). A vehicle with ID 26 is 17.4 meters away at (15.0, -8.8). A pedestrian with ID 16 is 20.1 meters away at (20.0, -1.9). A vehicle with ID 25 is 21.8 meters away at (20.8, -6.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.39950934 -0.33955917] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.983442   -0.7510446]\n [-35.848618   16.3743   ]\n [-13.807767    9.261953 ]\n [-29.794249   -0.4317488]\n [-29.362417   -0.5711619]\n [-33.941864   10.346379 ]\n [-17.298649   14.966584 ]\n [-14.526097    7.7554326]\n [-30.407705   -0.3006616]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.04298    4.4673877], 7.514995574951172 meters away.)"}
{"file_name": "images/scenario_942_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.5 meters away at (-6.0, 4.5). A vehicle with ID 10 is 8.4 meters away at (-4.4, 7.2). A vehicle with ID 13 is 9.4 meters away at (-5.6, -7.6). A vehicle with ID 14 is 9.7 meters away at (8.2, -5.2). A vehicle with ID 15 is 10.5 meters away at (-0.9, -10.4). A vehicle with ID 17 is 11.3 meters away at (-10.4, -4.5). A vehicle with ID 21 is 16.0 meters away at (15.7, -3.1). A vehicle with ID 26 is 17.3 meters away at (14.9, -8.8). A pedestrian with ID 16 is 20.8 meters away at (20.7, -2.5). A vehicle with ID 25 is 21.8 meters away at (20.9, -6.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.33139768 -0.24277242] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-35.848618   16.3743   ]\n [-13.807767    9.261953 ]\n [-33.941864   10.346379 ]\n [-17.298649   14.966584 ]\n [-14.526097    7.7554326]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.048438   4.4579706], 7.513794422149658 meters away.)"}
{"file_name": "images/scenario_943_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -3.7) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 16.2 meters away at (-12.0, 10.8). A vehicle with ID 7 is 39.4 meters away at (-30.9, 24.5). A unknown object with ID 9 is 49.9 meters away at (-43.4, 24.6).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 4.049081  -3.7416217] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-6.189543  5.361223] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.94717407226562, -106.40433502197266)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-12.024014  10.836907], 16.186891555786133 meters away.)"}
{"file_name": "images/scenario_943_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -3.2) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 17.3 meters away at (-13.8, 10.5). A vehicle with ID 6 is 46.4 meters away at (-34.7, 30.9).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 3.0518746 -3.802849 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.8089814 -5.3235593] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.94717407226562, -106.40433502197266)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-13.77472   10.541753], 17.345645904541016 meters away.)"}
{"file_name": "images/scenario_943_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.8) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 21.3 meters away at (-19.7, 8.1). A vehicle with ID 6 is 43.8 meters away at (-34.1, 27.5).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.63517636 -4.732748  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.7892056 -4.3898263] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.94717407226562, -106.40433502197266)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-19.689278   8.097905], 21.289520263671875 meters away.)"}
{"file_name": "images/scenario_943_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.7) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 32.5 meters away at (-32.4, 2.2). A vehicle with ID 6 is 43.8 meters away at (-36.4, 24.3).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.5035586 -6.6072536] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 3.5831938 -3.808675 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.94717407226562, -106.40433502197266)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-32.391335    2.1568565], 32.46306610107422 meters away.)"}
{"file_name": "images/scenario_944_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -1.5) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 6.8 meters away at (1.2, 6.7). A vehicle with ID 22 is 8.8 meters away at (8.2, 3.1). A vehicle with ID 19 is 8.8 meters away at (8.8, -0.3). A vehicle with ID 23 is 12.4 meters away at (-6.7, 10.4). A unknown object with ID 25 is 14.3 meters away at (-5.5, -13.2). A unknown object with ID 4 is 15.2 meters away at (-7.4, -13.2). A pedestrian with ID 27 is 19.1 meters away at (18.8, 3.4). A pedestrian with ID 33 is 19.5 meters away at (-4.6, 19.0). A pedestrian with ID 29 is 20.6 meters away at (20.1, 4.4). A vehicle with ID 31 is 21.2 meters away at (-7.7, -19.8).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.02040553  0.00336162] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.1964049   0.42337996] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01202234  0.00155297] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 24.30506   -10.813735 ]\n [ 26.098673   -7.8481894]\n [ 39.60895   -27.937696 ]\n [ 34.861572   -7.987679 ]\n [ 27.137192   -4.362182 ]\n [ 34.97866    -7.7667923]\n [ 36.516537  -21.094168 ]\n [ 24.073782  -19.324047 ]\n [ 27.390057  -20.511318 ]\n [ 40.00784   -26.299303 ]\n [ 40.220272  -26.439726 ]\n [ 35.081722   -8.098811 ]\n [ 26.213316   -7.6166778]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.2384186 6.70107  ], 6.814544200897217 meters away.)"}
{"file_name": "images/scenario_944_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.7) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 4.2 meters away at (3.7, 1.9). A vehicle with ID 22 is 6.1 meters away at (3.0, 5.3). A unknown object with ID 9 is 9.4 meters away at (8.1, 4.9). A vehicle with ID 18 is 9.7 meters away at (-4.0, 8.9). A pedestrian with ID 27 is 14.6 meters away at (13.5, 5.6). A pedestrian with ID 29 is 16.2 meters away at (14.8, 6.6). A vehicle with ID 23 is 17.4 meters away at (-12.0, 12.7). A vehicle with ID 60 is 18.7 meters away at (18.3, -3.8). A vehicle with ID 32 is 21.8 meters away at (-10.7, -19.0). A vehicle with ID 31 is 21.9 meters away at (-12.9, -17.7).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.01248475 0.0061118 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.00683624 0.00801039] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-4.544319  -3.1859636] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 24.30506   -10.813735 ]\n [ 26.098673   -7.8481894]\n [ 39.60895   -27.937696 ]\n [ 27.137192   -4.362182 ]\n [ 36.516537  -21.094168 ]\n [ 24.073782  -19.324047 ]\n [ 27.390057  -20.511318 ]\n [ 40.00784   -26.299303 ]\n [ 40.220272  -26.439726 ]\n [ 26.213316   -7.6166778]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.714118  1.8613191], 4.154417037963867 meters away.)"}
{"file_name": "images/scenario_944_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.4 meters away at (2.6, 2.3). A vehicle with ID 22 is 6.0 meters away at (1.8, 5.8). A vehicle with ID 60 is 8.8 meters away at (5.7, -6.7). A vehicle with ID 18 is 10.7 meters away at (-5.2, 9.3). A pedestrian with ID 27 is 13.7 meters away at (12.3, 6.1). A pedestrian with ID 29 is 15.4 meters away at (13.7, 7.1). A cyclist with ID 38 is 15.6 meters away at (-12.7, 9.1). A vehicle with ID 23 is 18.6 meters away at (-13.2, 13.2). A vehicle with ID 32 is 22.0 meters away at (-11.9, -18.5). A vehicle with ID 31 is 22.2 meters away at (-14.1, -17.2).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-6.19652     0.36145514] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00073448 -0.00371892] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00082572 -0.01027389] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 5.2585173 -2.8316276] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 24.30506   -10.813735 ]\n [ 37.53467   -17.90201  ]\n [ 26.098673   -7.8481894]\n [ 39.60895   -27.937696 ]\n [ 27.137192   -4.362182 ]\n [ 36.516537  -21.094168 ]\n [ 37.487015  -18.002111 ]\n [ 24.073782  -19.324047 ]\n [ 27.390057  -20.511318 ]\n [ 40.00784   -26.299303 ]\n [ 40.220272  -26.439726 ]\n [ 26.213316   -7.6166778]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.5582123 2.308063 ], 3.44551944732666 meters away.)"}
{"file_name": "images/scenario_944_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.4 meters away at (2.4, 2.3). A vehicle with ID 22 is 6.0 meters away at (1.7, 5.8). A vehicle with ID 60 is 6.6 meters away at (-5.9, -3.0). A cyclist with ID 38 is 7.2 meters away at (-5.1, 5.1). A vehicle with ID 18 is 10.8 meters away at (-5.3, 9.4). A vehicle with ID 42 is 12.3 meters away at (11.2, -5.3). A pedestrian with ID 27 is 13.6 meters away at (12.1, 6.2). A pedestrian with ID 29 is 15.3 meters away at (13.6, 7.1). A unknown object with ID 17 is 17.4 meters away at (-13.9, -10.5). A vehicle with ID 23 is 18.7 meters away at (-13.3, 13.2).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-5.9863853  2.5159748] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 2.8455021 -1.2875905] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-6.8855314 -2.0728471] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00572556  0.00094279] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00442709  0.0006386 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 24.30506   -10.813735 ]\n [ 37.53467   -17.90201  ]\n [ 26.098673   -7.8481894]\n [ 39.60895   -27.937696 ]\n [ 27.137192   -4.362182 ]\n [ 36.516537  -21.094168 ]\n [ 37.487015  -18.002111 ]\n [ 24.073782  -19.324047 ]\n [ 27.390057  -20.511318 ]\n [ 40.00784   -26.299303 ]\n [ 40.220272  -26.439726 ]\n [ 26.213316   -7.6166778]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.4437695 2.3476944], 3.3887577056884766 meters away.)"}
{"file_name": "images/scenario_945_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 3.6) m/s. Its current heading (yaw) is 0.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 2.9 meters away at (2.0, -2.1). A vehicle with ID 61 is 6.5 meters away at (-0.7, -6.4). A vehicle with ID 54 is 7.5 meters away at (6.2, 4.2). A unknown object with ID 79 is 8.4 meters away at (5.9, 6.0). A vehicle with ID 57 is 11.5 meters away at (-3.7, -10.9). A pedestrian with ID 78 is 11.6 meters away at (-6.1, 9.9). A unknown object with ID 76 is 12.5 meters away at (-8.1, 9.5). A pedestrian with ID 82 is 12.6 meters away at (-6.1, 11.0). A vehicle with ID 7 is 12.9 meters away at (-7.2, -10.7). A unknown object with ID 55 is 14.4 meters away at (9.9, 10.5).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.1349846  -0.03108316] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.94676703 -0.3634405 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [2.5918767 3.9963276] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[31.775896 59.46419 ]\n [20.505392 31.33451 ]\n [21.803123 30.211506]\n [20.560658 31.306187]\n [21.952154 29.986404]\n [31.761395 59.47285 ]]", "nav_goal": "(223.6626434326172, 21.97183609008789)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.001298  -2.0771208], 2.884375810623169 meters away.)"}
{"file_name": "images/scenario_945_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 2.2) m/s. Its current heading (yaw) is 1.01 ", "actor_description": " The most relevant actors are: A unknown object with ID 79 is 2.4 meters away at (2.3, 0.6). A vehicle with ID 54 is 2.7 meters away at (2.5, -1.2). A vehicle with ID 20 is 7.6 meters away at (-1.7, -7.4). A unknown object with ID 55 is 8.0 meters away at (6.2, 5.1). A vehicle with ID 7 is 11.5 meters away at (-6.5, -9.5). A pedestrian with ID 78 is 11.7 meters away at (-11.1, 3.7). A unknown object with ID 76 is 12.5 meters away at (-11.8, 4.1). A vehicle with ID 61 is 12.8 meters away at (-4.5, -12.0). A pedestrian with ID 82 is 13.0 meters away at (-12.2, 4.4). A vehicle with ID 83 is 13.9 meters away at (8.5, 11.0).", "velocity_description": "The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.8845874 2.9404888] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.1633756  -0.48968565] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.1454228  -0.42199796] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[28.558134 61.310825]\n [16.176062 45.90424 ]\n [31.775896 59.46419 ]\n [13.952976 43.14955 ]\n [20.505392 31.33451 ]\n [21.803123 30.211506]\n [20.560658 31.306187]\n [21.952154 29.986404]\n [31.761395 59.47285 ]]", "nav_goal": "(223.6626434326172, 21.97183609008789)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [2.304018   0.56317997], 2.371849536895752 meters away.)"}
{"file_name": "images/scenario_945_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.6) m/s. Its current heading (yaw) is 0.99 ", "actor_description": " The most relevant actors are: A unknown object with ID 79 is 2.8 meters away at (-0.1, -2.8). A unknown object with ID 55 is 4.1 meters away at (3.7, 1.7). A vehicle with ID 54 is 4.6 meters away at (0.1, -4.6). A vehicle with ID 7 is 9.8 meters away at (-5.6, -8.1). A unknown object with ID 42 is 9.9 meters away at (-5.7, 8.1). A vehicle with ID 20 is 11.6 meters away at (-4.1, -10.9). A vehicle with ID 83 is 12.1 meters away at (7.5, 9.5). A pedestrian with ID 65 is 12.6 meters away at (1.4, 12.5). A pedestrian with ID 67 is 13.2 meters away at (1.4, 13.1). A unknown object with ID 76 is 14.3 meters away at (-14.3, 0.6).", "velocity_description": "The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.3300333 2.1350641] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [1.4626601 2.3861399] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.02090465  0.00031235] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.0175912   0.00857364] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[28.558134 61.310825]\n [16.176062 45.90424 ]\n [13.952976 43.14955 ]]", "nav_goal": "(223.6626434326172, 21.97183609008789)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.10835266 -2.8329248 ], 2.834996223449707 meters away.)"}
{"file_name": "images/scenario_945_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 1.9) m/s. Its current heading (yaw) is 0.91 ", "actor_description": " The most relevant actors are: A unknown object with ID 55 is 2.2 meters away at (1.0, -1.9). A unknown object with ID 79 is 7.1 meters away at (-2.9, -6.5). A vehicle with ID 54 is 8.6 meters away at (-2.6, -8.2). A pedestrian with ID 65 is 9.0 meters away at (-1.3, 8.9). A unknown object with ID 42 is 9.5 meters away at (-8.4, 4.4). A pedestrian with ID 67 is 9.6 meters away at (-1.2, 9.5). A vehicle with ID 7 is 9.9 meters away at (-5.9, -8.0). A pedestrian with ID 69 is 11.3 meters away at (-0.9, 11.3). A pedestrian with ID 93 is 11.4 meters away at (-0.9, 11.4). A pedestrian with ID 71 is 12.0 meters away at (-0.6, 11.9).", "velocity_description": "The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.01078139  0.0060474 ] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.00752463  0.00293556] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.1905117 1.8218842] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.01913529 -0.01168604] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.01056996 -0.06578633] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.01356844  0.00042247] m/s.", "light_description": "There are active red lights at the following coordinates: [[28.558134 61.310825]\n [16.176062 45.90424 ]\n [13.952976 43.14955 ]]", "nav_goal": "(223.6626434326172, 21.97183609008789)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 1.0287952 -1.9318485], 2.188711643218994 meters away.)"}
{"file_name": "images/scenario_946_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 2.4) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 9.3 meters away at (-8.3, -4.1). A vehicle with ID 38 is 9.6 meters away at (4.0, -8.7). A pedestrian with ID 27 is 24.6 meters away at (10.0, -22.5). A unknown object with ID 40 is 30.1 meters away at (24.2, -17.9). A unknown object with ID 41 is 31.9 meters away at (25.5, -19.1). A vehicle with ID 45 is 48.1 meters away at (36.5, -31.3). A vehicle with ID 43 is 49.8 meters away at (-46.3, -18.4). A vehicle with ID 44 is 57.4 meters away at (40.9, -40.3). A vehicle with ID 11 is 58.9 meters away at (-56.6, -16.6). A vehicle with ID 37 is 60.8 meters away at (-45.4, 40.5).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.259117  -4.8633423] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.08521174  0.10261404] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 4.8053727 -4.1877875] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.313259 -4.097708], 9.268305778503418 meters away.)"}
{"file_name": "images/scenario_946_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 3.4) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 10.2 meters away at (-0.0, -10.2). A unknown object with ID 33 is 16.7 meters away at (0.5, 16.7). A unknown object with ID 17 is 28.8 meters away at (-13.1, 25.6). A vehicle with ID 38 is 34.0 meters away at (23.3, -24.8). A unknown object with ID 40 is 40.4 meters away at (32.5, -24.0). A vehicle with ID 43 is 45.1 meters away at (-37.9, -24.5). A vehicle with ID 37 is 50.4 meters away at (-37.0, 34.2). A vehicle with ID 11 is 53.2 meters away at (-48.1, -22.7). A vehicle with ID 45 is 58.5 meters away at (44.9, -37.5). A vehicle with ID 24 is 63.6 meters away at (-49.6, -39.9).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.5267167 -5.0361447] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -0.02778816 -10.2007675 ], 10.2008056640625 meters away.)"}
{"file_name": "images/scenario_946_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 3.6) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 19.1 meters away at (8.2, -17.3). A vehicle with ID 37 is 39.6 meters away at (-28.8, 27.1). A vehicle with ID 43 is 43.2 meters away at (-29.6, -31.4). A vehicle with ID 11 is 49.8 meters away at (-40.0, -29.7). A vehicle with ID 38 is 59.6 meters away at (42.6, -41.6). A vehicle with ID 35 is 62.1 meters away at (-48.3, -39.1). A vehicle with ID 24 is 62.5 meters away at (-41.2, -46.9). A vehicle with ID 10 is 63.3 meters away at (-63.2, 2.5). A vehicle with ID 12 is 69.0 meters away at (-52.7, -44.5). A vehicle with ID 45 is 69.3 meters away at (53.2, -44.5).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.2367277 -4.586134 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 8.507548 -5.902364] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  8.166517 -17.259964], 19.094459533691406 meters away.)"}
{"file_name": "images/scenario_946_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 4.0) m/s. Its current heading (yaw) is 2.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 17.7 meters away at (7.4, -16.1). A vehicle with ID 37 is 27.6 meters away at (-19.4, 19.6). A vehicle with ID 10 is 41.7 meters away at (-38.4, -16.1). A unknown object with ID 26 is 43.6 meters away at (-39.1, -19.3). A vehicle with ID 43 is 43.9 meters away at (-20.2, -39.0). A vehicle with ID 11 is 48.2 meters away at (-30.6, -37.2). A unknown object with ID 25 is 60.3 meters away at (-46.0, 39.0). A vehicle with ID 35 is 60.7 meters away at (-38.9, -46.6). A vehicle with ID 24 is 63.1 meters away at (-32.0, -54.4). A vehicle with ID 12 is 67.7 meters away at (-43.3, -52.0).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 6.285826  -4.5339074] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  7.396929 -16.087097], 17.706193923950195 meters away.)"}
{"file_name": "images/scenario_947_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.3) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 3.4 meters away at (1.5, 3.0). A vehicle with ID 28 is 5.1 meters away at (-4.3, -2.7). A vehicle with ID 22 is 6.8 meters away at (-4.5, 5.1). A vehicle with ID 2 is 11.8 meters away at (-11.2, 3.6). A vehicle with ID 25 is 12.2 meters away at (-11.9, -2.7). A vehicle with ID 23 is 15.0 meters away at (-13.0, 7.6). A vehicle with ID 26 is 17.7 meters away at (-17.6, -1.1). A vehicle with ID 54 is 21.8 meters away at (-19.4, 10.0). A vehicle with ID 31 is 22.3 meters away at (0.4, -22.3). A vehicle with ID 27 is 23.9 meters away at (-23.9, 1.1).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 2.647414  -1.0578891] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-110.97875213623047, -71.42483520507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.5272145 3.047154 ], 3.408450126647949 meters away.)"}
{"file_name": "images/scenario_947_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.1) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.0 meters away at (3.0, 2.6). A vehicle with ID 28 is 4.3 meters away at (-0.0, -4.3). A vehicle with ID 22 is 5.5 meters away at (-2.9, 4.6). A vehicle with ID 2 is 10.1 meters away at (-9.6, 3.1). A vehicle with ID 25 is 10.8 meters away at (-10.3, -3.2). A vehicle with ID 23 is 13.4 meters away at (-11.4, 7.1). A vehicle with ID 26 is 16.2 meters away at (-16.1, -1.6). A vehicle with ID 54 is 20.2 meters away at (-17.9, 9.5). A pedestrian with ID 29 is 21.3 meters away at (-16.6, 13.4). A vehicle with ID 27 is 22.4 meters away at (-22.4, 0.6).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 0.9416566  -0.36930406] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.93895155 -0.29686326] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-110.97875213623047, -71.42483520507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.049593  2.5663052], 3.9857170581817627 meters away.)"}
{"file_name": "images/scenario_947_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.1 meters away at (3.2, 2.5). A vehicle with ID 22 is 5.3 meters away at (-2.7, 4.6). A vehicle with ID 28 is 5.6 meters away at (2.1, -5.2). A vehicle with ID 2 is 9.9 meters away at (-9.4, 3.0). A vehicle with ID 25 is 10.6 meters away at (-10.1, -3.2). A vehicle with ID 23 is 13.2 meters away at (-11.2, 7.0). A vehicle with ID 26 is 15.9 meters away at (-15.9, -1.7). A pedestrian with ID 29 is 19.1 meters away at (-14.4, 12.6). A vehicle with ID 40 is 19.6 meters away at (17.0, -9.7). A vehicle with ID 54 is 20.0 meters away at (-17.7, 9.4).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.2926021  -0.57753295] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.9843473  -0.28532928] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-4.5592318 -3.3360312] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-110.97875213623047, -71.42483520507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.2249353 2.5345945], 4.101752758026123 meters away.)"}
{"file_name": "images/scenario_947_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.1 meters away at (3.3, 2.5). A vehicle with ID 22 is 5.3 meters away at (-2.7, 4.5). A vehicle with ID 28 is 9.6 meters away at (6.1, -7.4). A vehicle with ID 2 is 9.8 meters away at (-9.4, 3.1). A vehicle with ID 25 is 10.6 meters away at (-10.1, -3.2). A vehicle with ID 23 is 13.2 meters away at (-11.1, 7.0). A vehicle with ID 26 is 15.9 meters away at (-15.8, -1.7). A pedestrian with ID 29 is 17.2 meters away at (-12.4, 12.0). A vehicle with ID 54 is 20.1 meters away at (-17.8, 9.4). A vehicle with ID 27 is 22.1 meters away at (-22.1, 0.5).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 2.3959873 -1.9357351] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.034088   -0.27688932] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-110.97875213623047, -71.42483520507812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.2554083 2.5233655], 4.118865966796875 meters away.)"}
{"file_name": "images/scenario_948_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 0.6) m/s. Its current heading (yaw) is 2.88 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 11.9 meters away at (-11.5, -3.0). A vehicle with ID 49 is 16.5 meters away at (2.6, -16.3). A vehicle with ID 48 is 17.5 meters away at (13.8, -10.7). A vehicle with ID 50 is 23.0 meters away at (8.3, -21.4). A vehicle with ID 46 is 25.6 meters away at (15.1, -20.7). A unknown object with ID 13 is 27.1 meters away at (20.5, -17.8). A unknown object with ID 24 is 38.3 meters away at (-21.2, 32.0). A vehicle with ID 55 is 41.7 meters away at (-36.6, -20.0). A vehicle with ID 56 is 54.0 meters away at (-52.9, -10.5). A vehicle with ID 30 is 61.5 meters away at (-47.2, 39.3).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 5.6482987 -4.798939 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.18381569 -0.3355595 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-237.4427947998047, 62.67921447753906)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.487154   -3.0206974], 11.877681732177734 meters away.)"}
{"file_name": "images/scenario_948_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 1.9) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 41 is 2.6 meters away at (1.4, 2.2). A unknown object with ID 47 is 7.6 meters away at (-5.5, -5.3). A vehicle with ID 49 is 20.5 meters away at (8.8, -18.5). A pedestrian with ID 20 is 21.9 meters away at (-1.7, 21.8). A vehicle with ID 48 is 23.6 meters away at (19.9, -12.7). A vehicle with ID 50 is 27.8 meters away at (14.7, -23.5). A unknown object with ID 13 is 33.2 meters away at (26.7, -19.7). A pedestrian with ID 35 is 33.9 meters away at (-32.3, -10.2). A unknown object with ID 19 is 35.0 meters away at (28.0, -20.9). A vehicle with ID 55 is 37.8 meters away at (-30.2, -22.6).", "velocity_description": "The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00461354 -0.00432292] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.00348202 0.90617645] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-237.4427947998047, 62.67921447753906)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [1.3596568 2.18564  ], 2.5740413665771484 meters away.)"}
{"file_name": "images/scenario_948_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 3.4) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 10.9 meters away at (1.8, -10.8). A vehicle with ID 49 is 28.9 meters away at (16.0, -24.0). A pedestrian with ID 35 is 29.1 meters away at (-25.2, -14.5). A vehicle with ID 48 is 32.7 meters away at (27.1, -18.3). A vehicle with ID 55 is 36.4 meters away at (-23.1, -28.1). A vehicle with ID 50 is 36.5 meters away at (22.0, -29.1). A vehicle with ID 56 is 43.7 meters away at (-39.5, -18.7). A vehicle with ID 30 is 46.3 meters away at (-34.1, 31.3). A vehicle with ID 58 is 51.6 meters away at (-38.6, 34.1). A vehicle with ID 59 is 56.7 meters away at (-43.3, 36.6).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.31535238 0.5397264 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-237.4427947998047, 62.67921447753906)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  1.7700157 -10.805092 ], 10.949108123779297 meters away.)"}
{"file_name": "images/scenario_948_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.2) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 21.3 meters away at (10.6, -18.5). A pedestrian with ID 35 is 26.0 meters away at (-15.9, -20.5). A vehicle with ID 30 is 34.5 meters away at (-25.2, 23.7). A vehicle with ID 55 is 38.4 meters away at (-14.2, -35.7). A vehicle with ID 58 is 39.9 meters away at (-29.8, 26.5). A vehicle with ID 49 is 40.2 meters away at (24.8, -31.6). A vehicle with ID 56 is 40.4 meters away at (-30.7, -26.3). A vehicle with ID 48 is 44.4 meters away at (36.0, -26.0). A vehicle with ID 59 is 44.9 meters away at (-34.3, 28.9). A vehicle with ID 50 is 48.0 meters away at (30.9, -36.7).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.3502106 0.9310558] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-237.4427947998047, 62.67921447753906)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 10.615005 -18.463871], 21.297718048095703 meters away.)"}
{"file_name": "images/scenario_949_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 4.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 28.3 meters away at (-20.3, 19.7). A vehicle with ID 43 is 33.9 meters away at (-25.3, 22.5). A vehicle with ID 47 is 39.3 meters away at (-30.1, 25.3). A vehicle with ID 42 is 41.5 meters away at (-29.1, -29.7). A pedestrian with ID 44 is 46.0 meters away at (-25.3, -38.5). A vehicle with ID 45 is 46.9 meters away at (-32.4, -34.0). A vehicle with ID 46 is 53.0 meters away at (-28.3, -44.8). A vehicle with ID 48 is 53.8 meters away at (-36.8, -39.2). A vehicle with ID 49 is 58.3 meters away at (-31.9, -48.8). A vehicle with ID 50 is 60.5 meters away at (-41.1, -44.4).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [1.2403286  0.50782514] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-37.50648498535156, 29.084720611572266)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-20.334812  19.692162], 28.306991577148438 meters away.)"}
{"file_name": "images/scenario_949_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 4.4) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 14.2 meters away at (-9.1, 10.8). A vehicle with ID 43 is 19.6 meters away at (-14.0, 13.6). A vehicle with ID 47 is 25.0 meters away at (-18.8, 16.4). A unknown object with ID 20 is 26.6 meters away at (26.2, -4.8). A pedestrian with ID 14 is 27.9 meters away at (-18.3, -21.0). A vehicle with ID 42 is 42.4 meters away at (-17.8, -38.5). A vehicle with ID 45 is 47.6 meters away at (-21.3, -42.6). A pedestrian with ID 44 is 47.7 meters away at (-11.4, -46.3). A vehicle with ID 25 is 49.9 meters away at (-36.9, 33.5). A vehicle with ID 48 is 54.5 meters away at (-25.7, -48.0).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.0061133  0.0046323] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [1.231702  0.7340654] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-37.50648498535156, 29.084720611572266)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.101482 10.847305], 14.15983772277832 meters away.)"}
{"file_name": "images/scenario_949_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 4.2) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 4.2 meters away at (3.5, 2.4). A vehicle with ID 43 is 5.3 meters away at (-1.3, 5.2). A vehicle with ID 47 is 10.0 meters away at (-6.0, 8.0). A unknown object with ID 18 is 10.7 meters away at (10.3, -2.9). A vehicle with ID 25 is 34.8 meters away at (-24.2, 25.1). A unknown object with ID 35 is 38.4 meters away at (37.1, -10.0). A unknown object with ID 20 is 41.1 meters away at (38.9, -13.3). A vehicle with ID 42 is 47.1 meters away at (-5.0, -46.9). A vehicle with ID 45 is 51.6 meters away at (-8.4, -51.0). A pedestrian with ID 44 is 53.5 meters away at (3.7, -53.4).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [1.1498562 0.6666205] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-37.50648498535156, 29.084720611572266)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.4764233 2.4143581], 4.232569694519043 meters away.)"}
{"file_name": "images/scenario_949_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.3) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 7.3 meters away at (7.3, -0.4). A vehicle with ID 43 is 12.5 meters away at (12.1, -3.3). A vehicle with ID 41 is 18.0 meters away at (17.0, -6.1). A vehicle with ID 25 is 19.7 meters away at (-10.7, 16.5). A vehicle with ID 5 is 48.4 meters away at (-43.2, -21.8). A vehicle with ID 42 is 56.0 meters away at (8.5, -55.4). A vehicle with ID 3 is 58.4 meters away at (-56.2, -16.1). A unknown object with ID 26 is 58.9 meters away at (53.4, -25.1). A vehicle with ID 45 is 59.6 meters away at (5.0, -59.4). A vehicle with ID 4 is 60.0 meters away at (-56.9, -19.0).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-37.50648498535156, 29.084720611572266)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.3258133 -0.4170761], 7.337676525115967 meters away.)"}
{"file_name": "images/scenario_950_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -1.0) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 4.5 meters away at (-4.4, -0.9). A pedestrian with ID 39 is 7.9 meters away at (7.9, -0.2). A cyclist with ID 46 is 9.1 meters away at (-6.3, -6.5). A vehicle with ID 44 is 11.2 meters away at (-11.2, -0.3). A vehicle with ID 40 is 12.3 meters away at (-4.3, 11.5). A vehicle with ID 41 is 14.8 meters away at (-10.0, -11.0). A vehicle with ID 42 is 18.2 meters away at (-15.3, -9.9). A vehicle with ID 43 is 18.4 meters away at (-7.4, -16.8). A vehicle with ID 49 is 26.5 meters away at (-26.4, 2.2). A cyclist with ID 45 is 26.5 meters away at (-21.0, -16.2).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00952704 -0.01836638] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.7510259 -1.1581489] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [ 9.755699  -7.2752314] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 9.074519  -7.1472125] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.59148884  0.59306467] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 3.1020916 -4.942471 ] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [  1.7320861 -10.552306 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.43074  -17.283113]\n [-27.477045 -17.528788]\n [-23.685669 -18.166838]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.4118476 -0.9463427], 4.51220178604126 meters away.)"}
{"file_name": "images/scenario_950_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.9) m/s. Its current heading (yaw) is -1.14 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 4.8 meters away at (-4.8, 0.2). A pedestrian with ID 39 is 9.1 meters away at (9.1, -1.1). A vehicle with ID 40 is 13.5 meters away at (-4.7, 12.7). A vehicle with ID 44 is 13.8 meters away at (6.9, -11.9). A vehicle with ID 41 is 14.7 meters away at (-13.6, -5.4). A vehicle with ID 43 is 17.4 meters away at (-8.0, -15.4). A vehicle with ID 42 is 17.8 meters away at (-15.6, -8.6). A vehicle with ID 49 is 23.0 meters away at (-21.6, -7.9). A cyclist with ID 46 is 23.4 meters away at (13.9, -18.8). A vehicle with ID 56 is 28.5 meters away at (-28.0, 5.2).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.00806392 0.01348584] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.86746025 -0.98344195] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [10.048679 -6.101941] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-2.5973294  4.103009 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-0.4112975  0.6791838] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 2.215562  -6.8613024] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [10.561115 -6.3773  ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ 2.238028  -3.0941548] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.43074  -17.283113]\n [-27.477045 -17.528788]\n [-23.685669 -18.166838]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.7755218   0.17985344], 4.778907299041748 meters away.)"}
{"file_name": "images/scenario_950_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -3.3) m/s. Its current heading (yaw) is -0.94 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 8.7 meters away at (-7.2, 4.9). A vehicle with ID 43 is 15.0 meters away at (-10.7, -10.5). A vehicle with ID 40 is 18.7 meters away at (-7.0, 17.3). A vehicle with ID 42 is 20.1 meters away at (-20.0, -1.4). A vehicle with ID 41 is 23.8 meters away at (-20.9, 11.4). A vehicle with ID 56 is 27.2 meters away at (-27.0, 3.7). A vehicle with ID 44 is 32.9 meters away at (26.5, -19.5). A cyclist with ID 17 is 37.1 meters away at (-7.7, -36.3). A pedestrian with ID 34 is 42.5 meters away at (-32.1, 27.9). A cyclist with ID 46 is 42.9 meters away at (33.5, -26.7).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.10633817 0.01690837] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-0.4478229   0.58259475] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.6971148  2.839506 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.4280248  7.7696095] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ 2.0550325 -3.9814   ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [11.958957 -5.895161] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [-5.9619575 -1.8637817] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.23948441  0.10639665] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [11.425985 -5.943639] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.1664796  4.8580303], 8.657879829406738 meters away.)"}
{"file_name": "images/scenario_950_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -4.0) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 19.0 meters away at (-14.2, 12.6). A vehicle with ID 43 is 20.5 meters away at (-20.4, -0.8). A pedestrian with ID 15 is 24.2 meters away at (-19.6, -14.2). A vehicle with ID 40 is 28.8 meters away at (-14.2, 25.0). A vehicle with ID 56 is 30.1 meters away at (-30.1, -0.3). A vehicle with ID 42 is 35.1 meters away at (-31.7, 15.1). A cyclist with ID 17 is 41.4 meters away at (-23.4, -34.2). A vehicle with ID 19 is 41.5 meters away at (-22.6, 34.7). A vehicle with ID 16 is 46.7 meters away at (-30.8, -35.1). A vehicle with ID 54 is 48.3 meters away at (-47.8, -6.7).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.05824049 -0.00550049] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.7583673  1.5930525] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.1208378  0.03707943] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ 1.908095  -7.7954755] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.04772    5.5483794] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [-3.4948015 -3.5829117] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ -0.953867 -12.188899] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.43074  -17.283113]\n [-30.19172  -11.735345]\n [-33.022636  -8.160179]\n [-27.477045 -17.528788]\n [-23.685669 -18.166838]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-14.234875  12.552823], 18.979068756103516 meters away.)"}
{"file_name": "images/scenario_951_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 3.0) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 4.4 meters away at (-0.0, 4.4). A unknown object with ID 54 is 8.6 meters away at (-4.6, 7.3). A unknown object with ID 21 is 9.2 meters away at (-3.7, 8.4). A unknown object with ID 29 is 11.1 meters away at (-5.0, 9.9). A unknown object with ID 34 is 17.7 meters away at (-0.1, -17.7). A vehicle with ID 20 is 20.5 meters away at (15.6, -13.3). A vehicle with ID 62 is 22.7 meters away at (-19.6, 11.4). A unknown object with ID 56 is 36.5 meters away at (-25.3, 26.2). A vehicle with ID 13 is 37.6 meters away at (-37.3, 4.3). A vehicle with ID 60 is 40.0 meters away at (32.9, -22.7).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.8988867  5.11327  ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 5.6285825 -4.4947515] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-257.4727783203125, 142.88565063476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.03193855  4.350331  ], 4.350448131561279 meters away.)"}
{"file_name": "images/scenario_951_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 54 is 2.9 meters away at (0.9, 2.7). A vehicle with ID 62 is 3.9 meters away at (-1.2, -3.7). A unknown object with ID 21 is 4.3 meters away at (1.8, 3.9). A vehicle with ID 55 is 5.4 meters away at (5.4, -0.2). A vehicle with ID 20 is 14.3 meters away at (10.9, -9.3). A unknown object with ID 44 is 22.1 meters away at (0.5, -22.1). A unknown object with ID 48 is 22.7 meters away at (5.6, -22.1). A pedestrian with ID 36 is 26.5 meters away at (-9.8, -24.6). A unknown object with ID 56 is 29.4 meters away at (-19.8, 21.7). A vehicle with ID 49 is 31.7 meters away at (-15.1, -27.9).", "velocity_description": "The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 7.3382325 -5.90088  ] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-4.203166   3.6026428] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-257.4727783203125, 142.88565063476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [0.9023466 2.7046223], 2.8511769771575928 meters away.)"}
{"file_name": "images/scenario_951_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.7) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 54 is 3.2 meters away at (3.1, 0.9). A unknown object with ID 21 is 4.5 meters away at (4.0, 2.1). A vehicle with ID 55 is 8.0 meters away at (7.7, -2.1). A vehicle with ID 20 is 8.9 meters away at (6.8, -5.8). A unknown object with ID 32 is 22.3 meters away at (-4.1, -21.9). A vehicle with ID 62 is 25.0 meters away at (17.0, -18.4). A unknown object with ID 56 is 26.5 meters away at (-17.6, 19.8). A pedestrian with ID 36 is 27.5 meters away at (-7.6, -26.4). A vehicle with ID 13 is 29.6 meters away at (-29.6, -2.2). A unknown object with ID 26 is 30.6 meters away at (-28.1, 12.0).", "velocity_description": "The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.8933419  1.6272187] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 8.588438  -6.8777175] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.00161961 0.01602082] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-257.4727783203125, 142.88565063476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [3.0818539 0.865386 ], 3.201049327850342 meters away.)"}
{"file_name": "images/scenario_951_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 2.6) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 54 is 7.5 meters away at (7.1, -2.4). A unknown object with ID 21 is 8.1 meters away at (8.0, -1.3). A vehicle with ID 20 is 9.5 meters away at (7.2, -6.1). A vehicle with ID 55 is 12.7 meters away at (11.5, -5.3). A unknown object with ID 56 is 21.4 meters away at (-13.6, 16.5). A unknown object with ID 26 is 25.7 meters away at (-24.2, 8.7). A vehicle with ID 13 is 26.2 meters away at (-25.6, -5.4). A unknown object with ID 8 is 26.8 meters away at (-17.9, 19.9). A vehicle with ID 19 is 27.8 meters away at (-22.2, -16.7). A vehicle with ID 14 is 30.7 meters away at (-29.1, -9.6).", "velocity_description": "The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.0253267  1.8194573] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-257.4727783203125, 142.88565063476562)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 7.0780973 -2.4146128], 7.478623867034912 meters away.)"}
{"file_name": "images/scenario_952_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 10.8 meters away at (9.0, -5.9). A vehicle with ID 7 is 12.7 meters away at (-6.7, -10.8). A vehicle with ID 8 is 14.8 meters away at (-0.5, -14.7). A vehicle with ID 19 is 23.5 meters away at (21.2, -10.2). A pedestrian with ID 6 is 23.8 meters away at (2.3, -23.7). A pedestrian with ID 17 is 24.1 meters away at (-23.4, -5.8). A vehicle with ID 22 is 29.9 meters away at (26.4, -14.1). A vehicle with ID 9 is 30.7 meters away at (-28.2, -12.3). A pedestrian with ID 10 is 34.7 meters away at (32.8, -11.3). A vehicle with ID 23 is 34.9 meters away at (-34.2, -6.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.2834896  -0.75344753] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.0562346  -0.82341135] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.07762473 0.4297219 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.1418447  -0.53489727] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-24.58752    -7.5546856]\n [ -9.411845    2.4583127]\n [-25.398327   -7.2353897]\n [-24.966496   -7.3748026]\n [-12.902727    8.162944 ]\n [-26.011784   -7.1043024]]", "nav_goal": "(-129.04092407226562, 197.7171173095703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.992851 -5.930706], 10.772401809692383 meters away.)"}
{"file_name": "images/scenario_952_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 10.8 meters away at (9.0, -6.0). A vehicle with ID 7 is 12.7 meters away at (-6.7, -10.8). A vehicle with ID 8 is 14.8 meters away at (-0.5, -14.8). A pedestrian with ID 17 is 22.7 meters away at (-21.4, -7.6). A vehicle with ID 19 is 23.5 meters away at (21.1, -10.2). A vehicle with ID 9 is 28.2 meters away at (-27.2, -7.5). A vehicle with ID 22 is 29.9 meters away at (26.4, -13.9). A vehicle with ID 23 is 34.9 meters away at (-34.2, -6.9). A pedestrian with ID 30 is 36.2 meters away at (-36.1, -3.2). A vehicle with ID 27 is 36.6 meters away at (-34.8, -11.4).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.0374378 -0.9333387] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.7098073 4.3289456] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.0905377 -1.3907988] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.411845    2.4583127]\n [-12.902727    8.162944 ]]", "nav_goal": "(-129.04092407226562, 197.7171173095703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 9.022653  -5.9650936], 10.816219329833984 meters away.)"}
{"file_name": "images/scenario_952_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 10.8 meters away at (9.0, -6.0). A vehicle with ID 7 is 12.7 meters away at (-6.7, -10.8). A vehicle with ID 8 is 14.8 meters away at (-0.5, -14.7). A pedestrian with ID 17 is 21.4 meters away at (-19.3, -9.2). A vehicle with ID 19 is 23.5 meters away at (21.2, -10.2). A vehicle with ID 9 is 27.0 meters away at (-26.8, 3.6). A vehicle with ID 22 is 29.8 meters away at (26.4, -13.9). A vehicle with ID 23 is 34.9 meters away at (-34.2, -6.9). A vehicle with ID 27 is 36.6 meters away at (-34.8, -11.4). A pedestrian with ID 30 is 36.7 meters away at (-36.3, -5.8).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.0647867  -0.85232216] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.8617162  6.4814367] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.08968507 -1.4417558 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.411845    2.4583127]\n [-12.902727    8.162944 ]]", "nav_goal": "(-129.04092407226562, 197.7171173095703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 9.010083  -5.9568768], 10.801202774047852 meters away.)"}
{"file_name": "images/scenario_952_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 10.8 meters away at (9.0, -6.0). A vehicle with ID 7 is 12.7 meters away at (-6.6, -10.8). A vehicle with ID 8 is 14.8 meters away at (-0.5, -14.8). A pedestrian with ID 17 is 20.2 meters away at (-17.3, -10.5). A vehicle with ID 19 is 23.5 meters away at (21.2, -10.2). A vehicle with ID 22 is 29.9 meters away at (26.5, -13.9). A vehicle with ID 23 is 34.9 meters away at (-34.2, -6.9). A vehicle with ID 9 is 36.2 meters away at (-32.1, 16.8). A vehicle with ID 27 is 36.6 meters away at (-34.8, -11.4). A unknown object with ID 28 is 37.1 meters away at (-36.9, -3.3).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 1.1127508 -0.5492169] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-4.175427  6.488245] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.411845    2.4583127]\n [-12.902727    8.162944 ]]", "nav_goal": "(-129.04092407226562, 197.7171173095703)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 9.002131  -5.9541807], 10.793082237243652 meters away.)"}
{"file_name": "images/scenario_953_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 2.2) m/s. Its current heading (yaw) is 2.66 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 72.6 meters away at (71.4, -13.1).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.05678073 -1.0392066 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 71.38934 -13.12459], 72.58576202392578 meters away.)"}
{"file_name": "images/scenario_953_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 0.2) m/s. Its current heading (yaw) is 3.09 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_953_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -2.3) m/s. Its current heading (yaw) is -2.64 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_953_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -4.5) m/s. Its current heading (yaw) is -2.10 ", "actor_description": " The most relevant actors are: A unknown object with ID 2 is 29.2 meters away at (-9.4, -27.6).", "velocity_description": "The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -9.419594 -27.62844 ], 29.1900577545166 meters away.)"}
{"file_name": "images/scenario_954_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 2.8) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A pedestrian with ID 49 is 10.6 meters away at (-4.3, 9.7). A pedestrian with ID 116 is 10.8 meters away at (-6.0, 9.0). A pedestrian with ID 82 is 11.6 meters away at (-6.6, 9.5). A pedestrian with ID 125 is 11.8 meters away at (-6.2, 10.1). A unknown object with ID 59 is 12.2 meters away at (-10.0, -6.9). A unknown object with ID 83 is 13.5 meters away at (-12.5, -5.1). A vehicle with ID 30 is 17.6 meters away at (-14.3, 10.2). A unknown object with ID 50 is 20.1 meters away at (-20.1, 0.6). A pedestrian with ID 80 is 36.0 meters away at (-23.2, 27.5). A pedestrian with ID 37 is 51.4 meters away at (-48.6, 16.7).", "velocity_description": "The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.00463971  0.00636644] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [ 0.00313262 -0.00693025] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.0117019  -0.01828781] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [-0.00640017 -0.00150479] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-3.8230903  2.4531903] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.00588405 -0.01238355] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [1.1958612  0.10716892] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-231.66983032226562, 37.892879486083984)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-4.2641554  9.693456 ], 10.589905738830566 meters away.)"}
{"file_name": "images/scenario_954_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 2.6) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 82 is 4.5 meters away at (1.9, 4.1). A vehicle with ID 56 is 4.7 meters away at (1.2, 4.6). A pedestrian with ID 79 is 5.5 meters away at (3.4, 4.3). A pedestrian with ID 49 is 5.9 meters away at (4.2, 4.2). A unknown object with ID 51 is 11.0 meters away at (-8.0, -7.6). A unknown object with ID 59 is 12.4 meters away at (-1.6, -12.3). A vehicle with ID 30 is 16.0 meters away at (-13.0, 9.3). A unknown object with ID 48 is 16.3 meters away at (3.2, -16.0). A pedestrian with ID 80 is 26.4 meters away at (-14.8, 21.9). A vehicle with ID 100 is 35.9 meters away at (-35.6, -4.6).", "velocity_description": "The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.0106453   0.01925682] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.08814053  0.00306348] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.01342446 -0.00158121] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-3.465313   2.2591684] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.02953104  0.00710907] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-231.66983032226562, 37.892879486083984)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [1.8868093 4.0796957], 4.494882106781006 meters away.)"}
{"file_name": "images/scenario_954_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 2.5) m/s. Its current heading (yaw) is 2.53 ", "actor_description": " The most relevant actors are: A unknown object with ID 126 is 10.9 meters away at (-4.5, -9.9). A pedestrian with ID 49 is 11.4 meters away at (11.4, -0.6). A unknown object with ID 51 is 13.3 meters away at (0.2, -13.3). A unknown object with ID 67 is 13.7 meters away at (0.8, -13.7). A unknown object with ID 88 is 14.6 meters away at (1.8, -14.5). A unknown object with ID 105 is 15.6 meters away at (2.9, -15.3). A vehicle with ID 30 is 16.2 meters away at (-13.3, 9.4). A unknown object with ID 53 is 22.9 meters away at (22.6, -3.7). A unknown object with ID 48 is 23.5 meters away at (10.5, -21.0). A unknown object with ID 75 is 26.2 meters away at (13.1, -22.7).", "velocity_description": "The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.03207773  0.00895735] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-4.6734157  3.115239 ] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-231.66983032226562, 37.892879486083984)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-4.4879665 -9.906893 ], 10.876045227050781 meters away.)"}
{"file_name": "images/scenario_954_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.5) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 84 is 16.2 meters away at (3.9, -15.8). A unknown object with ID 72 is 17.8 meters away at (5.5, -17.0). A unknown object with ID 46 is 18.5 meters away at (6.2, -17.4). A pedestrian with ID 37 is 18.7 meters away at (-18.6, -1.1). A unknown object with ID 91 is 18.9 meters away at (-18.5, -3.7). A pedestrian with ID 49 is 19.1 meters away at (18.3, -5.4). A unknown object with ID 51 is 19.5 meters away at (7.3, -18.1). A unknown object with ID 67 is 20.2 meters away at (7.9, -18.5). A vehicle with ID 30 is 20.3 meters away at (-16.7, 11.7). A vehicle with ID 68 is 23.2 meters away at (0.7, 23.2).", "velocity_description": "The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.1445003 -0.7118654] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.00036499  0.00376727] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-5.4872303  3.7579741] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-231.66983032226562, 37.892879486083984)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  3.8546658 -15.768784 ], 16.233083724975586 meters away.)"}
{"file_name": "images/scenario_955_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.5) m/s. Its current heading (yaw) is -2.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 8.7 meters away at (8.4, 2.3). A vehicle with ID 55 is 10.0 meters away at (6.0, 8.0). A vehicle with ID 47 is 12.7 meters away at (10.8, 6.5). A vehicle with ID 63 is 16.4 meters away at (7.2, -14.7). A vehicle with ID 51 is 17.7 meters away at (13.9, 10.9). A vehicle with ID 60 is 19.9 meters away at (10.4, 16.9). A vehicle with ID 49 is 21.4 meters away at (-19.7, -8.3). A vehicle with ID 69 is 21.8 meters away at (11.5, -18.6). A vehicle with ID 53 is 23.1 meters away at (16.7, 16.0). A vehicle with ID 72 is 27.9 meters away at (0.5, -27.9).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-1.0282433 -1.6998743] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-1.5582386 -2.492731 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-233.2567596435547, 62.362064361572266)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.433644  2.2787943], 8.736089706420898 meters away.)"}
{"file_name": "images/scenario_955_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -1.8) m/s. Its current heading (yaw) is -2.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 10.1 meters away at (6.3, 7.9). A vehicle with ID 45 is 12.0 meters away at (10.6, 5.5). A vehicle with ID 63 is 14.9 meters away at (9.5, -11.5). A vehicle with ID 47 is 16.3 meters away at (13.0, 9.8). A pedestrian with ID 13 is 16.5 meters away at (-11.0, 12.3). A vehicle with ID 49 is 18.2 meters away at (-17.5, -5.1). A vehicle with ID 60 is 19.4 meters away at (10.2, 16.4). A vehicle with ID 69 is 20.5 meters away at (13.7, -15.3). A vehicle with ID 51 is 21.4 meters away at (16.0, 14.2). A cyclist with ID 46 is 23.6 meters away at (-19.7, 12.9).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [-0.988923  -1.7138766] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.95608854 -0.69660044] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-1.0152109 -1.8144428] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [ 3.3124218 -2.4095666] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.92847    7.410441]\n [-36.991974   8.204613]]", "nav_goal": "(-233.2567596435547, 62.362064361572266)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.2561255 7.9252377], 10.096955299377441 meters away.)"}
{"file_name": "images/scenario_955_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 0.2) m/s. Its current heading (yaw) is 3.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 11.4 meters away at (9.4, 6.4). A vehicle with ID 49 is 12.6 meters away at (-12.2, -2.9). A cyclist with ID 46 is 12.7 meters away at (-8.0, 9.9). A unknown object with ID 32 is 12.7 meters away at (-1.8, -12.6). A vehicle with ID 63 is 17.5 meters away at (14.7, -9.5). A vehicle with ID 45 is 17.6 meters away at (15.9, 7.6). A vehicle with ID 60 is 20.0 meters away at (13.4, 14.8). A vehicle with ID 47 is 21.8 meters away at (18.3, 11.9). A vehicle with ID 69 is 23.1 meters away at (18.9, -13.3). A pedestrian with ID 67 is 23.7 meters away at (3.9, -23.3).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [-1.0649052 -1.8175809] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [ 2.9469912 -2.5650373] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-1.0268557 -1.8857898] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.1098181  1.0060756] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.92847    7.410441]\n [-36.991974   8.204613]]", "nav_goal": "(-233.2567596435547, 62.362064361572266)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [9.4003105 6.444586 ], 11.397303581237793 meters away.)"}
{"file_name": "images/scenario_955_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.6) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A cyclist with ID 46 is 4.3 meters away at (1.8, 3.9). A vehicle with ID 49 is 8.7 meters away at (-7.1, -5.0). A vehicle with ID 55 is 12.4 meters away at (12.4, 0.7). A vehicle with ID 60 is 19.0 meters away at (16.7, 9.1). A vehicle with ID 45 is 21.8 meters away at (21.1, 5.4). A vehicle with ID 63 is 23.1 meters away at (19.9, -11.7). A pedestrian with ID 67 is 24.6 meters away at (6.6, -23.6). A vehicle with ID 47 is 25.4 meters away at (23.5, 9.6). A vehicle with ID 72 is 28.2 meters away at (13.3, -24.8). A pedestrian with ID 37 is 28.3 meters away at (7.3, -27.3).", "velocity_description": "The cyclist with ID 46 is traveling at a (x, y) velocity of [ 1.6866144 -1.5667955] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-1.1072675 -1.7472476] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-0.9487932 -1.653507 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.1519102  0.7998429] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.029736    0.00812758] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.92847     7.410441 ]\n [-36.991974    8.204613 ]\n [-29.292274    7.2307177]\n [-30.796888    3.8550246]]", "nav_goal": "(-233.2567596435547, 62.362064361572266)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [1.7640009 3.9303355], 4.308043003082275 meters away.)"}
{"file_name": "images/scenario_956_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.8) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A pedestrian with ID 64 is 9.0 meters away at (-8.5, -3.1). A pedestrian with ID 66 is 21.2 meters away at (-2.8, -21.0). A pedestrian with ID 67 is 21.8 meters away at (-2.6, -21.6). A pedestrian with ID 65 is 22.3 meters away at (-2.4, -22.2). A unknown object with ID 54 is 23.5 meters away at (-18.8, -14.1). A vehicle with ID 55 is 26.4 meters away at (-19.3, -18.1). A vehicle with ID 56 is 31.8 meters away at (-22.7, -22.3). A unknown object with ID 68 is 33.1 meters away at (28.2, 17.3). A vehicle with ID 59 is 35.4 meters away at (-16.8, -31.1). A vehicle with ID 71 is 36.0 meters away at (-8.4, 35.0).", "velocity_description": "The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.9855087 0.7418094] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.9496524 0.5490257] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.87968314 0.7211456 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.9292751 0.6345065] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-42.06785583496094, -49.03358840942383)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-8.453546  -3.1141188], 9.008893966674805 meters away.)"}
{"file_name": "images/scenario_956_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 64 is 6.2 meters away at (-6.1, -1.0). A pedestrian with ID 66 is 19.3 meters away at (-0.4, -19.3). A pedestrian with ID 67 is 20.0 meters away at (-0.7, -20.0). A pedestrian with ID 65 is 20.6 meters away at (-0.1, -20.6). A unknown object with ID 54 is 23.2 meters away at (-18.6, -13.9). A vehicle with ID 55 is 26.0 meters away at (-19.0, -17.7). A vehicle with ID 56 is 31.3 meters away at (-22.4, -21.9). A unknown object with ID 68 is 33.4 meters away at (28.4, 17.5). A pedestrian with ID 45 is 33.5 meters away at (31.0, 12.5). A vehicle with ID 59 is 34.9 meters away at (-16.5, -30.7).", "velocity_description": "The pedestrian with ID 64 is traveling at a (x, y) velocity of [1.0993026 1.0966704] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [1.3703967 0.8075094] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [1.1916782 0.8335761] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [1.2459846 0.820447 ] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-42.06785583496094, -49.03358840942383)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-6.115586  -0.9818082], 6.19389533996582 meters away.)"}
{"file_name": "images/scenario_956_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -3.3) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 64 is 4.8 meters away at (-1.3, 4.6). A pedestrian with ID 66 is 14.8 meters away at (4.8, -14.0). A pedestrian with ID 67 is 15.5 meters away at (5.1, -14.7). A pedestrian with ID 65 is 16.2 meters away at (4.9, -15.4). A vehicle with ID 55 is 21.4 meters away at (-16.2, -14.1). A vehicle with ID 72 is 25.0 meters away at (-24.6, 4.1). A vehicle with ID 56 is 26.8 meters away at (-19.5, -18.3). A vehicle with ID 59 is 30.4 meters away at (-13.7, -27.1). A pedestrian with ID 76 is 34.6 meters away at (-28.4, -19.8). A vehicle with ID 60 is 36.0 meters away at (-17.4, -31.5).", "velocity_description": "The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.6324777 1.0370116] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.84463304 0.9490207 ] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.957725  0.9800398] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.9469097  0.93460906] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 3.848636  -2.7296376] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.080111    0.06458548] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-42.06785583496094, -49.03358840942383)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-1.3127756  4.6130195], 4.796178340911865 meters away.)"}
{"file_name": "images/scenario_956_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.8) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 11.2 meters away at (-9.6, -5.7). A pedestrian with ID 66 is 13.5 meters away at (13.0, -3.6). A pedestrian with ID 67 is 14.2 meters away at (13.5, -4.2). A pedestrian with ID 65 is 14.5 meters away at (13.4, -5.4). A vehicle with ID 72 is 15.3 meters away at (-12.6, 8.6). A vehicle with ID 56 is 16.3 meters away at (-13.0, -9.8). A pedestrian with ID 64 is 16.7 meters away at (7.1, 15.1). A vehicle with ID 59 is 20.1 meters away at (-7.2, -18.7). A pedestrian with ID 76 is 24.6 meters away at (-21.8, -11.4). A vehicle with ID 60 is 25.5 meters away at (-10.8, -23.1).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.7037318 1.1011045] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.7470766 1.0877348] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.6685489 1.0059333] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 1.8189355 -1.2978272] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.78119916 1.0837063 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.05350791  0.04795834] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-42.06785583496094, -49.03358840942383)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.613412 -5.691408], 11.171831130981445 meters away.)"}
{"file_name": "images/scenario_957_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.8 meters away at (2.8, 7.3). A vehicle with ID 12 is 11.3 meters away at (-2.8, 11.0). A pedestrian with ID 10 is 12.6 meters away at (-9.4, 8.4). A vehicle with ID 14 is 12.8 meters away at (-9.4, -8.7). A vehicle with ID 15 is 14.5 meters away at (-13.6, 5.0). A vehicle with ID 16 is 14.6 meters away at (-10.8, 9.9). A vehicle with ID 17 is 15.1 meters away at (-2.1, -15.0). A vehicle with ID 18 is 15.2 meters away at (4.7, 14.4). A vehicle with ID 20 is 16.4 meters away at (-16.4, 0.2). A vehicle with ID 21 is 16.6 meters away at (-14.0, 9.0).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.47622538 1.2328272 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 9.793607 47.039135]\n [ 8.614723 45.169533]]", "nav_goal": "(-163.7247314453125, 1.3152655363082886)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.762585  7.3331156], 7.8362274169921875 meters away.)"}
{"file_name": "images/scenario_957_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.8 meters away at (2.8, 7.3). A vehicle with ID 12 is 11.3 meters away at (-2.8, 11.0). A vehicle with ID 14 is 12.9 meters away at (-9.4, -8.7). A pedestrian with ID 10 is 14.1 meters away at (-9.1, 10.8). A vehicle with ID 15 is 14.5 meters away at (-13.6, 5.0). A vehicle with ID 16 is 14.6 meters away at (-10.8, 9.9). A vehicle with ID 17 is 15.1 meters away at (-2.1, -15.0). A vehicle with ID 18 is 15.2 meters away at (4.7, 14.5). A vehicle with ID 20 is 16.4 meters away at (-16.4, 0.2). A vehicle with ID 21 is 16.6 meters away at (-14.0, 9.0).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.06456948 1.1717831 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 9.793607 47.039135]\n [ 8.614723 45.169533]]", "nav_goal": "(-163.7247314453125, 1.3152655363082886)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.7647343 7.3427043], 7.845958232879639 meters away.)"}
{"file_name": "images/scenario_957_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.9 meters away at (2.8, 7.4). A vehicle with ID 12 is 11.3 meters away at (-2.8, 11.0). A vehicle with ID 14 is 12.9 meters away at (-9.4, -8.8). A vehicle with ID 15 is 14.5 meters away at (-13.6, 5.0). A vehicle with ID 16 is 14.6 meters away at (-10.8, 9.9). A vehicle with ID 17 is 15.1 meters away at (-2.1, -15.0). A vehicle with ID 18 is 15.2 meters away at (4.7, 14.4). A vehicle with ID 20 is 16.4 meters away at (-16.4, 0.2). A vehicle with ID 21 is 16.6 meters away at (-14.0, 9.0). A vehicle with ID 24 is 22.3 meters away at (-12.4, -18.6).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 9.793607 47.039135]\n [ 8.614723 45.169533]]", "nav_goal": "(-163.7247314453125, 1.3152655363082886)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.7688205 7.3542957], 7.858246326446533 meters away.)"}
{"file_name": "images/scenario_957_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.8 meters away at (2.8, 7.3). A vehicle with ID 12 is 11.3 meters away at (-2.8, 11.0). A vehicle with ID 14 is 12.9 meters away at (-9.4, -8.8). A vehicle with ID 15 is 14.5 meters away at (-13.6, 5.0). A vehicle with ID 16 is 14.6 meters away at (-10.8, 9.9). A vehicle with ID 17 is 15.1 meters away at (-2.1, -15.0). A vehicle with ID 18 is 15.2 meters away at (4.7, 14.4). A vehicle with ID 20 is 16.4 meters away at (-16.4, 0.2). A vehicle with ID 21 is 16.6 meters away at (-14.0, 9.0). A vehicle with ID 24 is 22.3 meters away at (-12.4, -18.6).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 9.793607 47.039135]\n [ 8.614723 45.169533]\n [ 9.06331  44.864372]]", "nav_goal": "(-163.7247314453125, 1.3152655363082886)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.7620876 7.3329825], 7.835927486419678 meters away.)"}
{"file_name": "images/scenario_958_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.4) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 13.0 meters away at (-4.1, 12.4). A pedestrian with ID 18 is 18.9 meters away at (11.9, -14.7). A pedestrian with ID 20 is 33.2 meters away at (-9.9, 31.7). A pedestrian with ID 13 is 44.2 meters away at (-44.0, 3.9).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [3.3048246 5.099789 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.39555854  0.17699276] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.0709836  -0.01606026] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.7682696 -1.3572264] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.792606353759766, -39.02882385253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.112008 12.359572], 13.025653839111328 meters away.)"}
{"file_name": "images/scenario_958_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 1.5) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 21.2 meters away at (5.8, 20.4). A pedestrian with ID 18 is 21.8 meters away at (14.8, -16.0). A pedestrian with ID 20 is 30.4 meters away at (-6.0, 29.8). A pedestrian with ID 13 is 41.6 meters away at (-41.6, -1.0). A pedestrian with ID 9 is 42.5 meters away at (-42.5, -0.5).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [3.1808953 4.0018883] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.63203245  0.4327636 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.01641628 0.2245035 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.77126473 -1.4634362 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.8113065 -1.4167562] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.792606353759766, -39.02882385253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.826122 20.407831], 21.223176956176758 meters away.)"}
{"file_name": "images/scenario_958_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 1.9) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 27.1 meters away at (1.5, 27.1). A pedestrian with ID 18 is 28.6 meters away at (21.4, -19.0). A vehicle with ID 17 is 29.6 meters away at (21.3, 20.5). A pedestrian with ID 13 is 36.2 meters away at (-35.4, -7.6). A vehicle with ID 8 is 36.7 meters away at (7.9, 35.8). A pedestrian with ID 9 is 37.0 meters away at (-36.3, -7.1).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.3021009   0.66454244] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6185091   0.39384878] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.5778356 -0.3542716] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.6672652 -1.3838505] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.5259776 -1.6742047] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.73337436 -1.3143913 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.792606353759766, -39.02882385253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 1.5440779 27.101856 ], 27.14580535888672 meters away.)"}
{"file_name": "images/scenario_958_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 0.6) m/s. Its current heading (yaw) is 3.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 27.4 meters away at (10.5, 25.3). A pedestrian with ID 13 is 30.4 meters away at (-27.3, -13.5). A vehicle with ID 8 is 35.9 meters away at (22.0, 28.4). A pedestrian with ID 18 is 37.3 meters away at (30.4, -21.6). A vehicle with ID 17 is 43.4 meters away at (41.3, 13.5). A vehicle with ID 11 is 63.3 meters away at (-35.1, -52.7). A vehicle with ID 1 is 71.2 meters away at (-46.1, -54.3). A vehicle with ID 3 is 72.0 meters away at (-48.5, -53.2).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.1017735   0.20316766] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.62705004 -1.668751  ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.545162  -2.8540907] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.20666936  0.10334457] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 6.430585  -3.3424299] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.4383402 -7.5873737] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-58.792606353759766, -39.02882385253906)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [10.4678545 25.294971 ], 27.375381469726562 meters away.)"}
{"file_name": "images/scenario_959_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.07 ", "actor_description": " The most relevant actors are: A cyclist with ID 27 is 5.7 meters away at (0.2, 5.7). A vehicle with ID 30 is 31.5 meters away at (22.4, 22.2). A vehicle with ID 31 is 44.2 meters away at (37.9, 22.9). A unknown object with ID 34 is 45.7 meters away at (17.9, 42.1). A vehicle with ID 33 is 50.0 meters away at (-46.7, 18.0). A vehicle with ID 28 is 50.3 meters away at (31.0, 39.6). A pedestrian with ID 35 is 51.4 meters away at (-50.1, 11.8). A vehicle with ID 32 is 67.4 meters away at (28.2, 61.2).", "velocity_description": "The cyclist with ID 27 is traveling at a (x, y) velocity of [0.78819245 1.2422849 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [9.123301 0.563865] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [8.556316   0.33843154] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-9.064288   1.4588438] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.56866777 -1.2297198 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2681805 -0.3936232] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.7443    31.755241 ]\n [ 7.2175174 12.571351 ]\n [ 7.4604645 12.404932 ]\n [26.95845   31.928192 ]]", "nav_goal": "(-83.63909912109375, 319.2462158203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [0.1713034 5.685632 ], 5.6882123947143555 meters away.)"}
{"file_name": "images/scenario_959_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.07 ", "actor_description": " The most relevant actors are: A cyclist with ID 27 is 6.1 meters away at (0.4, 6.1). A unknown object with ID 34 is 45.7 meters away at (17.9, 42.1). A vehicle with ID 30 is 47.1 meters away at (40.9, 23.4). A pedestrian with ID 35 is 48.9 meters away at (-47.7, 11.1). A vehicle with ID 28 is 49.6 meters away at (30.6, 39.0). A vehicle with ID 31 is 61.5 meters away at (56.7, 23.8). A vehicle with ID 32 is 67.3 meters away at (28.2, 61.2). A vehicle with ID 33 is 69.4 meters away at (-65.4, 23.2).", "velocity_description": "The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.02098239 -0.03446706] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [9.273161   0.50615543] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.224451   -0.30654803] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [10.108252    0.45204696] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-9.048777   3.3908768] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.7443    31.755241 ]\n [ 7.2175174 12.571351 ]\n [ 7.4604645 12.404932 ]\n [26.95845   31.928192 ]]", "nav_goal": "(-83.63909912109375, 319.2462158203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [0.38293305 6.095588  ], 6.107604503631592 meters away.)"}
{"file_name": "images/scenario_959_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.3) m/s. Its current heading (yaw) is 1.07 ", "actor_description": " The most relevant actors are: A cyclist with ID 27 is 10.1 meters away at (2.5, 9.8). A unknown object with ID 34 is 45.6 meters away at (17.8, 42.0). A pedestrian with ID 26 is 46.7 meters away at (-45.5, 10.5). A pedestrian with ID 35 is 46.8 meters away at (-45.5, 10.9). A vehicle with ID 28 is 49.3 meters away at (30.5, 38.7). A vehicle with ID 30 is 63.7 meters away at (59.0, 24.1). A vehicle with ID 32 is 67.0 meters away at (28.0, 60.9).", "velocity_description": "The cyclist with ID 27 is traveling at a (x, y) velocity of [2.1992838 3.9228845] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0680519  -0.15522224] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.0813754  -0.12517442] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [9.717602   0.55408823] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.7443    31.755241 ]\n [ 7.4604645 12.404932 ]\n [26.95845   31.928192 ]]", "nav_goal": "(-83.63909912109375, 319.2462158203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [2.485522 9.820312], 10.129972457885742 meters away.)"}
{"file_name": "images/scenario_959_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 3.4) m/s. Its current heading (yaw) is 1.07 ", "actor_description": " The most relevant actors are: A cyclist with ID 27 is 18.7 meters away at (7.4, 17.2). A unknown object with ID 12 is 19.9 meters away at (-2.3, 19.8). A unknown object with ID 34 is 41.1 meters away at (15.7, 38.0). A vehicle with ID 28 is 45.0 meters away at (28.5, 34.8). A pedestrian with ID 26 is 45.8 meters away at (-45.4, 5.9). A pedestrian with ID 35 is 45.8 meters away at (-45.3, 6.5). A cyclist with ID 20 is 49.5 meters away at (-46.7, 16.3). A unknown object with ID 13 is 50.0 meters away at (31.6, 38.7). A vehicle with ID 32 is 61.2 meters away at (25.5, 55.6). A vehicle with ID 15 is 80.3 meters away at (77.5, 21.1).", "velocity_description": "The cyclist with ID 27 is traveling at a (x, y) velocity of [4.338055 6.638606] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.3101382 -0.1938287] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2150104  -0.18712637] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [10.010443  -2.2403321] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [10.621734   0.5894842] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.7443   31.755241]\n [26.95845  31.928192]]", "nav_goal": "(-83.63909912109375, 319.2462158203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 7.4438324 17.172047 ], 18.716032028198242 meters away.)"}
{"file_name": "images/scenario_960_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.1) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 4.6 meters away at (-2.3, 4.0). A vehicle with ID 57 is 5.3 meters away at (-5.2, -0.3). A vehicle with ID 56 is 9.0 meters away at (1.7, 8.8). A vehicle with ID 61 is 10.0 meters away at (-8.9, -4.6). A vehicle with ID 79 is 17.3 meters away at (15.7, 7.2). A vehicle with ID 26 is 18.5 meters away at (8.1, 16.6). A vehicle with ID 80 is 19.0 meters away at (18.2, 5.2). A vehicle with ID 63 is 20.3 meters away at (-19.3, -6.5). A vehicle with ID 82 is 22.1 meters away at (22.0, 2.1). A vehicle with ID 65 is 22.8 meters away at (1.0, -22.8).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 0.27504253 -0.2866367 ] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.2714572  4.0313435], 4.627228736877441 meters away.)"}
{"file_name": "images/scenario_960_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.8) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 5.4 meters away at (-0.8, 5.4). A vehicle with ID 56 is 7.6 meters away at (-7.2, -2.4). A vehicle with ID 79 is 7.9 meters away at (6.8, -4.0). A vehicle with ID 80 is 11.1 meters away at (9.4, -6.0). A vehicle with ID 64 is 13.4 meters away at (-11.2, -7.3). A vehicle with ID 82 is 16.0 meters away at (13.1, -9.2). A vehicle with ID 57 is 18.3 meters away at (-14.2, -11.6). A vehicle with ID 59 is 19.1 meters away at (2.6, 18.9). A vehicle with ID 84 is 19.8 meters away at (16.2, -11.5). A vehicle with ID 60 is 21.0 meters away at (0.7, 21.0).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-0.76932144  5.3528996 ], 5.407900810241699 meters away.)"}
{"file_name": "images/scenario_960_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 5.6) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 9.9 meters away at (-6.5, 7.4). A vehicle with ID 26 is 11.5 meters away at (-9.9, -6.0). A vehicle with ID 60 is 12.7 meters away at (-8.3, 9.6). A vehicle with ID 79 is 15.7 meters away at (-2.4, -15.5). A vehicle with ID 80 is 17.5 meters away at (0.1, -17.5). A vehicle with ID 13 is 17.9 meters away at (-12.6, 12.8). A vehicle with ID 7 is 19.0 meters away at (-0.7, 19.0). A vehicle with ID 9 is 20.3 meters away at (-3.2, 20.1). A vehicle with ID 82 is 21.0 meters away at (4.1, -20.6). A vehicle with ID 56 is 21.5 meters away at (-16.4, -14.0).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.5301857  7.428789 ], 9.89091682434082 meters away.)"}
{"file_name": "images/scenario_960_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.2) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 12.4 meters away at (-9.5, 7.9). A unknown object with ID 2 is 13.5 meters away at (0.9, 13.5). A vehicle with ID 9 is 15.1 meters away at (-12.1, 9.0). A vehicle with ID 59 is 15.8 meters away at (-15.4, -3.7). A vehicle with ID 5 is 15.9 meters away at (-7.9, 13.8). A vehicle with ID 60 is 17.2 meters away at (-17.1, -1.4). A vehicle with ID 1 is 20.4 meters away at (3.3, 20.2). A vehicle with ID 13 is 21.3 meters away at (-21.2, 1.9). A vehicle with ID 3 is 23.3 meters away at (-0.7, 23.3). A vehicle with ID 26 is 25.4 meters away at (-18.7, -17.2).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[53.175766 63.348915]\n [54.83277  61.10444 ]\n [54.838284 60.068523]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-9.506361  7.893669], 12.356411933898926 meters away.)"}
{"file_name": "images/scenario_961_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.2) m/s. Its current heading (yaw) is -0.20 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 6.1 meters away at (-5.5, -2.6). A pedestrian with ID 2 is 13.4 meters away at (11.2, 7.4). A vehicle with ID 18 is 26.4 meters away at (24.0, -10.9). A pedestrian with ID 16 is 31.0 meters away at (26.9, 15.4). A unknown object with ID 6 is 31.3 meters away at (-29.6, -10.0). A unknown object with ID 3 is 35.8 meters away at (31.8, 16.4). A vehicle with ID 24 is 56.7 meters away at (51.0, -24.8). A cyclist with ID 19 is 57.3 meters away at (56.7, 8.0).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.80516404  0.7561652 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.45843095 -0.95362395] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 4.8719335 -2.934366 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-25.981441497802734, -35.08951950073242)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-5.5041327 -2.627759 ], 6.099228858947754 meters away.)"}
{"file_name": "images/scenario_961_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.25 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 6.7 meters away at (-6.1, -2.6). A pedestrian with ID 2 is 14.8 meters away at (11.0, 9.9). A vehicle with ID 18 is 25.7 meters away at (23.3, -10.8). A pedestrian with ID 16 is 29.0 meters away at (25.5, 13.7). A unknown object with ID 6 is 31.8 meters away at (-30.2, -9.9). A unknown object with ID 12 is 53.0 meters away at (22.8, 47.8). A vehicle with ID 24 is 56.1 meters away at (50.4, -24.8). A cyclist with ID 19 is 65.3 meters away at (65.2, 2.8).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.47022715 1.2516634 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.44894063 -0.8786755 ] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 4.5827026 -2.3873682] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-25.981441497802734, -35.08951950073242)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-6.141213 -2.586977], 6.663853645324707 meters away.)"}
{"file_name": "images/scenario_961_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -0.3) m/s. Its current heading (yaw) is -0.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 7.6 meters away at (-7.2, -2.3). A pedestrian with ID 2 is 16.5 meters away at (10.7, 12.6). A vehicle with ID 18 is 24.4 meters away at (22.1, -10.4). A pedestrian with ID 16 is 26.3 meters away at (23.2, 12.3). A vehicle with ID 24 is 54.9 meters away at (49.2, -24.5). A pedestrian with ID 7 is 55.1 meters away at (48.9, -25.2). A cyclist with ID 19 is 72.9 meters away at (72.9, -1.3).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.37706372 1.2056085 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.5485755 -0.8959576] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.1494471  -0.11379683] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 4.351703  -2.3943565] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-25.981441497802734, -35.08951950073242)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-7.2320395 -2.268643 ], 7.5795207023620605 meters away.)"}
{"file_name": "images/scenario_961_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 0.9) m/s. Its current heading (yaw) is 0.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 11.6 meters away at (-11.5, -1.7). A unknown object with ID 15 is 13.7 meters away at (-13.5, -2.2). A pedestrian with ID 2 is 14.5 meters away at (5.0, 13.6). A vehicle with ID 18 is 19.1 meters away at (16.0, -10.5). A pedestrian with ID 16 is 19.4 meters away at (16.4, 10.3). A pedestrian with ID 4 is 43.6 meters away at (34.6, -26.5). A vehicle with ID 24 is 49.6 meters away at (43.0, -24.8). A pedestrian with ID 7 is 49.8 meters away at (42.6, -25.8). A cyclist with ID 19 is 76.1 meters away at (75.7, -7.4).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.05697486 -0.02586883] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.37138453 -1.0474244 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.00123399 -0.00554297] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.0361755  -0.17740558] m/s.The cyclist with ID 19 is traveling at a (x, y) velocity of [ 4.58477   -2.7749481] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-25.981441497802734, -35.08951950073242)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-11.524818   -1.6803988], 11.646681785583496 meters away.)"}
{"file_name": "images/scenario_962_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 7.0) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 3.6 meters away at (3.4, 1.0). A vehicle with ID 77 is 10.6 meters away at (-10.2, 2.7). A vehicle with ID 62 is 10.8 meters away at (0.1, -10.8). A pedestrian with ID 60 is 11.0 meters away at (10.2, -4.3). A pedestrian with ID 65 is 11.1 meters away at (1.3, 11.1). A pedestrian with ID 68 is 11.8 meters away at (1.9, 11.6). A unknown object with ID 72 is 16.6 meters away at (-16.5, 1.1). A unknown object with ID 66 is 16.6 meters away at (-15.6, -5.8). A vehicle with ID 9 is 18.6 meters away at (10.2, -15.6). A unknown object with ID 28 is 20.1 meters away at (-16.6, -11.4).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 3.6606908 -5.2107644] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 3.0982432 -4.4054313] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.9376662 -0.6661308] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.00448729 -0.0001156 ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.01742907 -0.00229703] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-4.3307962  6.632979 ] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-56.597767  49.640743]\n [-56.02983   48.320465]\n [-50.93014   64.73889 ]\n [-58.501022  52.14273 ]\n [-47.81593   66.39931 ]\n [-40.456387  51.611504]\n [-58.58579   56.029026]\n [-36.476627  54.67009 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.438613  1.0281153], 3.589022159576416 meters away.)"}
{"file_name": "images/scenario_962_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 5.9) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 6.1 meters away at (-0.1, 6.1). A pedestrian with ID 65 is 11.2 meters away at (10.9, -2.1). A pedestrian with ID 68 is 11.6 meters away at (11.5, -1.6). A pedestrian with ID 83 is 12.4 meters away at (0.1, 12.4). A vehicle with ID 69 is 13.1 meters away at (5.0, -12.2). A vehicle with ID 57 is 13.8 meters away at (-5.3, 12.7). A vehicle with ID 56 is 17.9 meters away at (13.1, -12.2). A vehicle with ID 85 is 19.7 meters away at (1.7, -19.6). A pedestrian with ID 76 is 19.8 meters away at (-19.7, 1.5). A unknown object with ID 49 is 19.8 meters away at (-14.3, -13.8).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.02570137  0.01365316] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.00586422  0.02556635] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.8657233 -1.1173803] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-8.044247 10.77336 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 5.2159767 -7.3092785] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [ 0.84968126 -1.4079319 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-56.597767  49.640743]\n [-56.02983   48.320465]\n [-50.93014   64.73889 ]\n [-58.501022  52.14273 ]\n [-47.81593   66.39931 ]\n [-58.58579   56.029026]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.06843948  6.072794  ], 6.073179721832275 meters away.)"}
{"file_name": "images/scenario_962_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 3.6) m/s. Its current heading (yaw) is 2.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 69 is 3.8 meters away at (-3.3, -1.9). A vehicle with ID 57 is 3.8 meters away at (1.5, 3.5). A vehicle with ID 55 is 7.4 meters away at (6.7, -3.2). A vehicle with ID 42 is 7.5 meters away at (-5.3, -5.2). A pedestrian with ID 83 is 8.8 meters away at (8.8, 0.7). A pedestrian with ID 4 is 13.1 meters away at (2.1, 12.9). A pedestrian with ID 3 is 13.5 meters away at (1.6, 13.4). A pedestrian with ID 76 is 15.3 meters away at (-11.1, -10.5). A pedestrian with ID 7 is 16.7 meters away at (-5.5, 15.7). A vehicle with ID 9 is 17.7 meters away at (10.4, -14.2).", "velocity_description": "The vehicle with ID 69 is traveling at a (x, y) velocity of [-6.6387186  8.17596  ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.0542665 -6.7745695] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.93840456 -1.159069  ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00077904  0.02471501] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.01365    0.02193881] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [ 0.8350645 -1.4124856] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.09849202  0.03413512] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-3.8421996  5.3154225] m/s.", "light_description": "There are active red lights at the following coordinates: [[-56.597767  49.640743]\n [-56.02983   48.320465]\n [-50.93014   64.73889 ]\n [-58.501022  52.14273 ]\n [-47.81593   66.39931 ]\n [-40.456387  51.611504]\n [-58.58579   56.029026]\n [-36.476627  54.67009 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.309801  -1.8541031], 3.7937424182891846 meters away.)"}
{"file_name": "images/scenario_962_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 1.6) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 5.2 meters away at (5.0, -1.4). A pedestrian with ID 4 is 9.8 meters away at (5.8, 8.0). A pedestrian with ID 3 is 9.9 meters away at (5.2, 8.4). A pedestrian with ID 7 is 10.9 meters away at (-1.9, 10.7). A vehicle with ID 69 is 12.0 meters away at (-9.1, 7.9). A vehicle with ID 9 is 12.7 meters away at (7.4, -10.3). A vehicle with ID 55 is 13.1 meters away at (10.3, -8.2). A pedestrian with ID 83 is 16.0 meters away at (14.6, -6.5). A pedestrian with ID 67 is 17.2 meters away at (-17.1, 1.4). A pedestrian with ID 70 is 18.2 meters away at (-18.1, 2.5).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.0068152  0.00049074] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00373635 -0.00098192] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.00283206  0.00221353] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.876916  7.56187 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.5823243  3.4053993] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.0610386 -1.0152065] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.01300877 0.01222179] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.0225886  0.02380806] m/s.", "light_description": "There are active red lights at the following coordinates: [[-56.597767  49.640743]\n [-56.02983   48.320465]\n [-50.93014   64.73889 ]\n [-58.501022  52.14273 ]\n [-47.81593   66.39931 ]\n [-58.58579   56.029026]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.04611   -1.3905869], 5.23421049118042 meters away.)"}
{"file_name": "images/scenario_963_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -5.3) m/s. Its current heading (yaw) is -1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 22.5 meters away at (-9.7, 20.3). A unknown object with ID 11 is 24.7 meters away at (13.1, -20.9). A pedestrian with ID 20 is 26.2 meters away at (25.7, -4.8). A vehicle with ID 17 is 29.2 meters away at (-8.9, 27.8). A pedestrian with ID 18 is 32.0 meters away at (-21.9, 23.3). A unknown object with ID 13 is 35.6 meters away at (29.4, -20.1). A pedestrian with ID 19 is 39.5 meters away at (-27.4, 28.5). A unknown object with ID 8 is 51.7 meters away at (-17.0, 48.8). A vehicle with ID 22 is 56.1 meters away at (-12.2, 54.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.229487  -4.9491086] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1864241   0.48822275] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.01704937 -0.02204891] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01822222 -0.0089574 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.21007796 -5.422171  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.68526  20.293755], 22.48645782470703 meters away.)"}
{"file_name": "images/scenario_963_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -5.5) m/s. Its current heading (yaw) is -1.16 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 20.1 meters away at (18.8, 7.2). A vehicle with ID 3 is 22.9 meters away at (-9.5, 20.9). A vehicle with ID 17 is 40.9 meters away at (-13.5, 38.6). A pedestrian with ID 18 is 43.3 meters away at (-26.6, 34.1). A vehicle with ID 22 is 58.0 meters away at (-16.2, 55.7).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.07086    0.5594759] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.4862378 -5.4302692] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.03537935  0.03695359] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.3121189 -4.340804 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [18.783371  7.175955], 20.107444763183594 meters away.)"}
{"file_name": "images/scenario_963_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -5.4) m/s. Its current heading (yaw) is -1.15 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 22.5 meters away at (11.6, 19.3). A vehicle with ID 3 is 23.0 meters away at (-9.7, 20.9). A vehicle with ID 17 is 52.8 meters away at (-18.3, 49.5). A vehicle with ID 22 is 63.2 meters away at (-20.9, 59.7).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.2059356   0.62310773] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.3425603 -5.3069735] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.26052836 -3.1245642 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [11.572706 19.310572], 22.51279067993164 meters away.)"}
{"file_name": "images/scenario_963_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -5.1) m/s. Its current heading (yaw) is -1.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 23.3 meters away at (-9.9, 21.1). A pedestrian with ID 20 is 31.1 meters away at (4.4, 30.8). A vehicle with ID 17 is 64.2 meters away at (-23.1, 59.9).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.1702988 -4.784506 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1040289  0.5492027] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.8714285 21.126823 ], 23.319257736206055 meters away.)"}
{"file_name": "images/scenario_964_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 6.4) m/s. Its current heading (yaw) is 2.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 10.4 meters away at (-4.8, 9.3). A vehicle with ID 52 is 14.3 meters away at (11.3, 8.8). A pedestrian with ID 46 is 19.3 meters away at (12.7, 14.5). A vehicle with ID 53 is 80.5 meters away at (56.1, -57.7).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.2958484  6.4560127] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.0014867 -0.9793715] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-272.4206237792969, 116.22261810302734)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.800356  9.260683], 10.430899620056152 meters away.)"}
{"file_name": "images/scenario_964_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 5.7) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 10.6 meters away at (-6.0, 8.7). A vehicle with ID 52 is 24.9 meters away at (24.7, -3.6). A pedestrian with ID 46 is 28.5 meters away at (28.5, 0.8).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.783491  5.550669] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.1584923 -0.6675554] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-272.4206237792969, 116.22261810302734)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.0382442  8.738955 ], 10.622133255004883 meters away.)"}
{"file_name": "images/scenario_964_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 5.1) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 12.1 meters away at (-8.2, 8.9). A vehicle with ID 52 is 41.8 meters away at (39.2, -14.5). A vehicle with ID 6 is 77.6 meters away at (-69.5, 34.6).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-8.925707  5.311674] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-272.4206237792969, 116.22261810302734)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.194969  8.888283], 12.089627265930176 meters away.)"}
{"file_name": "images/scenario_964_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 4.5) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 13.8 meters away at (-10.3, 9.2). A vehicle with ID 6 is 58.9 meters away at (-53.4, 24.9). A vehicle with ID 52 is 60.2 meters away at (55.2, -24.1).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.057597  4.773879] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-272.4206237792969, 116.22261810302734)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.254875   9.201359], 13.777789115905762 meters away.)"}
{"file_name": "images/scenario_965_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 9.6 meters away at (-3.9, -8.8). A unknown object with ID 3 is 11.0 meters away at (-7.6, 7.8). A unknown object with ID 7 is 28.2 meters away at (-1.8, 28.1). A unknown object with ID 8 is 28.4 meters away at (1.8, 28.3). A vehicle with ID 9 is 29.1 meters away at (10.2, 27.2). A vehicle with ID 10 is 36.1 meters away at (13.5, 33.5). A unknown object with ID 12 is 39.5 meters away at (-24.0, 31.4). A vehicle with ID 13 is 43.0 meters away at (17.6, 39.3). A vehicle with ID 5 is 52.5 meters away at (-25.7, -45.8). A unknown object with ID 14 is 54.3 meters away at (30.4, 45.0).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.509779  -7.6183906] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.987556   5.9847064]\n [ 3.3877962  8.373923 ]\n [ 5.525843  20.49303  ]\n [ 2.9354138  8.548769 ]\n [ 7.8007946 19.707895 ]\n [ 3.2884636 22.74537  ]]", "nav_goal": "(156.3765869140625, 241.5332794189453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.9497924 -8.791264 ], 9.637799263000488 meters away.)"}
{"file_name": "images/scenario_965_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 9.6 meters away at (-4.0, -8.8). A unknown object with ID 7 is 28.2 meters away at (-1.8, 28.1). A unknown object with ID 8 is 28.4 meters away at (1.8, 28.3). A vehicle with ID 9 is 29.1 meters away at (10.2, 27.2). A vehicle with ID 10 is 36.1 meters away at (13.5, 33.4). A unknown object with ID 12 is 39.5 meters away at (-24.0, 31.4). A vehicle with ID 13 is 43.0 meters away at (17.6, 39.3). A unknown object with ID 6 is 52.4 meters away at (-27.2, -44.7). A unknown object with ID 14 is 54.3 meters away at (30.4, 45.0). A vehicle with ID 5 is 68.2 meters away at (-33.6, -59.3).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.5865047 -6.551238 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.987556   5.9847064]\n [ 3.3877962  8.373923 ]\n [ 5.525843  20.49303  ]\n [ 2.9354138  8.548769 ]\n [ 7.8007946 19.707895 ]\n [ 3.2884636 22.74537  ]]", "nav_goal": "(156.3765869140625, 241.5332794189453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.969613 -8.784071], 9.639384269714355 meters away.)"}
{"file_name": "images/scenario_965_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 9.6 meters away at (-4.0, -8.8). A unknown object with ID 7 is 28.2 meters away at (-1.8, 28.2). A unknown object with ID 8 is 28.4 meters away at (1.8, 28.3). A vehicle with ID 9 is 29.1 meters away at (10.2, 27.2). A vehicle with ID 10 is 36.1 meters away at (13.5, 33.4). A unknown object with ID 12 is 39.5 meters away at (-24.0, 31.4). A vehicle with ID 13 is 43.0 meters away at (17.6, 39.3). A unknown object with ID 6 is 52.4 meters away at (-27.2, -44.7). A unknown object with ID 14 is 54.3 meters away at (30.4, 45.0).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.987556   5.9847064]\n [ 3.3877962  8.373923 ]\n [ 5.525843  20.49303  ]\n [ 2.9354138  8.548769 ]\n [ 7.8007946 19.707895 ]\n [ 3.2884636 22.74537  ]]", "nav_goal": "(156.3765869140625, 241.5332794189453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.9575844 -8.776225 ], 9.627284049987793 meters away.)"}
{"file_name": "images/scenario_965_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 9.7 meters away at (-4.0, -8.8). A unknown object with ID 2 is 10.9 meters away at (-7.6, 7.8). A unknown object with ID 7 is 28.2 meters away at (-1.8, 28.2). A unknown object with ID 8 is 28.4 meters away at (1.8, 28.3). A vehicle with ID 9 is 29.1 meters away at (10.2, 27.2). A vehicle with ID 10 is 36.1 meters away at (13.5, 33.5). A unknown object with ID 12 is 39.5 meters away at (-24.0, 31.4). A vehicle with ID 13 is 43.0 meters away at (17.6, 39.3). A unknown object with ID 6 is 52.4 meters away at (-27.2, -44.7). A unknown object with ID 14 is 54.3 meters away at (30.4, 45.0).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.987556   5.9847064]\n [ 3.3877962  8.373923 ]\n [ 5.525843  20.49303  ]\n [ 2.9354138  8.548769 ]\n [ 7.8007946 19.707895 ]\n [ 3.2884636 22.74537  ]]", "nav_goal": "(156.3765869140625, 241.5332794189453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.9634576 -8.818046 ], 9.667829513549805 meters away.)"}
{"file_name": "images/scenario_966_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.5) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A unknown object with ID 72 is 10.3 meters away at (-8.4, -6.0). A unknown object with ID 76 is 10.6 meters away at (-7.0, -8.0). A unknown object with ID 73 is 11.2 meters away at (-10.0, -5.0). A unknown object with ID 74 is 12.3 meters away at (-11.6, -4.0). A unknown object with ID 78 is 12.4 meters away at (-7.2, -10.1). A unknown object with ID 75 is 14.0 meters away at (-13.7, -2.6). A unknown object with ID 77 is 15.3 meters away at (-15.3, -1.4). A unknown object with ID 80 is 17.0 meters away at (-17.0, -0.1). A unknown object with ID 79 is 17.1 meters away at (-16.9, 2.4). A unknown object with ID 82 is 18.5 meters away at (-18.0, 4.2).", "velocity_description": "The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-62.051067  38.202892]\n [-59.65279   41.023666]\n [-59.929836  40.662067]\n [-62.925205  36.24807 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.42672  -5.999633], 10.344331741333008 meters away.)"}
{"file_name": "images/scenario_966_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 107 is 10.1 meters away at (6.9, -7.4). A unknown object with ID 72 is 10.6 meters away at (-9.0, -5.6). A unknown object with ID 76 is 10.7 meters away at (-7.5, -7.6). A unknown object with ID 78 is 12.4 meters away at (-7.7, -9.7). A unknown object with ID 77 is 16.0 meters away at (-15.9, -1.0). A unknown object with ID 80 is 17.5 meters away at (-17.5, 0.2). A unknown object with ID 79 is 17.6 meters away at (-17.4, 2.7). A unknown object with ID 82 is 19.0 meters away at (-18.4, 4.6). A unknown object with ID 84 is 19.4 meters away at (-19.3, 1.8). A unknown object with ID 85 is 20.3 meters away at (-19.5, 5.6).", "velocity_description": "The vehicle with ID 107 is traveling at a (x, y) velocity of [-7.2769003  2.7712033] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-62.051067  38.202892]\n [-59.65279   41.023666]\n [-59.929836  40.662067]\n [-62.925205  36.24807 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 6.8847704 -7.394769 ], 10.103596687316895 meters away.)"}
{"file_name": "images/scenario_966_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -1.2) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 107 is 8.4 meters away at (-8.4, 0.2). A unknown object with ID 76 is 11.0 meters away at (-8.7, -6.8). A unknown object with ID 72 is 11.2 meters away at (-10.1, -4.9). A unknown object with ID 16 is 12.5 meters away at (-11.9, -3.8). A unknown object with ID 78 is 12.5 meters away at (-8.9, -8.8). A unknown object with ID 10 is 13.6 meters away at (-13.3, -2.8). A unknown object with ID 54 is 14.7 meters away at (-14.6, -2.0). A unknown object with ID 12 is 15.5 meters away at (-15.4, -1.4). A unknown object with ID 77 is 16.9 meters away at (-16.9, -0.3). A unknown object with ID 80 is 18.7 meters away at (-18.7, 1.0).", "velocity_description": "The vehicle with ID 107 is traveling at a (x, y) velocity of [-6.6571617  4.069446 ] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-62.051067  38.202892]\n [-59.65279   41.023666]\n [-59.929836  40.662067]\n [-62.925205  36.24807 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.38806     0.21843004], 8.39090347290039 meters away.)"}
{"file_name": "images/scenario_966_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -3.7) m/s. Its current heading (yaw) is -0.93 ", "actor_description": " The most relevant actors are: A unknown object with ID 76 is 13.4 meters away at (-13.3, -2.0). A unknown object with ID 78 is 14.2 meters away at (-13.6, -4.1). A unknown object with ID 72 is 14.7 meters away at (-14.7, -0.1). A vehicle with ID 71 is 15.9 meters away at (4.0, -15.4). A unknown object with ID 16 is 16.4 meters away at (-16.4, 1.0). A unknown object with ID 20 is 16.8 meters away at (-16.3, -4.2). A unknown object with ID 10 is 18.2 meters away at (-18.1, 2.1). A unknown object with ID 54 is 19.8 meters away at (-19.5, 3.1). A unknown object with ID 12 is 20.1 meters away at (-19.8, 3.3). A unknown object with ID 77 is 22.0 meters away at (-21.5, 4.5).", "velocity_description": "The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-62.051067  38.202892]\n [-59.65279   41.023666]\n [-59.929836  40.662067]\n [-62.925205  36.24807 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-13.277144   -2.0068407], 13.42795467376709 meters away.)"}
{"file_name": "images/scenario_967_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.9) m/s. Its current heading (yaw) is -1.63 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 8.0 meters away at (-7.5, 2.7). A unknown object with ID 27 is 8.3 meters away at (-6.9, 4.6). A pedestrian with ID 30 is 10.3 meters away at (3.4, -9.7). A vehicle with ID 31 is 16.9 meters away at (-15.6, 6.6). A pedestrian with ID 29 is 19.9 meters away at (4.0, 19.5). A pedestrian with ID 32 is 28.4 meters away at (-9.8, 26.7). A pedestrian with ID 33 is 35.8 meters away at (-34.9, -7.9). A pedestrian with ID 6 is 44.2 meters away at (-42.7, -11.2). A pedestrian with ID 42 is 45.1 meters away at (-43.8, -10.9). A vehicle with ID 1 is 45.7 meters away at (1.2, 45.7).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.00255009 -0.00286831] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.54166955 5.636756  ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-5.7968241e-04  1.1507409e+00] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.05277874 0.00489016] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.44620067  1.0958858 ] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.5964938   0.44391564] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.7309477   0.29195842] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.9053638 -3.6177979] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -0.5675333 -18.521439 ]\n [  1.4015007 -18.268658 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.501453  2.729792], 7.982704162597656 meters away.)"}
{"file_name": "images/scenario_967_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.66 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 8.1 meters away at (-7.5, 3.1). A unknown object with ID 27 is 8.5 meters away at (-6.9, 5.0). A pedestrian with ID 30 is 10.0 meters away at (3.4, -9.4). A pedestrian with ID 29 is 22.6 meters away at (4.1, 22.2). A vehicle with ID 31 is 24.7 meters away at (-15.3, 19.5). A pedestrian with ID 32 is 28.8 meters away at (-9.7, 27.1). A vehicle with ID 36 is 33.0 meters away at (17.7, -27.9). A vehicle with ID 1 is 34.7 meters away at (-2.9, 34.5). A pedestrian with ID 33 is 36.4 meters away at (-36.0, -5.6). A pedestrian with ID 34 is 40.9 meters away at (-39.9, -8.9).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.00621594  0.01450298] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.02382106  1.1777499 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.11313348 6.739842  ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.0049036  0.02111184] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-7.1770597  2.6269038] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.74400705 -6.9812655 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.47064242  1.0244863 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.82722205  0.5374747 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -0.5675333 -18.521439 ]\n [  1.4015007 -18.268658 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.509365   3.1010582], 8.12447738647461 meters away.)"}
{"file_name": "images/scenario_967_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.66 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 8.1 meters away at (-7.5, 3.1). A unknown object with ID 27 is 8.6 meters away at (-6.9, 5.0). A pedestrian with ID 30 is 9.9 meters away at (3.4, -9.3). A vehicle with ID 1 is 20.6 meters away at (-3.4, 20.3). A vehicle with ID 36 is 22.8 meters away at (4.0, -22.4). A pedestrian with ID 29 is 24.9 meters away at (4.0, 24.5). A pedestrian with ID 32 is 28.8 meters away at (-9.7, 27.1). A vehicle with ID 31 is 36.7 meters away at (-15.0, 33.5). A pedestrian with ID 33 is 37.1 meters away at (-36.9, -3.8). A pedestrian with ID 34 is 42.5 meters away at (-41.7, -8.2).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.00049133 0.002137  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.11612745 -6.5957503 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-6.424927   2.9716978] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.05076228  1.1580825 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-6.189201e-05 -3.159360e-03] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.10388664 7.140497  ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.4769342   0.90770525] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.91944253  0.31819648] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -0.5675333 -18.521439 ]\n [  1.4015007 -18.268658 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.505895   3.1464248], 8.138700485229492 meters away.)"}
{"file_name": "images/scenario_967_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.66 ", "actor_description": " The most relevant actors are: A unknown object with ID 28 is 8.1 meters away at (-7.5, 3.2). A unknown object with ID 27 is 8.6 meters away at (-6.9, 5.0). A vehicle with ID 1 is 9.3 meters away at (-3.4, 8.6). A pedestrian with ID 30 is 9.9 meters away at (3.4, -9.3). A vehicle with ID 36 is 16.2 meters away at (-6.7, -14.8). A pedestrian with ID 29 is 27.1 meters away at (3.9, 26.8). A pedestrian with ID 32 is 28.8 meters away at (-9.7, 27.1). A pedestrian with ID 33 is 37.8 meters away at (-37.8, -2.1). A pedestrian with ID 34 is 43.3 meters away at (-42.6, -7.6). A pedestrian with ID 2 is 44.6 meters away at (-44.0, -7.3).", "velocity_description": "The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.016336  -5.0463905] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.00459717 -0.00074505] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-4.310576   4.9263144] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01209912  1.0670855 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.00031771 -0.00198255] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.59452057  0.5381459 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.17597121  0.13319471] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.3468405  0.11726081] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -0.5675333 -18.521439 ]\n [ -3.8089938 -16.673965 ]\n [ -6.9069724 -15.767931 ]\n [  1.4015007 -18.268658 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.5117025  3.1595283], 8.149128913879395 meters away.)"}
{"file_name": "images/scenario_968_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 6.9 meters away at (-5.2, 4.5). A vehicle with ID 19 is 9.0 meters away at (-8.9, -0.5). A vehicle with ID 2 is 9.0 meters away at (6.7, -6.1). A vehicle with ID 20 is 14.1 meters away at (-10.4, 9.5). A vehicle with ID 18 is 18.6 meters away at (13.8, -12.4). A vehicle with ID 32 is 23.5 meters away at (-17.4, 15.7). A vehicle with ID 17 is 25.1 meters away at (13.3, -21.3). A vehicle with ID 31 is 28.5 meters away at (20.8, -19.5). A vehicle with ID 29 is 34.5 meters away at (9.6, -33.1). A unknown object with ID 13 is 35.5 meters away at (-29.6, 19.6).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.4919212  -0.45595533] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 1.3655883 -1.2452165] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.2218823  4.529756 ], 6.912795543670654 meters away.)"}
{"file_name": "images/scenario_968_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -1.1) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 7.8 meters away at (-5.9, 5.1). A vehicle with ID 19 is 9.9 meters away at (-9.8, 0.4). A vehicle with ID 2 is 11.7 meters away at (8.6, -7.9). A vehicle with ID 20 is 15.2 meters away at (-11.2, 10.3). A vehicle with ID 18 is 20.4 meters away at (15.1, -13.7). A vehicle with ID 17 is 23.9 meters away at (12.4, -20.5). A vehicle with ID 32 is 24.6 meters away at (-18.2, 16.5). A vehicle with ID 31 is 27.3 meters away at (20.0, -18.7). A vehicle with ID 14 is 31.6 meters away at (-23.0, 21.7). A vehicle with ID 29 is 33.4 meters away at (8.7, -32.3).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.31968352 -0.30007008] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 1.6284256 -1.4711968] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.281413   -0.27390328] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.8771563  5.1214027], 7.795494079589844 meters away.)"}
{"file_name": "images/scenario_968_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -1.3) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 9.3 meters away at (6.9, -6.3). A vehicle with ID 1 is 9.4 meters away at (-7.1, 6.3). A vehicle with ID 19 is 13.5 meters away at (-13.1, 3.4). A vehicle with ID 18 is 16.0 meters away at (12.0, -10.7). A vehicle with ID 20 is 19.0 meters away at (-14.0, 12.8). A vehicle with ID 17 is 19.7 meters away at (9.2, -17.5). A vehicle with ID 31 is 22.9 meters away at (16.7, -15.6). A vehicle with ID 32 is 29.0 meters away at (-21.4, 19.5). A vehicle with ID 29 is 29.8 meters away at (5.5, -29.3). A vehicle with ID 14 is 36.2 meters away at (-26.4, 24.8).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.38284832 -0.34434012] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.9013404 -1.75166  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.66796666 -0.6144486 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 6.9061418 -6.282478 ], 9.336183547973633 meters away.)"}
{"file_name": "images/scenario_968_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 6.4 meters away at (-4.9, 4.2). A vehicle with ID 2 is 8.3 meters away at (6.1, -5.6). A vehicle with ID 19 is 14.4 meters away at (-13.8, 4.1). A vehicle with ID 18 is 15.4 meters away at (11.5, -10.3). A vehicle with ID 20 is 17.4 meters away at (-12.8, 11.8). A vehicle with ID 17 is 18.7 meters away at (8.4, -16.7). A vehicle with ID 31 is 23.2 meters away at (16.9, -15.9). A vehicle with ID 32 is 28.8 meters away at (-21.3, 19.4). A vehicle with ID 29 is 28.9 meters away at (4.8, -28.5). A vehicle with ID 6 is 30.3 meters away at (25.2, -16.8).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.5414791  -0.52054083] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.5580383  -0.51887786] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.1931597 -1.0883758] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 1.1370419 -1.1632677] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 0.8992647 -0.8624498] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-3.8677785  2.0895398] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.8528748  4.189274 ], 6.4109601974487305 meters away.)"}
{"file_name": "images/scenario_969_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.9) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A pedestrian with ID 43 is 5.6 meters away at (-2.6, -4.9). A pedestrian with ID 8 is 6.4 meters away at (-3.3, -5.5). A vehicle with ID 60 is 7.1 meters away at (-4.2, 5.8). A unknown object with ID 48 is 16.3 meters away at (9.5, 13.2). A vehicle with ID 42 is 24.8 meters away at (20.2, 14.5). A pedestrian with ID 23 is 27.0 meters away at (-24.0, 12.3). A vehicle with ID 52 is 27.1 meters away at (-23.6, 13.3). A unknown object with ID 57 is 27.9 meters away at (27.9, -1.4). A unknown object with ID 62 is 36.1 meters away at (34.4, -11.2). A unknown object with ID 63 is 40.6 meters away at (39.0, -11.2).", "velocity_description": "The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.6534644 -1.075438 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.6403539 -0.9815728] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ 0.39283973 -0.26774275] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.3843586 -1.8352085] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.02226298 -0.00920098] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.20063018798828, -47.7303466796875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-2.5935252 -4.9225883], 5.564013481140137 meters away.)"}
{"file_name": "images/scenario_969_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -3.5) m/s. Its current heading (yaw) is -1.15 ", "actor_description": " The most relevant actors are: A pedestrian with ID 43 is 5.7 meters away at (-4.9, -2.9). A pedestrian with ID 8 is 6.4 meters away at (-5.6, -3.0). A unknown object with ID 29 is 7.8 meters away at (-5.9, -5.0). A vehicle with ID 60 is 10.2 meters away at (-5.6, 8.5). A vehicle with ID 36 is 16.1 meters away at (-12.5, -10.2). A unknown object with ID 48 is 18.4 meters away at (5.9, 17.4). A vehicle with ID 42 is 21.0 meters away at (14.3, 15.5). A unknown object with ID 57 is 24.5 meters away at (24.3, 3.0). A unknown object with ID 62 is 31.6 meters away at (30.8, -6.8). A vehicle with ID 52 is 32.2 meters away at (-27.2, 17.3).", "velocity_description": "The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.46649414 -1.1188375 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.39717126 -1.0674266 ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ 1.9945532 -1.4293675] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.4774094 -2.021842 ] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.20063018798828, -47.7303466796875)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-4.911939  -2.9347725], 5.721890926361084 meters away.)"}
{"file_name": "images/scenario_969_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -4.0) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 43 is 6.2 meters away at (-5.4, 2.9). A pedestrian with ID 8 is 6.9 meters away at (-6.2, 3.1). A unknown object with ID 27 is 7.0 meters away at (-6.5, 2.7). A vehicle with ID 36 is 13.3 meters away at (-13.1, -1.9). A vehicle with ID 60 is 14.6 meters away at (-2.7, 14.3). A vehicle with ID 40 is 14.9 meters away at (-14.3, -4.3). A vehicle with ID 42 is 21.3 meters away at (10.1, 18.8). A vehicle with ID 35 is 23.7 meters away at (-19.9, -12.8). A vehicle with ID 1 is 26.1 meters away at (-1.3, -26.0). A unknown object with ID 57 is 26.1 meters away at (23.6, 11.2).", "velocity_description": "The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.2940227 -1.0869646] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.27053183 -1.0907683 ] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ 0.5244337 -0.3415365] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.2322628 -3.2777264] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0.4858222  0.86341864] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.6485611 2.0771184] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.20063018798828, -47.7303466796875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.442719  2.88696 ], 6.160984516143799 meters away.)"}
{"file_name": "images/scenario_969_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -4.1) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 43 is 10.1 meters away at (-1.6, 10.0). A vehicle with ID 36 is 10.8 meters away at (-8.8, 6.2). A pedestrian with ID 8 is 10.9 meters away at (-1.3, 10.8). A vehicle with ID 40 is 11.0 meters away at (-10.4, 3.5). A vehicle with ID 31 is 12.5 meters away at (-12.5, 1.0). A vehicle with ID 16 is 14.2 meters away at (-14.1, -1.0). A vehicle with ID 1 is 15.4 meters away at (4.4, -14.8). A pedestrian with ID 18 is 15.8 meters away at (-5.2, -15.0). A vehicle with ID 35 is 16.2 meters away at (-15.6, -4.4). A pedestrian with ID 2 is 16.2 meters away at (-6.4, -14.9).", "velocity_description": "The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.25628424 0.3090449 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.48410502 -0.25004217] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.33526123 1.0094787 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 1.5352495  -0.15452649] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.4730678  -0.10613103] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.20063018798828, -47.7303466796875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-1.6186683  9.967301 ], 10.097880363464355 meters away.)"}
{"file_name": "images/scenario_970_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 12.8 meters away at (9.4, -8.6). A pedestrian with ID 9 is 13.6 meters away at (9.9, -9.3). A unknown object with ID 11 is 15.5 meters away at (-15.0, 3.8). A unknown object with ID 12 is 15.9 meters away at (-15.8, 1.8). A unknown object with ID 13 is 16.0 meters away at (-14.2, 7.3). A unknown object with ID 6 is 16.9 meters away at (-14.7, 8.4). A vehicle with ID 14 is 17.7 meters away at (-11.7, 13.2). A unknown object with ID 15 is 18.9 meters away at (-18.9, -1.5). A vehicle with ID 16 is 21.3 meters away at (9.0, -19.3). A pedestrian with ID 18 is 22.6 meters away at (-20.3, -10.0).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00540389  0.00373185] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00229295  0.00485939] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.1972609  -0.47592533] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.2038401   -1.8793705 ]\n [ -0.75697136 -19.750748  ]\n [ -0.7366308  -19.031672  ]\n [ -0.75567555 -19.779474  ]\n [-39.55801    -42.32855   ]\n [ -0.76677126 -19.466265  ]\n [ -0.7556756  -19.779474  ]\n [  0.9444172   -2.6660035 ]\n [-39.84627    -42.1813    ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 9.435148 -8.590281], 12.759896278381348 meters away.)"}
{"file_name": "images/scenario_970_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 12.8 meters away at (9.5, -8.6). A pedestrian with ID 9 is 13.7 meters away at (9.9, -9.4). A unknown object with ID 4 is 15.3 meters away at (-14.6, 4.6). A unknown object with ID 11 is 15.5 meters away at (-15.0, 3.8). A unknown object with ID 12 is 15.9 meters away at (-15.8, 1.8). A unknown object with ID 13 is 16.0 meters away at (-14.2, 7.3). A vehicle with ID 14 is 17.7 meters away at (-11.7, 13.2). A unknown object with ID 15 is 18.9 meters away at (-18.8, -1.5). A vehicle with ID 16 is 21.3 meters away at (9.0, -19.3). A pedestrian with ID 18 is 25.2 meters away at (-22.7, -11.1).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00245229 -0.00213656] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00262745 -0.00290967] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.1925212  -0.62825584] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.2038401   -1.8793705 ]\n [ -0.75697136 -19.750748  ]\n [ -0.7366308  -19.031672  ]\n [ -0.75567555 -19.779474  ]\n [-39.55801    -42.32855   ]\n [ -0.76677126 -19.466265  ]\n [ -0.7556756  -19.779474  ]\n [  0.9444172   -2.6660035 ]\n [-39.84627    -42.1813    ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 9.533014 -8.611286], 12.846502304077148 meters away.)"}
{"file_name": "images/scenario_970_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 12.8 meters away at (9.5, -8.6). A pedestrian with ID 9 is 13.7 meters away at (9.9, -9.4). A unknown object with ID 4 is 15.3 meters away at (-14.6, 4.6). A unknown object with ID 11 is 15.5 meters away at (-15.0, 3.8). A unknown object with ID 12 is 15.9 meters away at (-15.8, 1.8). A unknown object with ID 13 is 16.0 meters away at (-14.2, 7.3). A vehicle with ID 14 is 17.7 meters away at (-11.7, 13.2). A unknown object with ID 15 is 18.9 meters away at (-18.8, -1.5). A vehicle with ID 16 is 21.3 meters away at (9.0, -19.3). A vehicle with ID 17 is 25.5 meters away at (-4.9, 25.1).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.01048684  0.00157446] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00029028 -0.00091945] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.2038401   -1.8793705 ]\n [ -0.75697136 -19.750748  ]\n [ -0.7366308  -19.031672  ]\n [ -0.75567555 -19.779474  ]\n [-39.55801    -42.32855   ]\n [ -0.76677126 -19.466265  ]\n [ -0.7556756  -19.779474  ]\n [  0.9444172   -2.6660035 ]\n [-39.84627    -42.1813    ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 9.502613 -8.635243], 12.840057373046875 meters away.)"}
{"file_name": "images/scenario_970_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A pedestrian with ID 8 is 12.9 meters away at (9.5, -8.6). A pedestrian with ID 9 is 13.7 meters away at (9.9, -9.4). A unknown object with ID 4 is 15.3 meters away at (-14.5, 4.6). A unknown object with ID 11 is 15.5 meters away at (-15.0, 3.8). A unknown object with ID 12 is 15.9 meters away at (-15.8, 1.8). A unknown object with ID 13 is 16.0 meters away at (-14.2, 7.3). A unknown object with ID 3 is 16.8 meters away at (-14.6, 8.2). A vehicle with ID 14 is 17.7 meters away at (-11.7, 13.2). A unknown object with ID 15 is 18.9 meters away at (-18.9, -1.5). A vehicle with ID 16 is 21.3 meters away at (9.0, -19.3).", "velocity_description": "The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.0048234  0.00861735] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00370824 -0.00233324] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.2038401   -1.8793705 ]\n [ -0.75697136 -19.750748  ]\n [ -0.7366308  -19.031672  ]\n [ -0.75567555 -19.779474  ]\n [-39.55801    -42.32855   ]\n [ -0.76677126 -19.466265  ]\n [ -0.7556756  -19.779474  ]\n [  0.9444172   -2.6660035 ]\n [-39.84627    -42.1813    ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 9.530742 -8.623673], 12.853123664855957 meters away.)"}
{"file_name": "images/scenario_971_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -5.3) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 12.5 meters away at (-10.3, 7.2). A vehicle with ID 125 is 12.9 meters away at (-11.7, -5.4). A unknown object with ID 86 is 17.0 meters away at (7.9, 15.1). A pedestrian with ID 58 is 17.5 meters away at (-17.3, 2.7). A unknown object with ID 53 is 17.7 meters away at (7.3, 16.1). A unknown object with ID 127 is 17.8 meters away at (-0.4, 17.8). A unknown object with ID 110 is 18.1 meters away at (-18.0, -2.2). A unknown object with ID 123 is 18.1 meters away at (-1.0, 18.1). A pedestrian with ID 108 is 18.9 meters away at (-18.9, -0.9). A unknown object with ID 107 is 19.2 meters away at (-19.2, 0.1).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [ 7.9878907 -5.10693  ] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00894913 -0.01661157] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [0.00615978 0.01811391] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  5.6168528 -13.366899 ]\n [  9.648566  -16.810972 ]\n [  9.377589  -16.47867  ]\n [  5.643793  -13.38183  ]]", "nav_goal": "(207.20950317382812, 32.14872741699219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.255372    7.1820135], 12.520142555236816 meters away.)"}
{"file_name": "images/scenario_971_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -5.4) m/s. Its current heading (yaw) is -0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 6.6 meters away at (-0.4, -6.6). A vehicle with ID 56 is 11.1 meters away at (4.7, -10.0). A vehicle with ID 71 is 12.9 meters away at (3.3, 12.5). A vehicle with ID 14 is 13.4 meters away at (-11.0, 7.6). A vehicle with ID 101 is 16.1 meters away at (9.4, -13.0). A unknown object with ID 65 is 16.7 meters away at (2.9, 16.4). A vehicle with ID 89 is 17.8 meters away at (17.6, 2.8). A unknown object with ID 95 is 17.8 meters away at (6.0, 16.8). A unknown object with ID 77 is 21.0 meters away at (20.2, -5.7). A vehicle with ID 52 is 21.7 meters away at (14.1, -16.5).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-9.365714   6.1536546] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.133025  -5.4193826] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [-9.063564  5.975483] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  5.6168528 -13.366899 ]\n [  9.648566  -16.810972 ]\n [  9.377589  -16.47867  ]\n [  5.643793  -13.38183  ]]", "nav_goal": "(207.20950317382812, 32.14872741699219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.42910385 -6.5553455 ], 6.5693745613098145 meters away.)"}
{"file_name": "images/scenario_971_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -5.3) m/s. Its current heading (yaw) is -0.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 6.1 meters away at (-2.3, -5.7). A unknown object with ID 77 is 6.3 meters away at (3.8, 5.0). A vehicle with ID 101 is 7.2 meters away at (-6.9, -2.2). A vehicle with ID 51 is 9.9 meters away at (3.1, -9.4). A vehicle with ID 56 is 11.6 meters away at (-11.6, 0.7). A vehicle with ID 14 is 13.3 meters away at (-11.1, 7.4). A vehicle with ID 38 is 14.9 meters away at (8.0, -12.5). A vehicle with ID 103 is 15.6 meters away at (9.1, 12.6). A vehicle with ID 104 is 17.3 meters away at (14.5, 9.3). A vehicle with ID 55 is 17.3 meters away at (-16.8, 4.3).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 7.8962893 -5.1828675] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  5.6168528 -13.366899 ]\n [  9.648566  -16.810972 ]\n [  9.377589  -16.47867  ]\n [  5.643793  -13.38183  ]]", "nav_goal": "(207.20950317382812, 32.14872741699219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.3058395 -5.667694 ], 6.118794918060303 meters away.)"}
{"file_name": "images/scenario_971_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -4.8) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 7.3 meters away at (-6.8, -2.6). A vehicle with ID 57 is 11.3 meters away at (10.1, 5.1). A vehicle with ID 51 is 11.8 meters away at (-11.8, 0.6). A vehicle with ID 14 is 13.7 meters away at (-11.4, 7.7). A vehicle with ID 102 is 16.4 meters away at (4.8, 15.7). A vehicle with ID 52 is 17.7 meters away at (-17.2, 4.3). A unknown object with ID 77 is 18.6 meters away at (-11.1, 14.9). A vehicle with ID 104 is 19.1 meters away at (-0.3, 19.1). A vehicle with ID 101 is 23.1 meters away at (-21.8, 7.8). A vehicle with ID 103 is 23.2 meters away at (-5.7, 22.5).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-8.7009735  5.7341566] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 6.9319425 -4.600562 ] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  5.6168528 -13.366899 ]\n [  5.643793  -13.38183  ]]", "nav_goal": "(207.20950317382812, 32.14872741699219)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.8016167 -2.637642 ], 7.295145034790039 meters away.)"}
{"file_name": "images/scenario_972_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.7) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 8.0 meters away at (7.6, 2.6). A vehicle with ID 82 is 9.4 meters away at (3.3, 8.8). A vehicle with ID 83 is 12.9 meters away at (9.6, 8.5). A vehicle with ID 88 is 13.2 meters away at (-12.8, -2.9). A vehicle with ID 86 is 17.4 meters away at (10.9, -13.5). A vehicle with ID 84 is 18.1 meters away at (11.4, 14.0). A vehicle with ID 87 is 19.0 meters away at (-19.0, -0.7). A vehicle with ID 85 is 19.3 meters away at (4.1, 18.9). A pedestrian with ID 37 is 22.7 meters away at (0.7, -22.7). A vehicle with ID 79 is 24.4 meters away at (12.4, -21.0).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-0.13317393 -0.33392864] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00828244  0.02248868] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(232.70672607421875, -71.89681243896484)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [7.576957 2.586519], 8.006270408630371 meters away.)"}
{"file_name": "images/scenario_972_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -4.2) m/s. Its current heading (yaw) is -1.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 80 is 12.1 meters away at (8.6, 8.5). A vehicle with ID 88 is 12.2 meters away at (-11.8, 3.0). A vehicle with ID 82 is 12.2 meters away at (3.2, 11.8). A vehicle with ID 86 is 14.1 meters away at (11.8, -7.6). A pedestrian with ID 43 is 17.8 meters away at (9.9, 14.7). A vehicle with ID 83 is 17.9 meters away at (10.7, 14.4). A vehicle with ID 87 is 18.9 meters away at (-18.1, 5.4). A vehicle with ID 79 is 20.1 meters away at (13.3, -15.1). A unknown object with ID 60 is 22.7 meters away at (21.7, -6.7). A vehicle with ID 84 is 23.5 meters away at (12.4, 20.0).", "velocity_description": "The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-1.0350218 -2.8635547] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.1218923  -0.00290434] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(232.70672607421875, -71.89681243896484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.579358 8.509743], 12.083919525146484 meters away.)"}
{"file_name": "images/scenario_972_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -2.9) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 86 is 6.0 meters away at (5.9, 1.0). A vehicle with ID 79 is 11.3 meters away at (8.9, -7.0). A vehicle with ID 82 is 15.0 meters away at (-3.1, 14.7). A vehicle with ID 78 is 16.5 meters away at (14.0, -8.7). A vehicle with ID 81 is 16.9 meters away at (16.5, -3.7). A vehicle with ID 80 is 17.0 meters away at (4.1, 16.5). A unknown object with ID 60 is 17.2 meters away at (17.1, 1.4). A vehicle with ID 88 is 19.7 meters away at (-16.4, 11.0). A vehicle with ID 95 is 21.0 meters away at (-15.7, -14.0). A vehicle with ID 77 is 21.5 meters away at (18.9, -10.4).", "velocity_description": "The vehicle with ID 86 is traveling at a (x, y) velocity of [-2.1734593   0.76064026] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-0.5177472 -1.5146147] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-4.028571   1.5156528] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(232.70672607421875, -71.89681243896484)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.877303   0.99563885], 5.961039066314697 meters away.)"}
{"file_name": "images/scenario_972_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 79 is 2.8 meters away at (-1.1, -2.5). A vehicle with ID 81 is 3.1 meters away at (0.6, 3.0). A vehicle with ID 78 is 5.8 meters away at (4.0, -4.2). A unknown object with ID 60 is 9.1 meters away at (7.1, 5.8). A vehicle with ID 77 is 10.6 meters away at (8.8, -5.9). A unknown object with ID 22 is 14.0 meters away at (9.0, -10.8). A vehicle with ID 31 is 14.4 meters away at (14.3, 1.5). A vehicle with ID 86 is 15.0 meters away at (-12.6, 8.1). A vehicle with ID 76 is 16.6 meters away at (14.6, -7.9). A vehicle with ID 80 is 21.8 meters away at (-6.0, 21.0).", "velocity_description": "The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-2.3036487   0.88061893] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-5.8780293  1.6968368] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(232.70672607421875, -71.89681243896484)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.1237822 -2.5101318], 2.750208854675293 meters away.)"}
{"file_name": "images/scenario_973_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -1.3) m/s. Its current heading (yaw) is -2.73 ", "actor_description": " The most relevant actors are: A pedestrian with ID 35 is 9.3 meters away at (-9.2, 1.7). A vehicle with ID 34 is 13.6 meters away at (5.6, 12.4). A vehicle with ID 32 is 13.6 meters away at (-12.4, -5.7). A vehicle with ID 5 is 16.6 meters away at (-3.4, 16.2). A vehicle with ID 36 is 19.5 meters away at (19.0, 4.7). A vehicle with ID 31 is 23.1 meters away at (-12.5, 19.4). A pedestrian with ID 38 is 24.5 meters away at (6.0, 23.8). A pedestrian with ID 40 is 25.9 meters away at (8.5, 24.4). A pedestrian with ID 41 is 27.2 meters away at (-1.2, 27.2). A vehicle with ID 39 is 27.4 meters away at (-24.0, 13.3).", "velocity_description": "The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.1880563  0.8340987] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.48473004  0.45882365] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.5167273 -2.2954314] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.3445137   0.63077515] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.9807585 -0.5232152] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.4914571  -0.31529936] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.5710306 -0.7351946] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.3278118   0.65568274] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-4.7276487  6.453168 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.880774    8.875266 ]\n [-11.564498    7.6879945]\n [-11.0030365   7.369227 ]\n [-11.218802    7.5078936]]", "nav_goal": "(-272.80120849609375, 119.00054931640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-9.158586   1.7463942], 9.323603630065918 meters away.)"}
{"file_name": "images/scenario_973_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -3.6) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 6.3 meters away at (-6.2, -1.1). A pedestrian with ID 35 is 9.5 meters away at (-5.3, 7.9). A pedestrian with ID 15 is 12.4 meters away at (12.4, -0.7). A vehicle with ID 5 is 14.4 meters away at (4.7, 13.6). A vehicle with ID 34 is 21.1 meters away at (10.5, 18.2). A vehicle with ID 31 is 21.9 meters away at (-3.1, 21.7). A vehicle with ID 36 is 24.4 meters away at (21.8, 11.0). A vehicle with ID 50 is 25.6 meters away at (13.9, 21.5). A vehicle with ID 44 is 26.2 meters away at (-24.7, 8.7). A unknown object with ID 16 is 29.9 meters away at (-24.7, 17.0).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.2071141  0.6686634] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-2.8922622  1.2803092] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.35968414 -4.924393  ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.2210076  1.3241698] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 2.2884398 -2.3786294] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.8281505  0.8583773] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [12.755984 -5.838909] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.880774    8.875266 ]\n [-11.564498    7.6879945]\n [-11.0030365   7.369227 ]\n [-11.218802    7.5078936]]", "nav_goal": "(-272.80120849609375, 119.00054931640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.1933737 -1.080205 ], 6.286868572235107 meters away.)"}
{"file_name": "images/scenario_973_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -5.7) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 8.2 meters away at (-0.9, 8.2). A unknown object with ID 8 is 12.4 meters away at (-11.6, 4.5). A unknown object with ID 7 is 12.7 meters away at (-12.1, 3.9). A unknown object with ID 9 is 13.2 meters away at (-12.2, 4.9). A vehicle with ID 5 is 13.6 meters away at (6.6, 11.8). A pedestrian with ID 15 is 16.9 meters away at (12.7, 11.1). A pedestrian with ID 35 is 18.8 meters away at (-2.3, 18.7). A vehicle with ID 31 is 25.0 meters away at (5.3, 24.4). A vehicle with ID 36 is 32.1 meters away at (23.1, 22.2). A unknown object with ID 16 is 32.7 meters away at (-19.4, 26.4).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.635635 -6.337807] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-2.1734598  1.0669475] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.2854985   0.58451366] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.41675252 -3.1557817 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.485633   1.0467517] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.880774    8.875266 ]\n [-11.564498    7.6879945]\n [-11.0030365   7.369227 ]\n [-11.218802    7.5078936]]", "nav_goal": "(-272.80120849609375, 119.00054931640625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.9315872  8.186422 ], 8.239256858825684 meters away.)"}
{"file_name": "images/scenario_973_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -6.7) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 9.2 meters away at (-9.1, -1.2). A vehicle with ID 5 is 12.4 meters away at (6.3, 10.7). A unknown object with ID 7 is 17.7 meters away at (-6.8, 16.4). A unknown object with ID 8 is 18.1 meters away at (-6.2, 17.0). A unknown object with ID 9 is 18.7 meters away at (-6.9, 17.4). A vehicle with ID 32 is 21.1 meters away at (4.4, 20.6). A pedestrian with ID 15 is 29.1 meters away at (13.4, 25.8). A pedestrian with ID 35 is 32.1 meters away at (0.4, 32.1). A vehicle with ID 31 is 34.9 meters away at (10.9, 33.1). A vehicle with ID 33 is 42.2 meters away at (-26.9, -32.6).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [2.819845 8.94243 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.1340532 -7.054826 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-2.8164215  0.7403037] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.378155    0.30293402] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-0.05525406 -0.76561916] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.880774    8.875266 ]\n [-11.564498    7.6879945]\n [-11.0030365   7.369227 ]\n [-11.218802    7.5078936]]", "nav_goal": "(-272.80120849609375, 119.00054931640625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-9.083944  -1.1679096], 9.15871524810791 meters away.)"}
{"file_name": "images/scenario_974_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 8.1) m/s. Its current heading (yaw) is 1.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 40.2 meters away at (-1.1, 40.2). A vehicle with ID 6 is 50.1 meters away at (1.1, 50.1). A vehicle with ID 21 is 70.7 meters away at (-66.4, -24.0).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0.41148585 2.9120762 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.0651023 40.20961  ], 40.22371292114258 meters away.)"}
{"file_name": "images/scenario_974_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 8.9) m/s. Its current heading (yaw) is 1.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 23.2 meters away at (-1.2, 23.2). A vehicle with ID 6 is 33.1 meters away at (0.9, 33.1). A unknown object with ID 12 is 76.0 meters away at (4.7, 75.9). A unknown object with ID 7 is 76.3 meters away at (5.7, 76.1).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.212381 23.20617 ], 23.237817764282227 meters away.)"}
{"file_name": "images/scenario_974_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 8.5) m/s. Its current heading (yaw) is 1.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 6.5 meters away at (-3.0, 5.8). A vehicle with ID 6 is 15.8 meters away at (-1.0, 15.7). A unknown object with ID 18 is 66.7 meters away at (12.7, 65.5).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.9822927  5.8018494], 6.5234599113464355 meters away.)"}
{"file_name": "images/scenario_974_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 7.1) m/s. Its current heading (yaw) is 1.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 3.7 meters away at (-3.7, 0.2). A vehicle with ID 20 is 11.2 meters away at (-5.7, -9.6). A unknown object with ID 16 is 37.6 meters away at (17.1, 33.5). A unknown object with ID 13 is 57.8 meters away at (24.5, 52.4).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.6699424   0.22106934], 3.6765947341918945 meters away.)"}
{"file_name": "images/scenario_975_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.7) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 10.0 meters away at (-8.9, 4.6). A vehicle with ID 26 is 12.2 meters away at (-5.1, 11.1). A vehicle with ID 29 is 13.4 meters away at (-9.6, 9.3). A vehicle with ID 28 is 13.8 meters away at (-10.0, 9.5). A vehicle with ID 55 is 21.0 meters away at (1.3, 20.9). A pedestrian with ID 31 is 23.3 meters away at (-13.4, 19.0). A pedestrian with ID 37 is 23.8 meters away at (-12.8, 20.1). A cyclist with ID 34 is 24.1 meters away at (-22.8, 7.7). A pedestrian with ID 22 is 24.1 meters away at (-12.4, 20.6). A pedestrian with ID 32 is 24.9 meters away at (-14.3, 20.4).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 7.125606  -3.0624123] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 7.193504  -3.2148044] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 7.015477  -2.9781585] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 0.21184541 -3.6657896 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3043249  -0.64244264] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.092272    0.70207524] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [ 2.6649013 -4.838588 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1688864   0.74772686] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.0542934  -0.74382067] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.22902     7.061243 ]\n [-16.276674    6.961142 ]\n [-29.689909    5.639207 ]\n [-26.373632    4.451935 ]\n [-25.812172    4.1331677]\n [-26.027937    4.2718344]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.937318  4.585202], 10.044885635375977 meters away.)"}
{"file_name": "images/scenario_975_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 8.4 meters away at (-7.5, 4.0). A cyclist with ID 41 is 8.4 meters away at (-4.0, 7.5). A vehicle with ID 28 is 8.9 meters away at (8.8, 1.3). A vehicle with ID 26 is 12.6 meters away at (12.0, 3.7). A vehicle with ID 55 is 16.1 meters away at (3.5, 15.7). A vehicle with ID 38 is 16.6 meters away at (-10.0, 13.2). A pedestrian with ID 31 is 19.7 meters away at (-9.3, 17.4). A pedestrian with ID 32 is 21.3 meters away at (-10.6, 18.5). A cyclist with ID 34 is 21.8 meters away at (-20.8, -6.6). A pedestrian with ID 30 is 24.6 meters away at (-14.0, 20.2).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [10.9409275 -4.382007 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 9.457155  -4.0933337] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 7.9677024 -3.4967244] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 0.28588548 -1.4383141 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.7603736 -2.5287504] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.2519525 -0.5242475] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.0922809 -0.5540009] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [-1.9556863 -7.665841 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.9571483 -0.5532145] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.22902     7.061243 ]\n [-16.276674    6.961142 ]\n [-29.689909    5.639207 ]\n [-26.373632    4.451935 ]\n [-25.812172    4.1331677]\n [-26.027937    4.2718344]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.455389  3.96051 ], 8.442065238952637 meters away.)"}
{"file_name": "images/scenario_975_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 8.3 meters away at (3.3, 7.7). A vehicle with ID 47 is 8.4 meters away at (-7.4, 4.0). A vehicle with ID 55 is 13.9 meters away at (4.3, 13.2). A pedestrian with ID 31 is 17.5 meters away at (-6.5, 16.3). A cyclist with ID 41 is 17.7 meters away at (17.6, -1.4). A pedestrian with ID 32 is 19.2 meters away at (-8.1, 17.4). A pedestrian with ID 30 is 23.1 meters away at (-12.2, 19.5). A vehicle with ID 13 is 26.6 meters away at (-24.1, 11.2). A pedestrian with ID 37 is 27.2 meters away at (-16.1, 21.9). A vehicle with ID 36 is 27.5 meters away at (-25.7, -9.6).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [ 7.264365  -2.9099727] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 0.44304165 -1.2460625 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.398356   -0.47942698] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [10.077206  -4.2284927] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.2034364  -0.49416742] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.8664682  -0.42008612] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.2917308   0.40822312] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.22902     7.061243 ]\n [-16.276674    6.961142 ]\n [-29.689909    5.639207 ]\n [-26.373632    4.451935 ]\n [-25.812172    4.1331677]\n [-26.027937    4.2718344]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.2601407 7.673582 ], 8.337408065795898 meters away.)"}
{"file_name": "images/scenario_975_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 11.1 meters away at (6.2, 9.2). A vehicle with ID 47 is 11.2 meters away at (-9.7, 5.6). A vehicle with ID 50 is 11.7 meters away at (6.7, -9.6). A pedestrian with ID 31 is 15.7 meters away at (-3.7, 15.3). A pedestrian with ID 32 is 17.4 meters away at (-5.8, 16.4). A vehicle with ID 38 is 18.3 meters away at (18.2, 1.2). A pedestrian with ID 30 is 21.5 meters away at (-10.4, 18.8). A vehicle with ID 17 is 23.3 meters away at (3.0, 23.1). A vehicle with ID 13 is 26.4 meters away at (-24.0, 11.1). A vehicle with ID 36 is 27.4 meters away at (-25.7, -9.7).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [ 2.2376223 -3.2261431] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-2.2255368  2.1199203] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-11.820816   4.994632] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.591847   -0.38872322] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.3489275  -0.30709127] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 7.650341  -3.2821214] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.91595864 -0.41412592] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.00230619 -0.6130792 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.22902     7.061243 ]\n [-49.644497   14.111682 ]\n [-16.276674    6.961142 ]\n [-29.689909    5.639207 ]\n [-26.373632    4.451935 ]\n [-25.812172    4.1331677]\n [-26.027937    4.2718344]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.1723394 9.173144 ], 11.056416511535645 meters away.)"}
{"file_name": "images/scenario_976_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 1.1) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 85 is 6.5 meters away at (-4.9, 4.4). A vehicle with ID 83 is 9.6 meters away at (-9.5, -1.4). A vehicle with ID 80 is 9.8 meters away at (-3.1, -9.3). A vehicle with ID 82 is 14.4 meters away at (-13.2, -5.6). A vehicle with ID 84 is 15.6 meters away at (-7.0, -14.0). A pedestrian with ID 54 is 15.8 meters away at (15.1, -4.7). A vehicle with ID 89 is 19.9 meters away at (-17.1, -10.0). A vehicle with ID 91 is 20.1 meters away at (-1.2, 20.1). A pedestrian with ID 87 is 20.7 meters away at (-20.1, -5.1). A vehicle with ID 90 is 22.0 meters away at (-11.3, -18.8).", "velocity_description": "The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.54368395 -1.1396842 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.00083556 -0.01059504] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-1.0852019 -1.2528529] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-57.10717  -63.93957 ]\n [-57.455334 -63.77473 ]\n [-56.127026 -64.41983 ]\n [-58.592472 -62.775406]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.885486  4.350607], 6.54184627532959 meters away.)"}
{"file_name": "images/scenario_976_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 3.6) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 85 is 9.3 meters away at (-9.2, -0.9). A vehicle with ID 83 is 14.8 meters away at (-13.5, -6.2). A vehicle with ID 80 is 15.9 meters away at (-7.2, -14.2). A vehicle with ID 91 is 16.1 meters away at (-5.2, 15.2). A vehicle with ID 86 is 19.4 meters away at (-12.3, -14.9). A vehicle with ID 94 is 20.1 meters away at (-10.7, 17.0). A vehicle with ID 82 is 20.2 meters away at (-17.3, -10.5). A vehicle with ID 84 is 21.9 meters away at (-11.1, -18.9). A vehicle with ID 81 is 21.9 meters away at (21.5, -4.3). A vehicle with ID 97 is 24.1 meters away at (-15.4, 18.6).", "velocity_description": "The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.01308728  0.02534396] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [2.6747286 3.0884552] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-9.224083   -0.86789036], 9.264822959899902 meters away.)"}
{"file_name": "images/scenario_976_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 5.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A cyclist with ID 117 is 13.3 meters away at (5.3, 12.2). A vehicle with ID 91 is 14.3 meters away at (-12.9, 6.2). A unknown object with ID 104 is 14.7 meters away at (12.4, 7.9). A unknown object with ID 38 is 16.0 meters away at (12.1, 10.5). A vehicle with ID 81 is 19.2 meters away at (13.8, -13.3). A vehicle with ID 94 is 20.1 meters away at (-18.4, 7.9). A pedestrian with ID 85 is 20.4 meters away at (-17.4, -10.7). A vehicle with ID 75 is 21.2 meters away at (8.1, 19.6). A cyclist with ID 20 is 23.0 meters away at (-22.9, 1.5). A vehicle with ID 86 is 23.6 meters away at (-15.0, -18.3).", "velocity_description": "The cyclist with ID 117 is traveling at a (x, y) velocity of [-3.9731352 -4.5843043] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.31820804 -0.8697474 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ 4.7900157 -2.1881866] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [2.1822546 2.4009488] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a cyclist at [ 5.255065 12.231926], 13.312990188598633 meters away.)"}
{"file_name": "images/scenario_976_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.2) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 38 is 3.3 meters away at (3.3, 0.1). A unknown object with ID 50 is 3.8 meters away at (3.4, -1.5). A unknown object with ID 104 is 4.4 meters away at (3.7, -2.4). A vehicle with ID 75 is 9.2 meters away at (-0.7, 9.2). A unknown object with ID 52 is 12.4 meters away at (9.8, 7.6). A cyclist with ID 117 is 13.5 meters away at (-11.2, -7.5). A vehicle with ID 62 is 14.2 meters away at (-13.9, 2.8). A vehicle with ID 74 is 14.5 meters away at (3.6, 14.0). A vehicle with ID 76 is 20.1 meters away at (7.4, 18.7). A unknown object with ID 72 is 20.7 meters away at (15.2, 14.0).", "velocity_description": "The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 117 is traveling at a (x, y) velocity of [-3.4534152 -4.548791 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [3.3345203  0.10781479], 3.3362629413604736 meters away.)"}
{"file_name": "images/scenario_977_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -5.0) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 17.4 meters away at (-16.4, 6.0). A pedestrian with ID 33 is 41.8 meters away at (35.9, 21.4). A cyclist with ID 24 is 52.2 meters away at (-10.7, 51.1). A unknown object with ID 29 is 58.6 meters away at (-44.7, 37.8). A unknown object with ID 31 is 59.9 meters away at (-44.0, 40.7). A unknown object with ID 32 is 62.9 meters away at (-44.9, 44.0). A vehicle with ID 39 is 66.9 meters away at (43.7, 50.7). A vehicle with ID 36 is 68.8 meters away at (-26.4, 63.6). A vehicle with ID 35 is 72.1 meters away at (-53.1, 48.8). A vehicle with ID 28 is 73.5 meters away at (73.2, -6.9).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.03532321 -0.0551368 ] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [ 4.5375724 -3.702978 ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 1.9574313 -1.7184907] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 5.0320272 -3.015173 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 97.80596  -29.643845]\n [ 99.37042  -27.916437]\n [ 99.4471   -27.987644]\n [ 99.18558  -27.931221]]", "nav_goal": "(-56.50840759277344, -217.72579956054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-16.379196   5.972905], 17.434267044067383 meters away.)"}
{"file_name": "images/scenario_977_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -5.2) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 32.6 meters away at (-28.6, 15.8). A pedestrian with ID 33 is 39.3 meters away at (23.7, 31.3). A cyclist with ID 24 is 54.6 meters away at (-13.6, 52.9). A vehicle with ID 28 is 67.5 meters away at (67.5, -1.1). A unknown object with ID 29 is 74.3 meters away at (-56.8, 47.9). A unknown object with ID 31 is 75.7 meters away at (-56.2, 50.7). A vehicle with ID 13 is 76.0 meters away at (59.0, -47.9). A vehicle with ID 15 is 78.0 meters away at (70.4, -33.6). A vehicle with ID 36 is 78.5 meters away at (-35.1, 70.2).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.05790094 -0.06042111] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [ 4.7827287 -4.120295 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.4143894 -1.0403085] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.710476  5.7963333] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [5.83867  7.006371] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 1.3928949 -1.8162417] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 97.80596  -29.643845]\n [ 99.37042  -27.916437]\n [ 99.4471   -27.987644]\n [ 99.18558  -27.931221]]", "nav_goal": "(-56.50840759277344, -217.72579956054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-28.573645  15.795885], 32.64908981323242 meters away.)"}
{"file_name": "images/scenario_977_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -5.3) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 43.0 meters away at (11.0, 41.5). A unknown object with ID 23 is 48.8 meters away at (-41.2, 26.1). A unknown object with ID 21 is 53.1 meters away at (50.5, -16.3). A vehicle with ID 28 is 56.7 meters away at (56.0, 8.5). A cyclist with ID 24 is 57.4 meters away at (-16.4, 54.9). A vehicle with ID 12 is 59.2 meters away at (45.9, -37.3). A vehicle with ID 13 is 61.7 meters away at (56.1, -25.6). A vehicle with ID 15 is 71.0 meters away at (70.5, -8.2).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.02978395 -0.13527341] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [ 5.0993323 -3.8983495] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [5.4315386 6.619325 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [5.047671 6.217569] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [7.0738745 7.882732 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 97.80596  -29.643845]\n [ 99.37042  -27.916437]\n [ 99.4471   -27.987644]\n [ 99.18558  -27.931221]]", "nav_goal": "(-56.50840759277344, -217.72579956054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [10.961292 41.528122], 42.95037841796875 meters away.)"}
{"file_name": "images/scenario_977_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -5.1) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 38.2 meters away at (34.5, 16.5). A vehicle with ID 9 is 43.5 meters away at (32.1, -29.4). A vehicle with ID 12 is 46.8 meters away at (44.9, -13.4). A vehicle with ID 28 is 47.4 meters away at (43.6, 18.5). A pedestrian with ID 33 is 51.8 meters away at (-1.4, 51.8). A vehicle with ID 13 is 55.1 meters away at (55.0, -1.6). A cyclist with ID 24 is 60.7 meters away at (-17.5, 58.2). A vehicle with ID 4 is 60.9 meters away at (60.0, 10.3). A vehicle with ID 15 is 76.6 meters away at (74.2, 18.8).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [5.6789703 6.759994 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [5.6669827 6.8311324] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.01366074 -0.03629936] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [6.0010114 7.2951074] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [ 5.9204865 -2.8633893] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-7.085103  -8.1456175] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [8.423747 8.368413] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 97.80596  -29.643845]\n [ 99.37042  -27.916437]\n [ 99.4471   -27.987644]\n [124.99386  -41.16947 ]\n [124.9898   -41.175472]\n [125.95068  -40.108917]\n [ 99.18558  -27.931221]\n [125.200905 -41.30958 ]]", "nav_goal": "(-56.50840759277344, -217.72579956054688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [34.482983 16.525204], 38.238182067871094 meters away.)"}
{"file_name": "images/scenario_978_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, 5.3) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A pedestrian with ID 104 is 10.4 meters away at (-9.4, 4.5). A pedestrian with ID 110 is 10.7 meters away at (8.8, -6.1). A pedestrian with ID 105 is 11.1 meters away at (-9.8, 5.1). A pedestrian with ID 103 is 14.7 meters away at (-14.3, 3.2). A pedestrian with ID 52 is 17.8 meters away at (8.6, 15.5). A pedestrian with ID 59 is 21.6 meters away at (-11.4, -18.4). A vehicle with ID 102 is 22.0 meters away at (-21.0, -6.5). A vehicle with ID 14 is 22.1 meters away at (-18.9, -11.5). A pedestrian with ID 115 is 24.2 meters away at (24.1, -2.0). A pedestrian with ID 76 is 25.5 meters away at (-15.0, -20.6).", "velocity_description": "The pedestrian with ID 104 is traveling at a (x, y) velocity of [1.4216038 0.6853334] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-1.3312547 -0.4844428] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [1.4302765 0.6729223] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [0.9805029 1.0042208] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [1.5979606  0.88567907] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.07082675 0.03163876] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [1.331577  4.5009165] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [6.850872 4.272098] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [ 0.33884764 -0.3750691 ] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.04024116 0.00750128] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-9.3964615  4.496916 ], 10.417088508605957 meters away.)"}
{"file_name": "images/scenario_978_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.1, 5.7) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 52 is 8.9 meters away at (-6.1, 6.4). A vehicle with ID 100 is 12.2 meters away at (11.2, -4.8). A pedestrian with ID 115 is 15.6 meters away at (6.9, -14.0). A vehicle with ID 101 is 18.3 meters away at (18.3, -1.0). A pedestrian with ID 110 is 21.8 meters away at (-11.7, -18.5). A vehicle with ID 14 is 24.4 meters away at (-20.9, -12.7). A pedestrian with ID 104 is 25.3 meters away at (-24.7, -5.3). A pedestrian with ID 105 is 25.5 meters away at (-25.1, -4.6). A pedestrian with ID 103 is 31.0 meters away at (-30.5, -5.9). A vehicle with ID 106 is 32.9 meters away at (-26.3, -19.7).", "velocity_description": "The pedestrian with ID 52 is traveling at a (x, y) velocity of [1.4873794 1.03123  ] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [ 0.03995406 -0.4225478 ] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-1.4010763 -0.80647  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [8.475757 5.298147] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [1.1372105 0.6460923] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [1.0956802  0.62435657] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [0.756126   0.97408605] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [5.9056044 3.9139278] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.141363   6.4006653], 8.87044906616211 meters away.)"}
{"file_name": "images/scenario_978_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.9, 5.6) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 101 is 12.2 meters away at (0.2, -12.2). A vehicle with ID 123 is 14.2 meters away at (13.9, 3.0). A pedestrian with ID 58 is 15.8 meters away at (15.7, -1.8). A pedestrian with ID 47 is 16.4 meters away at (16.2, -2.5). A vehicle with ID 100 is 17.4 meters away at (-6.9, -16.0). A pedestrian with ID 52 is 22.0 meters away at (-21.8, -2.9). A vehicle with ID 14 is 25.8 meters away at (-22.0, -13.5). A vehicle with ID 31 is 27.7 meters away at (27.7, -1.9). A pedestrian with ID 115 is 27.8 meters away at (-11.1, -25.5). A pedestrian with ID 11 is 30.4 meters away at (29.8, 5.7).", "velocity_description": "The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.90234256 -0.60433364] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.930296  -0.5854587] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [1.2844193 1.1320887] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [8.306863  5.1384573] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [-0.01562929  0.01622276] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.707097  0.7424505] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [  0.19413376 -12.20956   ], 12.211103439331055 meters away.)"}
{"file_name": "images/scenario_978_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, 4.2) m/s. Its current heading (yaw) is 0.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 123 is 7.6 meters away at (-3.4, -6.8). A pedestrian with ID 58 is 13.6 meters away at (-3.4, -13.2). A pedestrian with ID 11 is 13.8 meters away at (13.6, -2.8). A pedestrian with ID 47 is 14.1 meters away at (-2.9, -13.8). A vehicle with ID 31 is 15.6 meters away at (10.2, -11.7). A pedestrian with ID 29 is 18.4 meters away at (18.3, -1.6). A vehicle with ID 14 is 27.3 meters away at (-23.6, -13.7). A vehicle with ID 101 is 28.0 meters away at (-17.2, -22.0). A vehicle with ID 100 is 35.5 meters away at (-24.3, -25.9). A pedestrian with ID 52 is 38.2 meters away at (-36.6, -11.0).", "velocity_description": "The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.0186963 -0.8514703] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.719112   0.55068934] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.9670475 -0.8445481] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.3514334 -1.1799699] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [7.6693163 4.7134   ] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [1.340673  0.8506507] m/s.", "light_description": "There are active red lights at the following coordinates: [[129.76776  72.63702]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.4188538 -6.769886 ], 7.584188461303711 meters away.)"}
{"file_name": "images/scenario_979_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 4.0 meters away at (0.5, 3.9). A pedestrian with ID 62 is 5.3 meters away at (4.9, -2.0). A pedestrian with ID 60 is 6.9 meters away at (-0.9, -6.9). A vehicle with ID 4 is 7.0 meters away at (-0.3, 7.0). A pedestrian with ID 63 is 7.2 meters away at (-0.2, -7.2). A vehicle with ID 6 is 7.6 meters away at (-6.9, 3.0). A pedestrian with ID 59 is 8.1 meters away at (8.1, -1.0). A pedestrian with ID 64 is 8.2 meters away at (7.5, -3.2). A pedestrian with ID 49 is 8.6 meters away at (-0.8, -8.5). A pedestrian with ID 58 is 8.9 meters away at (8.8, -1.6).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [3.0118656 1.753124 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.5452054 -0.647932 ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.54902214 0.3086711 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [2.1731994 1.3573171] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.62628394 0.4147555 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.89966995 0.5378942 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.01163855 -0.00323239] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.00096091 -0.02407255] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.04723271 -0.02734653] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.01371042 -0.0184789 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-48.841946 -19.502865]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [0.5170619 3.9498484], 3.983548164367676 meters away.)"}
{"file_name": "images/scenario_979_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 1.7) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 62 is 5.0 meters away at (-0.6, -4.9). A pedestrian with ID 59 is 5.9 meters away at (5.3, -2.7). A vehicle with ID 6 is 6.2 meters away at (-4.0, 4.8). A pedestrian with ID 58 is 6.7 meters away at (5.8, -3.3). A pedestrian with ID 65 is 7.7 meters away at (6.7, -3.9). A pedestrian with ID 60 is 8.4 meters away at (-2.4, -8.0). A pedestrian with ID 63 is 8.4 meters away at (-1.6, -8.2). A pedestrian with ID 67 is 10.3 meters away at (10.2, -1.5). A pedestrian with ID 49 is 10.9 meters away at (-3.5, -10.3). A vehicle with ID 2 is 11.4 meters away at (8.0, 8.1).", "velocity_description": "The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.3518833 -0.7953813] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.02183533 -0.00519247] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [4.5878963 2.7934875] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.01980654 -0.00202407] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.01045739  0.00641754] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.644871   0.48589242] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.6100876 0.4573068] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.05017149 -0.00398219] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.19966546 -0.1484886 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [6.6124787 3.91657  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-48.841946 -19.502865]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-0.6221839 -4.940803 ], 4.979824066162109 meters away.)"}
{"file_name": "images/scenario_979_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 3.5) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 67 is 7.0 meters away at (1.9, -6.8). A vehicle with ID 6 is 7.1 meters away at (-0.1, 7.1). A pedestrian with ID 59 is 8.4 meters away at (-3.1, -7.8). A pedestrian with ID 58 is 8.8 meters away at (-2.5, -8.4). A pedestrian with ID 65 is 9.2 meters away at (-1.7, -9.0). A pedestrian with ID 46 is 10.8 meters away at (-3.6, -10.2). A pedestrian with ID 77 is 14.8 meters away at (14.7, 1.5). A pedestrian with ID 69 is 15.3 meters away at (15.2, 1.0). A pedestrian with ID 63 is 15.3 meters away at (-8.8, -12.6). A pedestrian with ID 60 is 15.6 meters away at (-9.5, -12.4).", "velocity_description": "The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.03034173 -0.00410324] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [7.4004626 4.6108108] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.06045438 0.21127799] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00085094  0.10958119] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.01045251  0.01513317] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.00788529 -0.00584435] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.3044249 -0.609345 ] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-1.2227687 -0.5968434] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.6884043 0.5897149] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.74590266 0.53715277] m/s.", "light_description": "There are active red lights at the following coordinates: [[-48.841946 -19.502865]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 1.8586416 -6.7968493], 7.046396732330322 meters away.)"}
{"file_name": "images/scenario_979_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, 4.3) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A pedestrian with ID 77 is 7.1 meters away at (-0.3, -7.1). A pedestrian with ID 69 is 7.8 meters away at (0.2, -7.8). A pedestrian with ID 72 is 9.4 meters away at (7.6, -5.6). A vehicle with ID 6 is 9.9 meters away at (3.2, 9.3). A pedestrian with ID 28 is 14.1 meters away at (-7.1, -12.2). A pedestrian with ID 68 is 14.2 meters away at (14.2, 0.7). A pedestrian with ID 70 is 14.5 meters away at (14.5, 0.1). A pedestrian with ID 67 is 17.9 meters away at (-10.6, -14.5). A pedestrian with ID 65 is 21.9 meters away at (-14.2, -16.7). A pedestrian with ID 58 is 22.1 meters away at (-15.0, -16.1).", "velocity_description": "The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.0986687  -0.56947696] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-1.1500684 -0.5812377] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [1.1750374  0.71349573] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [7.808026  4.9478774] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.04515257  0.04565809] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-1.1603558 -0.5159881] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.1572497 -0.5426529] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.01760523 0.01745882] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.00167235 0.03370057] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.01794178 0.02697597] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-0.32816505 -7.134559  ], 7.1421027183532715 meters away.)"}
{"file_name": "images/scenario_980_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.5) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 9.8 meters away at (0.8, 9.8). A vehicle with ID 53 is 10.8 meters away at (-0.3, -10.8). A vehicle with ID 52 is 15.2 meters away at (2.6, 15.0). A vehicle with ID 54 is 19.4 meters away at (11.6, 15.5). A unknown object with ID 56 is 19.6 meters away at (-19.6, -0.8). A vehicle with ID 55 is 21.3 meters away at (4.6, 20.8). A vehicle with ID 62 is 23.4 meters away at (16.8, -16.3). A unknown object with ID 41 is 23.9 meters away at (-23.9, 0.7). A vehicle with ID 57 is 25.4 meters away at (13.9, 21.3). A vehicle with ID 49 is 26.2 meters away at (14.5, -21.8).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-5.274065  1.932809] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-4.15562    1.3669171] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(95.94551086425781, 65.6395492553711)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.82555455 9.781424  ], 9.816200256347656 meters away.)"}
{"file_name": "images/scenario_980_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -3.8) m/s. Its current heading (yaw) is -1.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 12.2 meters away at (-12.1, -1.1). A vehicle with ID 50 is 15.0 meters away at (1.9, 14.9). A vehicle with ID 62 is 15.4 meters away at (12.2, -9.3). A unknown object with ID 56 is 19.0 meters away at (-18.5, 4.4). A vehicle with ID 52 is 20.5 meters away at (3.7, 20.2). A vehicle with ID 58 is 22.1 meters away at (-15.2, -16.0). A vehicle with ID 49 is 22.8 meters away at (15.5, -16.7). A unknown object with ID 41 is 23.6 meters away at (-22.8, 5.9). A vehicle with ID 54 is 24.3 meters away at (12.8, 20.6). A vehicle with ID 55 is 26.5 meters away at (5.7, 25.9).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [-7.424224   2.4497075] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.5420109  0.4377739] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(95.94551086425781, 65.6395492553711)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.125229   -1.0919614], 12.174299240112305 meters away.)"}
{"file_name": "images/scenario_980_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -3.7) m/s. Its current heading (yaw) is -0.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 8.3 meters away at (8.3, -0.7). A vehicle with ID 49 is 15.2 meters away at (12.7, -8.4). A vehicle with ID 58 is 19.5 meters away at (-17.9, -7.7). A vehicle with ID 48 is 20.4 meters away at (17.7, -10.1). A vehicle with ID 65 is 22.1 meters away at (-7.0, -20.9). A vehicle with ID 50 is 23.2 meters away at (-0.9, 23.2). A vehicle with ID 63 is 24.2 meters away at (-20.1, -13.6). A unknown object with ID 56 is 24.8 meters away at (-21.3, 12.7). A vehicle with ID 66 is 25.7 meters away at (-15.8, -20.2). A vehicle with ID 47 is 26.2 meters away at (23.2, -12.1).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [-0.31840804  0.0947685 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(95.94551086425781, 65.6395492553711)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.310503  -0.7054739], 8.34039306640625 meters away.)"}
{"file_name": "images/scenario_980_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -1.6) m/s. Its current heading (yaw) is -0.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 4.8 meters away at (3.0, -3.8). A vehicle with ID 62 is 5.9 meters away at (-3.7, 4.5). A vehicle with ID 48 is 9.6 meters away at (7.8, -5.6). A vehicle with ID 47 is 15.4 meters away at (13.5, -7.4). A unknown object with ID 38 is 21.1 meters away at (21.1, 0.6). A vehicle with ID 65 is 23.4 meters away at (-16.6, -16.5). A vehicle with ID 9 is 27.9 meters away at (27.7, -2.8). A vehicle with ID 58 is 27.9 meters away at (-27.7, -3.4). A vehicle with ID 50 is 29.7 meters away at (-10.9, 27.6). A vehicle with ID 66 is 30.0 meters away at (-25.4, -15.9).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-2.3360538  0.7325138] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(95.94551086425781, 65.6395492553711)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.9688578 -3.8180447], 4.836484432220459 meters away.)"}
{"file_name": "images/scenario_981_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.3) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 4.1 meters away at (-1.9, 3.6). A vehicle with ID 47 is 5.3 meters away at (5.3, -0.1). A vehicle with ID 50 is 8.4 meters away at (6.9, 4.9). A vehicle with ID 48 is 8.5 meters away at (-0.7, 8.5). A vehicle with ID 51 is 13.8 meters away at (0.9, 13.8). A vehicle with ID 54 is 16.4 meters away at (9.7, 13.3). A unknown object with ID 31 is 18.3 meters away at (13.4, 12.4). A vehicle with ID 66 is 18.4 meters away at (-18.0, -3.6). A vehicle with ID 55 is 20.1 meters away at (2.7, 19.9). A vehicle with ID 26 is 24.2 meters away at (-24.1, -1.7).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.82481384277344, 61.24346160888672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.9470136  3.6179256], 4.108558177947998 meters away.)"}
{"file_name": "images/scenario_981_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 4.3 meters away at (-1.9, 3.8). A vehicle with ID 47 is 5.4 meters away at (5.4, 0.1). A vehicle with ID 50 is 8.6 meters away at (6.9, 5.1). A vehicle with ID 48 is 8.7 meters away at (-0.6, 8.7). A vehicle with ID 51 is 13.9 meters away at (0.9, 13.9). A vehicle with ID 54 is 16.6 meters away at (9.8, 13.5). A vehicle with ID 66 is 18.3 meters away at (-18.0, -3.4). A unknown object with ID 31 is 18.4 meters away at (13.4, 12.6). A vehicle with ID 55 is 20.4 meters away at (2.8, 20.2). A vehicle with ID 26 is 24.1 meters away at (-24.0, -1.4).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.82481384277344, 61.24346160888672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.8784332  3.8233006], 4.259828567504883 meters away.)"}
{"file_name": "images/scenario_981_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.6) m/s. Its current heading (yaw) is -1.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 6.4 meters away at (-1.1, 6.3). A vehicle with ID 47 is 6.6 meters away at (6.1, 2.6). A vehicle with ID 50 is 10.8 meters away at (7.7, 7.6). A vehicle with ID 48 is 11.2 meters away at (0.2, 11.2). A vehicle with ID 51 is 16.5 meters away at (1.8, 16.4). A vehicle with ID 66 is 17.2 meters away at (-17.2, -0.8). A vehicle with ID 54 is 19.1 meters away at (10.6, 15.9). A vehicle with ID 55 is 23.0 meters away at (3.6, 22.7). A vehicle with ID 26 is 23.0 meters away at (-23.0, 1.1). A vehicle with ID 49 is 24.6 meters away at (14.2, -20.1).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.82481384277344, 61.24346160888672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.088074  6.348305], 6.440876007080078 meters away.)"}
{"file_name": "images/scenario_981_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -4.4) m/s. Its current heading (yaw) is -1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 11.5 meters away at (6.1, 9.7). A vehicle with ID 44 is 13.7 meters away at (-1.1, 13.6). A vehicle with ID 50 is 16.6 meters away at (7.8, 14.7). A vehicle with ID 48 is 18.5 meters away at (0.3, 18.5). A vehicle with ID 66 is 18.5 meters away at (-17.3, 6.6). A vehicle with ID 49 is 19.0 meters away at (13.8, -13.0). A vehicle with ID 65 is 20.8 meters away at (-11.8, -17.1). A vehicle with ID 67 is 20.9 meters away at (-16.6, -12.6). A vehicle with ID 8 is 23.5 meters away at (22.5, -6.8). A vehicle with ID 51 is 23.7 meters away at (1.9, 23.6).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(97.82481384277344, 61.24346160888672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [6.0934772 9.734833 ], 11.484661102294922 meters away.)"}
{"file_name": "images/scenario_982_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 4.1 meters away at (-0.6, 4.1). A unknown object with ID 16 is 8.2 meters away at (-7.6, 3.0). A vehicle with ID 15 is 8.5 meters away at (-7.5, -3.9). A vehicle with ID 17 is 9.7 meters away at (-6.3, -7.4). A vehicle with ID 27 is 18.5 meters away at (-18.3, -2.7). A vehicle with ID 19 is 23.5 meters away at (18.8, -14.2). A vehicle with ID 30 is 24.6 meters away at (-24.5, 2.2). A vehicle with ID 21 is 26.7 meters away at (25.4, 8.1). A vehicle with ID 18 is 26.8 meters away at (2.5, 26.7). A unknown object with ID 22 is 28.3 meters away at (-23.7, -15.4).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.5280067  1.239327 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.6945977  4.085558 ] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.055754   8.023059 ]\n [13.607809  22.29542  ]\n [ 8.39875   10.267535 ]\n [12.220972  24.008127 ]\n [10.061264   6.987145 ]\n [ 5.9207335 12.203236 ]\n [13.539178  22.65963  ]]", "nav_goal": "(197.53492736816406, 176.52456665039062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.6340371  4.053356 ], 4.102645397186279 meters away.)"}
{"file_name": "images/scenario_982_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 4.1 meters away at (-0.7, 4.0). A unknown object with ID 16 is 8.2 meters away at (-7.6, 3.0). A vehicle with ID 15 is 8.5 meters away at (-7.5, -3.9). A vehicle with ID 17 is 9.7 meters away at (-6.3, -7.4). A cyclist with ID 10 is 15.6 meters away at (-15.6, 0.6). A vehicle with ID 27 is 18.5 meters away at (-18.3, -2.7). A vehicle with ID 21 is 22.9 meters away at (17.5, 14.8). A vehicle with ID 19 is 23.6 meters away at (18.8, -14.1). A vehicle with ID 30 is 24.6 meters away at (-24.5, 2.2). A unknown object with ID 22 is 28.3 meters away at (-23.7, -15.4).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [ 1.7710987  -0.40355444] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-5.740681   4.7526255] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.055754   8.023059 ]\n [13.607809  22.29542  ]\n [ 8.39875   10.267535 ]\n [12.220972  24.008127 ]\n [10.061264   6.987145 ]\n [ 5.9207335 12.203236 ]\n [13.539178  22.65963  ]]", "nav_goal": "(197.53492736816406, 176.52456665039062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.6514176  4.0277076], 4.080045700073242 meters away.)"}
{"file_name": "images/scenario_982_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 4.1 meters away at (-0.7, 4.0). A unknown object with ID 16 is 8.2 meters away at (-7.6, 3.0). A vehicle with ID 15 is 8.5 meters away at (-7.5, -3.9). A vehicle with ID 17 is 9.7 meters away at (-6.4, -7.4). A vehicle with ID 27 is 18.5 meters away at (-18.3, -2.7). A vehicle with ID 7 is 23.4 meters away at (16.7, -16.4). A vehicle with ID 19 is 23.6 meters away at (18.8, -14.2). A vehicle with ID 30 is 24.7 meters away at (-24.6, 2.2). A vehicle with ID 21 is 26.1 meters away at (4.4, 25.7). A vehicle with ID 52 is 26.6 meters away at (24.4, 10.6).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-6.9670277  5.8948445] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-3.0267024  3.3834124] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.055754   8.023059 ]\n [13.607809  22.29542  ]\n [ 8.39875   10.267535 ]\n [12.220972  24.008127 ]\n [10.061264   6.987145 ]\n [ 5.9207335 12.203236 ]\n [13.539178  22.65963  ]]", "nav_goal": "(197.53492736816406, 176.52456665039062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.65174204  4.0377464 ], 4.090007781982422 meters away.)"}
{"file_name": "images/scenario_982_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 4.1 meters away at (-0.6, 4.0). A unknown object with ID 16 is 8.2 meters away at (-7.7, 3.0). A vehicle with ID 15 is 8.5 meters away at (-7.5, -3.9). A vehicle with ID 17 is 9.7 meters away at (-6.3, -7.4). A vehicle with ID 27 is 18.5 meters away at (-18.3, -2.7). A vehicle with ID 7 is 23.4 meters away at (16.7, -16.3). A vehicle with ID 19 is 23.5 meters away at (18.8, -14.1). A vehicle with ID 30 is 24.6 meters away at (-24.5, 2.2). A vehicle with ID 52 is 27.5 meters away at (20.1, 18.8). A unknown object with ID 22 is 28.3 meters away at (-23.7, -15.4).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-0.633617   4.3609166] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.055754   8.023059 ]\n [13.607809  22.29542  ]\n [ 8.39875   10.267535 ]\n [12.220972  24.008127 ]\n [10.061264   6.987145 ]\n [ 5.9207335 12.203236 ]\n [13.539178  22.65963  ]]", "nav_goal": "(197.53492736816406, 176.52456665039062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.64262784  4.0393014 ], 4.09010124206543 meters away.)"}
{"file_name": "images/scenario_983_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.8) m/s. Its current heading (yaw) is -1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 14.3 meters away at (-3.2, -13.9). A vehicle with ID 49 is 20.6 meters away at (-4.7, -20.0). A vehicle with ID 1 is 26.5 meters away at (-25.9, -5.8). A vehicle with ID 33 is 28.5 meters away at (-26.5, 10.3). A vehicle with ID 46 is 31.5 meters away at (-27.0, -16.1). A vehicle with ID 9 is 33.0 meters away at (-29.9, -13.8). A vehicle with ID 47 is 34.7 meters away at (-19.3, -28.8). A vehicle with ID 50 is 37.1 meters away at (-29.1, -23.1). A vehicle with ID 52 is 37.7 meters away at (-32.1, -19.8). A vehicle with ID 41 is 39.6 meters away at (16.8, -35.8).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.2585756 0.4094412] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 5.533169 14.93058 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0.06746796 0.38819414] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ -2.827236 -14.238552] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.1057673  1.4534549] m/s.", "light_description": "There are active red lights at the following coordinates: [[-33.39576     9.211008 ]\n [-13.278988  -16.725866 ]\n [-34.307747    6.4444685]\n [-12.421431  -14.228858 ]\n [-25.025244  -15.547924 ]\n [-14.644954  -19.63728  ]\n [-28.770315  -14.664199 ]\n [-11.686003  -11.098231 ]\n [-28.81662   -14.909874 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -3.2472718 -13.879142 ], 14.253959655761719 meters away.)"}
{"file_name": "images/scenario_983_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -2.1) m/s. Its current heading (yaw) is -1.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 12.2 meters away at (-4.5, -11.3). A vehicle with ID 49 is 18.5 meters away at (-6.1, -17.5). A vehicle with ID 60 is 22.4 meters away at (-5.9, 21.6). A vehicle with ID 1 is 26.3 meters away at (-26.2, -2.3). A vehicle with ID 46 is 30.6 meters away at (-27.9, -12.5). A vehicle with ID 41 is 32.3 meters away at (6.0, -31.7). A vehicle with ID 9 is 33.0 meters away at (-31.1, -10.9). A cyclist with ID 35 is 35.6 meters away at (-31.3, -16.9). A vehicle with ID 50 is 36.5 meters away at (-30.4, -20.2). A vehicle with ID 52 is 37.4 meters away at (-33.4, -16.9).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ -5.3430343 -13.687264 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.6007117  0.76833993] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0.2380642 0.7767441] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-4.3123026  0.4433727] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.16764063 0.60797304] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [1.024504  3.4092739] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0.05094891 0.60190535] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0.04281409 1.0671791 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.57307     -6.203417  ]\n [-12.3880825   -2.796294  ]\n [-33.39576      9.211008  ]\n [-14.737092     0.97825325]\n [-13.278988   -16.725866  ]\n [-34.307747     6.4444685 ]\n [-12.421431   -14.228858  ]\n [-25.025244   -15.547924  ]\n [-14.644954   -19.63728   ]\n [-28.770315   -14.664199  ]\n [-11.686003   -11.098231  ]\n [-28.81662    -14.909874  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -4.539522 -11.323269], 12.19933032989502 meters away.)"}
{"file_name": "images/scenario_983_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -3.5) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 10.9 meters away at (-9.6, -5.2). A vehicle with ID 49 is 15.9 meters away at (-11.2, -11.2). A vehicle with ID 60 is 20.2 meters away at (-20.2, 0.5). A pedestrian with ID 26 is 23.6 meters away at (-18.2, -15.1). A vehicle with ID 41 is 28.1 meters away at (-8.2, -26.8). A vehicle with ID 18 is 28.6 meters away at (3.8, -28.3). A vehicle with ID 1 is 28.9 meters away at (-28.2, 6.5). A vehicle with ID 46 is 31.9 meters away at (-31.7, -3.5). A cyclist with ID 34 is 32.0 meters away at (17.8, -26.6). A vehicle with ID 9 is 35.4 meters away at (-35.3, -2.2).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ -3.9494631 -13.713554 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.04668038  0.03705142] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.1668544 -2.1113389] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-6.253971   1.3126924] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.2073762 1.7677333] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [1.1979561 1.8857502] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [-10.617206    5.2718115] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [1.1133897 2.2535806] m/s.", "light_description": "There are active red lights at the following coordinates: [[-33.39576     9.211008 ]\n [-13.278988  -16.725866 ]\n [-34.307747    6.4444685]\n [-12.421431  -14.228858 ]\n [-25.025244  -15.547924 ]\n [-14.644954  -19.63728  ]\n [-28.770315  -14.664199 ]\n [-11.686003  -11.098231 ]\n [-28.81662   -14.909874 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-9.550971 -5.177226], 10.86391830444336 meters away.)"}
{"file_name": "images/scenario_983_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -3.7) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A cyclist with ID 34 is 12.8 meters away at (-8.7, -9.4). A vehicle with ID 48 is 20.1 meters away at (-20.0, 1.9). A vehicle with ID 49 is 22.0 meters away at (-21.7, -4.1). A vehicle with ID 18 is 27.4 meters away at (-17.6, -21.0). A vehicle with ID 1 is 31.5 meters away at (-27.7, 15.0). A vehicle with ID 46 is 38.5 meters away at (-37.7, 7.5). A vehicle with ID 41 is 39.3 meters away at (-29.0, -26.5). A vehicle with ID 60 is 42.5 meters away at (-37.2, -20.7). A vehicle with ID 9 is 42.7 meters away at (-41.4, 10.7). A vehicle with ID 50 is 44.7 meters away at (-44.7, -1.8).", "velocity_description": "The cyclist with ID 34 is traveling at a (x, y) velocity of [-7.1723795  4.209515 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.827616   -0.95571744] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.8739676 -1.3719728] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [2.9012067 1.5414598] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-4.2353063 -3.695155 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ -2.2537727 -14.179308 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [3.5272489 2.6346948] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0.8177935 2.3136296] m/s.", "light_description": "There are active red lights at the following coordinates: [[-33.39576     9.211008 ]\n [-13.278988  -16.725866 ]\n [-34.307747    6.4444685]\n [-12.421431  -14.228858 ]\n [-14.644954  -19.63728  ]\n [-11.686003  -11.098231 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-8.6754675 -9.385893 ], 12.7811861038208 meters away.)"}
{"file_name": "images/scenario_984_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 1.5) m/s. Its current heading (yaw) is 2.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 11.9 meters away at (5.4, -10.7). A vehicle with ID 1 is 17.1 meters away at (15.0, -8.2). A vehicle with ID 15 is 44.9 meters away at (42.0, -15.9). A unknown object with ID 8 is 74.4 meters away at (50.8, -54.3).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.3813628  -0.45239335] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.656478   3.0700881] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(171.32676696777344, -160.43069458007812)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [  5.353258 -10.678863], 11.945521354675293 meters away.)"}
{"file_name": "images/scenario_984_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -2.7) m/s. Its current heading (yaw) is -2.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 14.4 meters away at (14.4, -1.2). A pedestrian with ID 9 is 19.7 meters away at (16.0, -11.5). A vehicle with ID 15 is 53.8 meters away at (51.7, -14.9).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.7490115  2.6355379] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.6576508  -0.96986264] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(171.32676696777344, -160.43069458007812)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [14.382843  -1.2092476], 14.433588027954102 meters away.)"}
{"file_name": "images/scenario_984_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -3.9) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 14.0 meters away at (10.6, 9.2). A pedestrian with ID 9 is 23.5 meters away at (22.7, -6.1). A vehicle with ID 15 is 57.7 meters away at (57.2, -7.6).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.7577047  -0.23358686] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.35645524 -0.6844247 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(171.32676696777344, -160.43069458007812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.562658  9.20318 ], 14.009577751159668 meters away.)"}
{"file_name": "images/scenario_984_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -2.0) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 12.6 meters away at (5.9, 11.1). A pedestrian with ID 9 is 26.1 meters away at (26.1, -0.7). A vehicle with ID 15 is 60.3 meters away at (60.3, -1.3).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.6271038 -2.8868985] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.02656884 -0.02027511] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(171.32676696777344, -160.43069458007812)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.9095154 11.12637  ], 12.598352432250977 meters away.)"}
{"file_name": "images/scenario_985_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.4) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 3.2 meters away at (-2.7, -1.7). A vehicle with ID 26 is 8.5 meters away at (6.3, -5.7). A unknown object with ID 20 is 36.0 meters away at (-35.0, -8.1). A unknown object with ID 30 is 38.2 meters away at (-16.2, -34.6). A vehicle with ID 40 is 46.9 meters away at (41.4, -22.1). A unknown object with ID 1 is 47.6 meters away at (-45.8, -12.8). A pedestrian with ID 35 is 47.6 meters away at (-42.1, -22.2). A vehicle with ID 32 is 48.0 meters away at (-10.7, -46.8). A vehicle with ID 33 is 48.8 meters away at (48.8, 0.2). A vehicle with ID 34 is 51.9 meters away at (-51.8, 3.2).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [ 4.5356784 -3.976717 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.95006746  0.8880195 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.4429425 -1.4990721] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-145.63246154785156, -204.41192626953125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.7320623 -1.7088512], 3.2224738597869873 meters away.)"}
{"file_name": "images/scenario_985_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.2) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 10.3 meters away at (7.8, -6.7). A vehicle with ID 27 is 17.0 meters away at (10.6, -13.3). A unknown object with ID 20 is 33.5 meters away at (-31.8, -10.8). A unknown object with ID 1 is 45.3 meters away at (-42.7, -15.3). A pedestrian with ID 35 is 48.5 meters away at (-40.1, -27.3). A vehicle with ID 34 is 48.6 meters away at (-48.6, 0.5). A vehicle with ID 40 is 51.1 meters away at (44.6, -25.0). A vehicle with ID 32 is 51.3 meters away at (-8.6, -50.5). A vehicle with ID 37 is 51.5 meters away at (-51.5, -2.4). A vehicle with ID 33 is 52.0 meters away at (51.9, -2.7).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.4318144  1.2492802] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 5.988212  -5.3398833] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.56008244 -1.2964109 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.1673648 -1.4876188] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-145.63246154785156, -204.41192626953125)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 7.832862 -6.705968], 10.31134033203125 meters away.)"}
{"file_name": "images/scenario_985_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -0.6) m/s. Its current heading (yaw) is -3.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 12.8 meters away at (11.5, -5.7). A unknown object with ID 20 is 27.3 meters away at (-23.8, -13.4). A unknown object with ID 1 is 39.0 meters away at (-34.8, -17.7). A vehicle with ID 34 is 40.6 meters away at (-40.6, -2.1). A unknown object with ID 16 is 42.1 meters away at (-42.0, 2.7). A vehicle with ID 27 is 42.3 meters away at (31.9, -27.8). A vehicle with ID 37 is 43.9 meters away at (-43.7, -4.9). A pedestrian with ID 35 is 46.5 meters away at (-33.5, -32.2). A vehicle with ID 3 is 50.3 meters away at (-31.4, -39.3). A vehicle with ID 40 is 59.4 meters away at (52.6, -27.7).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.274449   1.9964106] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 7.0970435 -6.249709 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.7765451 -1.210295 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-145.63246154785156, -204.41192626953125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.507566 -5.685608], 12.835506439208984 meters away.)"}
{"file_name": "images/scenario_985_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -3.4) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 14.7 meters away at (14.1, 4.1). A unknown object with ID 1 is 29.3 meters away at (-26.0, -13.5). A vehicle with ID 34 is 32.1 meters away at (-32.0, 2.5). A vehicle with ID 37 is 35.1 meters away at (-35.1, -0.2). A vehicle with ID 3 is 38.0 meters away at (-20.0, -32.3). A vehicle with ID 2 is 38.3 meters away at (-20.5, -32.3). A vehicle with ID 23 is 38.9 meters away at (-38.0, 8.6). A pedestrian with ID 35 is 40.1 meters away at (-26.3, -30.2). A vehicle with ID 22 is 46.8 meters away at (-26.4, -38.7). A unknown object with ID 7 is 47.8 meters away at (6.4, -47.4).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.183232  3.471021] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.9190197 -1.13141  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-145.63246154785156, -204.41192626953125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [14.130888   4.1125493], 14.717168807983398 meters away.)"}
{"file_name": "images/scenario_986_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 3.2 meters away at (3.1, -0.6). A vehicle with ID 5 is 7.0 meters away at (-3.7, -5.9). A pedestrian with ID 72 is 9.7 meters away at (6.3, -7.3). A pedestrian with ID 71 is 11.4 meters away at (4.8, -10.4). A pedestrian with ID 57 is 11.8 meters away at (8.5, -8.2). A cyclist with ID 60 is 12.0 meters away at (8.4, 8.5). A pedestrian with ID 68 is 16.3 meters away at (0.6, 16.3). A cyclist with ID 50 is 16.4 meters away at (0.6, 16.4). A vehicle with ID 67 is 20.3 meters away at (-6.2, -19.3). A pedestrian with ID 79 is 21.0 meters away at (20.4, -5.0).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.76139075 1.1891689 ] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.91237277 1.2639533 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.5908226 1.197926 ] m/s.The cyclist with ID 60 is traveling at a (x, y) velocity of [ 3.9237552 -3.1100087] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 2.4646516 -2.6220517] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [ 2.4664974 -2.717687 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.8883009  0.7073288] m/s.", "light_description": "There are active red lights at the following coordinates: [[2.860422  3.3651283]\n [2.390784  3.677232 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.1089783 -0.6289662], 3.171962261199951 meters away.)"}
{"file_name": "images/scenario_986_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.9) m/s. Its current heading (yaw) is 1.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 3.0 meters away at (2.8, -1.3). A vehicle with ID 5 is 7.8 meters away at (-4.1, -6.6). A pedestrian with ID 72 is 9.7 meters away at (7.6, -6.0). A pedestrian with ID 71 is 10.6 meters away at (6.0, -8.7). A pedestrian with ID 57 is 11.4 meters away at (9.3, -6.6). A pedestrian with ID 68 is 11.7 meters away at (5.4, 10.4). A cyclist with ID 60 is 15.7 meters away at (15.7, 1.2). A pedestrian with ID 79 is 19.1 meters away at (18.6, -4.6). A pedestrian with ID 81 is 19.8 meters away at (19.4, -4.1). A unknown object with ID 51 is 20.0 meters away at (-20.0, 0.5).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.89948964 1.0288932 ] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.9151442 1.4898587] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.755574  1.1951662] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 2.4645882 -2.3704696] m/s.The cyclist with ID 60 is traveling at a (x, y) velocity of [ 4.0676613 -3.0772238] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.4864681  0.5745713] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.21647614  0.38888153] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.3324776 14.877704 ]\n [ 5.8570223 14.890224 ]\n [ 2.860422   3.3651283]\n [ 2.390784   3.677232 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.752753  -1.2690667], 3.031200885772705 meters away.)"}
{"file_name": "images/scenario_986_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 2.2) m/s. Its current heading (yaw) is 1.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 3.7 meters away at (1.8, -3.2). A cyclist with ID 37 is 9.0 meters away at (8.3, 3.6). A vehicle with ID 5 is 9.3 meters away at (-4.8, -7.9). A pedestrian with ID 72 is 10.8 meters away at (8.0, -7.3). A pedestrian with ID 71 is 11.1 meters away at (6.6, -9.0). A pedestrian with ID 57 is 11.6 meters away at (9.2, -7.1). A unknown object with ID 35 is 17.4 meters away at (-17.1, -3.0). A pedestrian with ID 79 is 17.9 meters away at (16.6, -6.6). A pedestrian with ID 81 is 19.2 meters away at (18.0, -6.8). A unknown object with ID 69 is 20.9 meters away at (20.4, -4.7).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0.5692469 0.7582062] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [ 2.1965191 -2.244885 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0.81870097 1.4093417 ] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.91137195 0.6807327 ] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [1.0764263 1.0291433] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.81098044 0.7405445 ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.01221297 -0.01985306] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.00035615 -0.01585693] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.3324776 14.877704 ]\n [ 5.8570223 14.890224 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.78986  -3.185291], 3.6537210941314697 meters away.)"}
{"file_name": "images/scenario_986_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 4.4) m/s. Its current heading (yaw) is 1.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 7.7 meters away at (1.5, -7.6). A vehicle with ID 5 is 10.3 meters away at (-4.5, -9.3). A cyclist with ID 37 is 13.5 meters away at (10.9, -8.0). A pedestrian with ID 72 is 14.9 meters away at (7.5, -12.9). A pedestrian with ID 71 is 15.2 meters away at (6.2, -13.9). A pedestrian with ID 57 is 15.2 meters away at (8.7, -12.5). A pedestrian with ID 79 is 19.3 meters away at (14.0, -13.3). A pedestrian with ID 81 is 20.5 meters away at (15.3, -13.6). A vehicle with ID 54 is 20.8 meters away at (-8.8, 18.8). A unknown object with ID 69 is 21.1 meters away at (17.7, -11.5).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [1.8139361 1.3561413] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [1.9199123 3.5598762] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [ 2.7046895 -2.4229805] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [1.0564654  0.39112985] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [1.0805618  0.77797216] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.94615084 0.5367414 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.0168892   0.01266734] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.0341349  -0.00817272] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[22.815208   5.051275 ]\n [ 2.3324776 14.877704 ]\n [ 5.8570223 14.890224 ]\n [22.73269    5.399924 ]\n [22.980688   5.771168 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.4672222 -7.5799694], 7.720665454864502 meters away.)"}
{"file_name": "images/scenario_987_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.4) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A unknown object with ID 46 is 10.4 meters away at (9.5, -4.3). A vehicle with ID 69 is 11.8 meters away at (-11.6, -2.0). A unknown object with ID 50 is 15.7 meters away at (-15.7, 0.2). A cyclist with ID 70 is 18.0 meters away at (-14.5, -10.7). A vehicle with ID 10 is 18.5 meters away at (3.9, 18.1). A pedestrian with ID 11 is 21.5 meters away at (-11.7, 18.0). A vehicle with ID 44 is 26.8 meters away at (-13.5, -23.2). A vehicle with ID 47 is 33.0 meters away at (-15.7, -29.0). A pedestrian with ID 64 is 39.1 meters away at (-3.3, 38.9). A vehicle with ID 71 is 41.2 meters away at (-32.0, -26.0).", "velocity_description": "The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [3.8469586 9.5558605] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [3.9321885 9.149298 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.3361895 -7.4839406] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.5073447 -1.3075421] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.10562618 0.9537723 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [4.197832  1.2261697] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.86539  -52.545216]\n [-26.64524  -52.65635 ]\n [-26.748306 -52.32433 ]\n [-37.653183 -63.881584]\n [-33.99121  -65.248955]\n [-34.336906 -65.068855]\n [-33.775448 -65.38763 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 9.499926  -4.2619696], 10.412155151367188 meters away.)"}
{"file_name": "images/scenario_987_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.4) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 14.2 meters away at (-8.4, -11.5). A unknown object with ID 50 is 15.9 meters away at (-10.5, 11.9). A unknown object with ID 46 is 16.3 meters away at (14.6, 7.3). A vehicle with ID 10 is 16.9 meters away at (3.3, 16.6). A vehicle with ID 71 is 19.8 meters away at (-17.6, -9.1). A vehicle with ID 47 is 20.3 meters away at (-10.6, -17.3). A cyclist with ID 70 is 21.6 meters away at (-0.4, 21.6). A unknown object with ID 37 is 24.1 meters away at (-14.5, -19.3). A pedestrian with ID 11 is 28.1 meters away at (-7.6, 27.0). A vehicle with ID 69 is 30.2 meters away at (1.8, 30.1).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.4144409 -5.7199087] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [4.6441493 4.373481 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [ 4.545141  10.9028225] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.6119623 -1.4078006] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 4.309549 10.377186] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.86539  -52.545216]\n [-26.64524  -52.65635 ]\n [-26.748306 -52.32433 ]\n [-37.653183 -63.881584]\n [-33.99121  -65.248955]\n [-57.60777  -55.40911 ]\n [-34.336906 -65.068855]\n [-33.775448 -65.38763 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -8.397373 -11.490475], 14.23189640045166 meters away.)"}
{"file_name": "images/scenario_987_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -3.9) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 5.0 meters away at (-4.4, -2.2). A vehicle with ID 47 is 10.5 meters away at (-6.8, -8.0). A vehicle with ID 71 is 13.9 meters away at (-5.3, 12.9). A vehicle with ID 10 is 17.0 meters away at (3.3, 16.7). A unknown object with ID 50 is 22.2 meters away at (-6.5, 21.2). A pedestrian with ID 68 is 24.2 meters away at (-22.2, -9.6). A unknown object with ID 46 is 24.9 meters away at (18.6, 16.5). A pedestrian with ID 63 is 26.2 meters away at (-26.2, -0.5). A pedestrian with ID 11 is 34.0 meters away at (-4.8, 33.7). A cyclist with ID 33 is 48.7 meters away at (-27.6, -40.1).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [3.663403 8.07265 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.5768628 -3.7190797] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.04496113 -0.08039609] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.70123196 -0.555779  ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.7167266 -1.2794803] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-0.08582729  0.00162392] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.86539  -52.545216]\n [-26.64524  -52.65635 ]\n [-26.748306 -52.32433 ]\n [-37.653183 -63.881584]\n [-33.99121  -65.248955]\n [-34.336906 -65.068855]\n [-23.55376  -54.777443]\n [-33.775448 -65.38763 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.444724  -2.2357063], 4.975334644317627 meters away.)"}
{"file_name": "images/scenario_987_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.9) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 4.0 meters away at (-2.0, 3.4). A vehicle with ID 47 is 4.8 meters away at (-4.3, -2.2). A vehicle with ID 10 is 16.8 meters away at (3.2, 16.5). A pedestrian with ID 68 is 19.9 meters away at (-19.5, -4.3). A pedestrian with ID 63 is 23.0 meters away at (-22.7, 3.7). A pedestrian with ID 30 is 24.8 meters away at (-9.4, 23.0). A unknown object with ID 50 is 27.3 meters away at (-4.0, 27.0). A unknown object with ID 46 is 30.7 meters away at (21.1, 22.3). A pedestrian with ID 11 is 37.1 meters away at (-3.5, 36.9). A vehicle with ID 71 is 37.1 meters away at (4.7, 36.8).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.0431397 -2.3939142] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.1329373 -0.7000079] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.5590049  -0.53702384] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.5188641 -1.3389512] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.51266026 -1.1843551 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [3.9421432 9.571461 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.86539  -52.545216]\n [-26.64524  -52.65635 ]\n [-26.748306 -52.32433 ]\n [-37.653183 -63.881584]\n [-34.336906 -65.068855]\n [-23.55376  -54.777443]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.023346   3.4383583], 3.989515781402588 meters away.)"}
{"file_name": "images/scenario_988_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 0.1) m/s. Its current heading (yaw) is 0.09 ", "actor_description": " The most relevant actors are: A pedestrian with ID 55 is 13.2 meters away at (-7.7, -10.7). A vehicle with ID 58 is 15.2 meters away at (7.2, -13.4). A vehicle with ID 54 is 16.9 meters away at (-16.7, -2.7). A unknown object with ID 56 is 17.8 meters away at (-14.8, -9.8). A unknown object with ID 57 is 17.8 meters away at (-13.6, -11.5). A vehicle with ID 49 is 18.8 meters away at (-18.7, 1.2). A unknown object with ID 60 is 21.1 meters away at (-14.6, -15.3). A vehicle with ID 61 is 22.5 meters away at (-18.3, -13.1). A unknown object with ID 62 is 22.5 meters away at (-14.8, -17.0). A vehicle with ID 51 is 22.8 meters away at (13.6, 18.3).", "velocity_description": "The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.3016221 1.107124 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-3.5157692 -8.451372 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 0.7286057  -0.06141803] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [4.145561 9.500372] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -7.718484 -10.720988], 13.210396766662598 meters away.)"}
{"file_name": "images/scenario_988_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 1.5) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A pedestrian with ID 55 is 15.2 meters away at (-11.4, -10.0). A vehicle with ID 49 is 20.5 meters away at (-20.5, -0.4). A vehicle with ID 54 is 22.3 meters away at (-22.0, -4.0). A unknown object with ID 60 is 25.3 meters away at (-19.0, -16.7). A unknown object with ID 62 is 26.6 meters away at (-19.2, -18.4). A pedestrian with ID 38 is 27.7 meters away at (-22.5, -16.2). A unknown object with ID 64 is 28.2 meters away at (-20.0, -20.0). A pedestrian with ID 63 is 28.4 meters away at (-23.8, -15.5). A pedestrian with ID 65 is 29.3 meters away at (-25.7, -14.1). A unknown object with ID 12 is 30.5 meters away at (10.1, 28.8).", "velocity_description": "The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.34292766 1.0174711 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 1.7830513  -0.16101341] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-1.2746394   0.12307151] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00391038 -0.0002004 ] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01489514 -0.01421892] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.0003846  -0.01583644] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.416391  -9.994213], 15.172945976257324 meters away.)"}
{"file_name": "images/scenario_988_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 3.5) m/s. Its current heading (yaw) is 1.08 ", "actor_description": " The most relevant actors are: A pedestrian with ID 55 is 20.9 meters away at (-16.1, -13.3). A vehicle with ID 49 is 21.8 meters away at (-21.0, -6.1). A unknown object with ID 47 is 23.5 meters away at (5.9, 22.8). A unknown object with ID 12 is 24.0 meters away at (5.2, 23.5). A unknown object with ID 11 is 24.9 meters away at (7.2, 23.8). A unknown object with ID 31 is 25.2 meters away at (4.1, 24.9). A unknown object with ID 10 is 27.8 meters away at (8.4, 26.5). A unknown object with ID 23 is 29.0 meters away at (-23.3, -17.3). A unknown object with ID 9 is 30.1 meters away at (9.2, 28.7). A unknown object with ID 60 is 32.3 meters away at (-23.5, -22.1).", "velocity_description": "The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.45013434  0.9556078 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 2.3340428  -0.24017061] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-16.074146 -13.291568], 20.857707977294922 meters away.)"}
{"file_name": "images/scenario_988_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.2) m/s. Its current heading (yaw) is 1.15 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 14.6 meters away at (2.0, 14.5). A unknown object with ID 12 is 15.1 meters away at (1.8, 15.0). A unknown object with ID 11 is 16.0 meters away at (3.4, 15.7). A unknown object with ID 31 is 16.4 meters away at (0.2, 16.4). A unknown object with ID 24 is 17.0 meters away at (3.3, 16.6). A unknown object with ID 10 is 18.7 meters away at (4.4, 18.2). A unknown object with ID 9 is 21.6 meters away at (5.4, 20.9). A unknown object with ID 25 is 23.3 meters away at (6.1, 22.5). A unknown object with ID 22 is 23.4 meters away at (3.6, 23.1). A vehicle with ID 49 is 24.4 meters away at (-19.3, -14.9).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 2.6883178  -0.26998067] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 1.9927912 14.461763 ], 14.598418235778809 meters away.)"}
{"file_name": "images/scenario_989_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.6, -4.1) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 17.2 meters away at (5.7, 16.2). A unknown object with ID 19 is 34.6 meters away at (33.9, -6.8). A unknown object with ID 16 is 35.9 meters away at (35.2, -7.3). A unknown object with ID 41 is 44.2 meters away at (-35.4, 26.3). A unknown object with ID 44 is 48.0 meters away at (-39.1, 27.9).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [ 2.6606915  -0.59056205] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[105.96682  -49.61177 ]\n [107.76043  -46.646225]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.7253857 16.194216 ], 17.176513671875 meters away.)"}
{"file_name": "images/scenario_989_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.0) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 16.6 meters away at (16.6, 1.0). A unknown object with ID 16 is 17.8 meters away at (17.8, 0.4). A unknown object with ID 18 is 18.4 meters away at (18.2, 2.7). A unknown object with ID 15 is 18.8 meters away at (18.7, 1.1). A unknown object with ID 17 is 19.0 meters away at (18.9, 2.1). A vehicle with ID 40 is 23.9 meters away at (-8.0, 22.6). A unknown object with ID 41 is 62.7 meters away at (-52.7, 34.0). A vehicle with ID 27 is 66.6 meters away at (54.2, -38.8). A vehicle with ID 1 is 67.3 meters away at (60.7, -29.0). A pedestrian with ID 37 is 70.0 meters away at (-57.3, 40.2).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 0.906381  -0.4855676] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-4.10193   4.998763] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.7804169 -0.3494924] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.0829314 -0.8070488] m/s.", "light_description": "There are active red lights at the following coordinates: [[105.96682  -49.61177 ]\n [107.76043  -46.646225]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [16.565567   0.9880438], 16.595006942749023 meters away.)"}
{"file_name": "images/scenario_989_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -4.1) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 8.7 meters away at (2.7, 8.3). A unknown object with ID 19 is 9.0 meters away at (1.5, 8.9). A unknown object with ID 15 is 9.5 meters away at (3.5, 8.8). A unknown object with ID 17 is 10.6 meters away at (3.8, 9.9). A unknown object with ID 18 is 11.0 meters away at (3.1, 10.6). A vehicle with ID 27 is 36.4 meters away at (28.4, -22.9). A vehicle with ID 40 is 37.7 meters away at (-22.6, 30.2). A vehicle with ID 1 is 50.5 meters away at (45.7, -21.3). A pedestrian with ID 6 is 57.4 meters away at (55.4, -15.2). A pedestrian with ID 31 is 67.9 meters away at (-62.5, 26.6).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-6.814421   3.2213404] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.14970289 1.0691252 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.02860257 1.0342956 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[119.83496  -49.01794 ]\n [105.96682  -49.61177 ]\n [107.76043  -46.646225]\n [116.74348  -46.896847]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [2.719822 8.269623], 8.705405235290527 meters away.)"}
{"file_name": "images/scenario_989_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -3.2) m/s. Its current heading (yaw) is -0.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 8.8 meters away at (-1.1, -8.8). A unknown object with ID 10 is 11.3 meters away at (-2.8, -11.0). A unknown object with ID 12 is 11.5 meters away at (-6.6, -9.5). A unknown object with ID 9 is 12.3 meters away at (0.5, -12.2). A unknown object with ID 7 is 13.9 meters away at (3.3, -13.5). A unknown object with ID 5 is 15.1 meters away at (5.0, -14.3). A unknown object with ID 4 is 17.0 meters away at (7.4, -15.3). A unknown object with ID 16 is 18.5 meters away at (-10.4, 15.3). A unknown object with ID 15 is 18.5 meters away at (-9.6, 15.9). A unknown object with ID 3 is 19.2 meters away at (10.0, -16.4).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [-8.721905   3.7271821] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[119.83496  -49.01794 ]\n [105.96682  -49.61177 ]\n [107.76043  -46.646225]\n [116.74348  -46.896847]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.0575905 -8.784327 ], 8.847762107849121 meters away.)"}
{"file_name": "images/scenario_990_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.9) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 25 is 7.3 meters away at (-6.9, -2.2). A vehicle with ID 24 is 34.5 meters away at (27.0, -21.5). A pedestrian with ID 26 is 46.2 meters away at (43.9, -14.1). A pedestrian with ID 10 is 60.1 meters away at (-44.8, 40.0). A vehicle with ID 23 is 66.1 meters away at (53.7, -38.5).", "velocity_description": "The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.0454292  0.7842345] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0401869  -0.75699526] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0945936   0.56291914] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.9267025 -2.1613927], 7.256088733673096 meters away.)"}
{"file_name": "images/scenario_990_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 4.9) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 25 is 11.9 meters away at (5.7, -10.4). A pedestrian with ID 10 is 44.7 meters away at (-31.7, 31.5). A vehicle with ID 24 is 52.2 meters away at (41.8, -31.3). A pedestrian with ID 26 is 66.1 meters away at (61.0, -25.4).", "velocity_description": "The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.0655441  0.788609 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0448049   0.67683685] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0886227  -0.61008745] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  5.652878 -10.422951], 11.857189178466797 meters away.)"}
{"file_name": "images/scenario_990_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 4.9) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 25 is 26.4 meters away at (18.6, -18.7). A pedestrian with ID 10 is 29.5 meters away at (-18.6, 22.9). A vehicle with ID 14 is 30.7 meters away at (-30.6, -0.5). A vehicle with ID 6 is 43.7 meters away at (-43.7, 0.9). A vehicle with ID 24 is 69.9 meters away at (56.6, -41.0).", "velocity_description": "The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.0176488  0.6468782] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.9591375  0.6094326] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 18.649458 -18.677055], 26.393836975097656 meters away.)"}
{"file_name": "images/scenario_990_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 5.0) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 14.6 meters away at (-12.1, -8.1). A pedestrian with ID 10 is 15.1 meters away at (-5.8, 14.0). A vehicle with ID 15 is 19.1 meters away at (-0.3, -19.1). A vehicle with ID 6 is 30.2 meters away at (-28.8, -9.1). A vehicle with ID 11 is 32.6 meters away at (-32.4, -3.8). A pedestrian with ID 25 is 41.8 meters away at (31.6, -27.4). A vehicle with ID 1 is 68.5 meters away at (-59.0, 34.9). A vehicle with ID 2 is 69.3 meters away at (-54.1, 43.3).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.068133   0.5345749] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.9418202  0.6074252] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-12.086552  -8.116293], 14.558810234069824 meters away.)"}
{"file_name": "images/scenario_991_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -5.9) m/s. Its current heading (yaw) is -1.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 11.7 meters away at (-0.8, 11.7). A unknown object with ID 46 is 15.1 meters away at (-14.8, -2.8). A vehicle with ID 44 is 18.2 meters away at (18.0, -2.6). A vehicle with ID 48 is 19.8 meters away at (15.2, -12.6). A cyclist with ID 23 is 24.7 meters away at (24.5, 3.2). A vehicle with ID 47 is 36.7 meters away at (36.3, -5.4). A unknown object with ID 27 is 48.2 meters away at (43.7, -20.4). A unknown object with ID 25 is 48.8 meters away at (44.4, -20.3). A unknown object with ID 49 is 52.4 meters away at (-22.2, -47.5). A unknown object with ID 41 is 56.1 meters away at (-16.7, -53.6).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [ 1.1803014 -4.7892127] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.8538446  -0.66498053] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [ 5.5946836 -0.2037888] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 8.042141  -0.2282004] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.2852685 -21.654928 ]\n [  2.3446457 -21.44697  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.84069014 11.718819  ], 11.748934745788574 meters away.)"}
{"file_name": "images/scenario_991_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -6.9) m/s. Its current heading (yaw) is -1.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 15.3 meters away at (15.3, 0.2). A vehicle with ID 43 is 15.8 meters away at (4.0, 15.3). A unknown object with ID 46 is 17.9 meters away at (-14.9, 10.0). A cyclist with ID 30 is 29.7 meters away at (-12.7, -26.8). A vehicle with ID 44 is 35.2 meters away at (33.8, 9.8). A cyclist with ID 23 is 39.0 meters away at (35.5, 16.2). A unknown object with ID 49 is 41.1 meters away at (-22.2, -34.7). A unknown object with ID 26 is 43.9 meters away at (43.5, -5.9). A unknown object with ID 41 is 44.1 meters away at (-16.7, -40.8). A unknown object with ID 27 is 44.4 meters away at (43.7, -7.4).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 3.8511078 -4.446383 ] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 30 is traveling at a (x, y) velocity of [0.18076448 6.7851553 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 8.740969   -0.05357081] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [ 5.136186  -0.1470904] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  2.2852685 -21.654928 ]\n [  2.3446457 -21.44697  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [15.267555   0.1969471], 15.26882553100586 meters away.)"}
{"file_name": "images/scenario_991_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -7.8) m/s. Its current heading (yaw) is -1.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 21.9 meters away at (16.0, 14.9). A vehicle with ID 43 is 28.4 meters away at (15.7, 23.7). A unknown object with ID 46 is 28.6 meters away at (-14.2, 24.8). A unknown object with ID 49 is 29.2 meters away at (-21.4, -19.9). A unknown object with ID 41 is 30.5 meters away at (-15.9, -26.0). A unknown object with ID 42 is 35.1 meters away at (-17.1, -30.7). A unknown object with ID 16 is 39.3 meters away at (-18.2, -34.8). A unknown object with ID 26 is 45.1 meters away at (44.2, 8.8). A unknown object with ID 8 is 45.4 meters away at (-19.9, -40.8). A vehicle with ID 9 is 47.6 meters away at (-22.4, -42.0).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 7.189329  -1.8829986] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -27.486649  -117.66562  ]\n [ -27.272501  -117.49267  ]\n [   2.2852685  -21.654928 ]\n [   2.3446457  -21.44697  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [15.973685 14.941462], 21.87249183654785 meters away.)"}
{"file_name": "images/scenario_991_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -7.5) m/s. Its current heading (yaw) is -1.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 41 is 17.9 meters away at (-14.2, -10.9). A unknown object with ID 49 is 20.3 meters away at (-19.7, -4.7). A unknown object with ID 42 is 21.8 meters away at (-15.3, -15.6). A unknown object with ID 16 is 25.7 meters away at (-16.4, -19.7). A unknown object with ID 8 is 31.4 meters away at (-18.1, -25.7). A vehicle with ID 9 is 33.9 meters away at (-20.6, -26.8). A vehicle with ID 48 is 34.9 meters away at (17.6, 30.1). A unknown object with ID 6 is 35.0 meters away at (-19.3, -29.1). A unknown object with ID 2 is 38.7 meters away at (-20.6, -32.7). A unknown object with ID 1 is 41.2 meters away at (-22.2, -34.7).", "velocity_description": "The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -27.486649  -117.66562  ]\n [ -27.272501  -117.49267  ]\n [   2.2852685  -21.654928 ]\n [   2.3446457  -21.44697  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-14.178213 -10.88863 ], 17.876911163330078 meters away.)"}
{"file_name": "images/scenario_992_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -0.9) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A unknown object with ID 33 is 5.8 meters away at (1.6, 5.5). A unknown object with ID 35 is 6.5 meters away at (3.4, 5.5). A unknown object with ID 32 is 6.5 meters away at (-0.2, 6.5). A unknown object with ID 36 is 7.3 meters away at (3.3, 6.5). A unknown object with ID 37 is 14.4 meters away at (-12.7, -6.7). A unknown object with ID 12 is 16.2 meters away at (-15.4, -5.1). A pedestrian with ID 38 is 16.5 meters away at (-16.5, -0.0). A pedestrian with ID 39 is 17.0 meters away at (-17.0, -0.4). A pedestrian with ID 40 is 18.4 meters away at (-15.0, -10.6). A unknown object with ID 41 is 21.2 meters away at (-9.6, 18.9).", "velocity_description": "The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.01290946  0.01314844] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00299024 -0.0029271 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.02547583 0.01256898] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.6011145 5.546231 ], 5.772715091705322 meters away.)"}
{"file_name": "images/scenario_992_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 1.4) m/s. Its current heading (yaw) is 0.31 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 6.7 meters away at (-3.7, 5.6). A unknown object with ID 36 is 7.6 meters away at (-3.8, 6.6). A unknown object with ID 33 is 7.8 meters away at (-5.4, 5.6). A unknown object with ID 32 is 9.8 meters away at (-7.3, 6.5). A unknown object with ID 37 is 20.9 meters away at (-19.8, -6.6). A unknown object with ID 12 is 23.1 meters away at (-22.5, -5.1). A pedestrian with ID 38 is 23.7 meters away at (-23.7, 0.0). A unknown object with ID 14 is 23.8 meters away at (-22.7, -7.1). A pedestrian with ID 39 is 24.2 meters away at (-24.2, -0.4). A pedestrian with ID 40 is 24.5 meters away at (-22.1, -10.6).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00112011 -0.00943518] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00919406 -0.00862713] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.01101681 0.0040014 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-3.6700888  5.590071 ], 6.687185287475586 meters away.)"}
{"file_name": "images/scenario_992_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 4.3) m/s. Its current heading (yaw) is 0.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 12.3 meters away at (-12.3, -0.2). A unknown object with ID 36 is 12.5 meters away at (-12.4, 0.8). A vehicle with ID 30 is 13.8 meters away at (-13.7, 0.9). A unknown object with ID 33 is 14.1 meters away at (-14.1, -0.2). A unknown object with ID 27 is 14.1 meters away at (-14.1, 0.8). A unknown object with ID 26 is 14.6 meters away at (-14.6, 0.6). A unknown object with ID 24 is 15.8 meters away at (-15.7, 1.8). A unknown object with ID 32 is 15.9 meters away at (-15.8, 0.9). A unknown object with ID 4 is 29.2 meters away at (17.3, 23.5). A unknown object with ID 37 is 31.1 meters away at (-28.4, -12.5).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-12.293838    -0.19189572], 12.295334815979004 meters away.)"}
{"file_name": "images/scenario_992_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 4.9) m/s. Its current heading (yaw) is 0.83 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 10.0 meters away at (1.5, 9.9). A unknown object with ID 4 is 16.5 meters away at (8.5, 14.1). A unknown object with ID 20 is 18.6 meters away at (10.5, 15.3). A unknown object with ID 3 is 18.7 meters away at (10.9, 15.2). A unknown object with ID 1 is 20.4 meters away at (11.7, 16.7). A unknown object with ID 21 is 20.5 meters away at (11.7, 16.8). A unknown object with ID 2 is 20.5 meters away at (10.8, 17.4). A unknown object with ID 36 is 22.9 meters away at (-21.3, -8.6). A unknown object with ID 35 is 23.2 meters away at (-21.1, -9.6). A unknown object with ID 33 is 24.9 meters away at (-22.9, -9.6).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [1.4992237 9.924284 ], 10.036886215209961 meters away.)"}
{"file_name": "images/scenario_993_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -2.0) m/s. Its current heading (yaw) is -2.22 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 5.1 meters away at (-4.3, 2.8). A pedestrian with ID 17 is 19.5 meters away at (10.3, 16.5). A vehicle with ID 1 is 29.1 meters away at (-13.4, -25.9). A vehicle with ID 30 is 35.4 meters away at (-14.3, -32.4). A unknown object with ID 6 is 35.9 meters away at (-5.0, -35.5). A unknown object with ID 29 is 38.2 meters away at (22.4, 31.0). A unknown object with ID 31 is 39.0 meters away at (-3.8, -38.9). A vehicle with ID 36 is 40.6 meters away at (17.8, -36.5). A vehicle with ID 28 is 40.9 meters away at (27.8, 29.9). A vehicle with ID 33 is 43.1 meters away at (-22.1, -37.0).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00474175 -0.0067557 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.6656551 1.875504 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [2.0591767 1.5212675] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-6.342525  5.464604] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [1.1819891 3.679977 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.7509024  0.33385265] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.186221 -22.607576]]", "nav_goal": "(-130.8883056640625, 186.66085815429688)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-4.2722244  2.84794  ], 5.134458541870117 meters away.)"}
{"file_name": "images/scenario_993_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -1.2) m/s. Its current heading (yaw) is -2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 19.1 meters away at (-7.0, -17.7). A pedestrian with ID 17 is 24.0 meters away at (13.5, 19.8). A pedestrian with ID 20 is 25.7 meters away at (14.2, 21.3). A vehicle with ID 36 is 26.5 meters away at (10.7, -24.3). A vehicle with ID 30 is 26.6 meters away at (-2.3, -26.5). A vehicle with ID 38 is 31.5 meters away at (14.9, -27.7). A unknown object with ID 6 is 32.4 meters away at (-1.5, -32.4). A vehicle with ID 33 is 34.7 meters away at (-14.4, -31.6). A unknown object with ID 31 is 35.7 meters away at (-0.3, -35.7). A unknown object with ID 29 is 42.8 meters away at (25.6, 34.3).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0.9875707 2.2211552] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00872654 -0.00748017] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.00422079 -0.00034879] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.5410526  2.9811904] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 6.2290483  -0.31134808] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.77952   3.153019] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [3.7666361 2.057718 ] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.186221 -22.607576]]", "nav_goal": "(-130.8883056640625, 186.66085815429688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -6.9806337 -17.73417  ], 19.058595657348633 meters away.)"}
{"file_name": "images/scenario_993_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 1.4) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 12.1 meters away at (0.5, -12.1). A vehicle with ID 36 is 23.9 meters away at (12.9, -20.2). A vehicle with ID 33 is 26.8 meters away at (1.6, -26.8). A pedestrian with ID 26 is 27.0 meters away at (19.1, 19.2). A pedestrian with ID 17 is 28.6 meters away at (19.8, 20.6). A vehicle with ID 38 is 29.0 meters away at (17.0, -23.5). A pedestrian with ID 20 is 30.2 meters away at (20.5, 22.1). A vehicle with ID 10 is 30.3 meters away at (-27.3, 13.3). A vehicle with ID 34 is 35.1 meters away at (-11.1, -33.3). A unknown object with ID 31 is 35.5 meters away at (6.2, -35.0).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [0.11008142 3.035984  ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.7606802  0.5526813] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [5.6991158 1.0180186] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.00389498 0.00303464] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.00318539 0.00464632] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.6765313   0.40052253] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00516267  0.00536324] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 6.422088  -5.0487604] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [5.1410184 2.2447371] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.186221 -22.607576]]", "nav_goal": "(-130.8883056640625, 186.66085815429688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  0.5407381 -12.05807  ], 12.070188522338867 meters away.)"}
{"file_name": "images/scenario_993_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.5) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 9.0 meters away at (-8.9, -1.1). A vehicle with ID 1 is 13.7 meters away at (7.4, -11.5). A vehicle with ID 36 is 34.2 meters away at (21.2, -26.9). A vehicle with ID 34 is 35.2 meters away at (8.1, -34.3). A vehicle with ID 38 is 39.4 meters away at (25.3, -30.1). A vehicle with ID 13 is 41.3 meters away at (-40.3, 8.9). A vehicle with ID 33 is 42.2 meters away at (22.5, -35.7). A unknown object with ID 31 is 44.4 meters away at (14.8, -41.8). A vehicle with ID 37 is 50.9 meters away at (-30.2, -41.0). A vehicle with ID 39 is 54.4 meters away at (-37.6, -39.3).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [ 3.4330149 -3.0246835] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.9501393  4.6018867] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [5.5703015 2.262658 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 6.449179 -3.250586] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.186221 -22.607576]]", "nav_goal": "(-130.8883056640625, 186.66085815429688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.8923    -1.0730997], 8.956814765930176 meters away.)"}
{"file_name": "images/scenario_994_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 1.2) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 15.4 meters away at (-5.9, -14.2). A vehicle with ID 24 is 18.5 meters away at (8.5, -16.5). A pedestrian with ID 20 is 25.2 meters away at (8.3, 23.8). A vehicle with ID 26 is 34.0 meters away at (-8.6, -32.8). A vehicle with ID 19 is 35.0 meters away at (27.5, -21.8). A pedestrian with ID 29 is 37.6 meters away at (-35.3, 12.8). A vehicle with ID 30 is 45.1 meters away at (40.4, 20.0). A vehicle with ID 32 is 46.4 meters away at (42.7, 18.3). A pedestrian with ID 33 is 47.5 meters away at (47.5, -1.2). A vehicle with ID 34 is 59.3 meters away at (59.1, 4.4).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.071805  -0.7655325] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 7.8513613 -4.9936957] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01488895 -0.0804868 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.8868484 -0.5115849] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(36.967647552490234, 10.16646957397461)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -5.9194527 -14.198618 ], 15.383129119873047 meters away.)"}
{"file_name": "images/scenario_994_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 3.5) m/s. Its current heading (yaw) is 1.76 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 15.7 meters away at (3.6, -15.3). A vehicle with ID 23 is 18.9 meters away at (-2.0, -18.8). A pedestrian with ID 20 is 23.1 meters away at (14.3, 18.1). A vehicle with ID 24 is 24.4 meters away at (12.5, -20.9). A unknown object with ID 6 is 29.1 meters away at (26.3, 12.4). A pedestrian with ID 29 is 34.1 meters away at (-33.1, 8.2). A pedestrian with ID 21 is 34.2 meters away at (-33.0, 8.9). A vehicle with ID 30 is 46.7 meters away at (44.1, 15.4). A vehicle with ID 32 is 48.4 meters away at (46.5, 13.7). A pedestrian with ID 33 is 53.5 meters away at (53.1, -6.2).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.2245532 -0.4539563] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.0962793  0.4204307] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.1399205  0.4454802] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.89148265 -0.57054484] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(36.967647552490234, 10.16646957397461)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  3.5875182 -15.277504 ], 15.693069458007812 meters away.)"}
{"file_name": "images/scenario_994_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 3.5) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 17.5 meters away at (14.6, 9.7). A vehicle with ID 23 is 26.4 meters away at (-4.1, -26.0). A vehicle with ID 24 is 30.1 meters away at (10.3, -28.3). A pedestrian with ID 21 is 37.7 meters away at (-37.5, 3.1). A pedestrian with ID 22 is 37.7 meters away at (-37.6, 2.3). A vehicle with ID 30 is 43.1 meters away at (42.3, 8.0). A vehicle with ID 32 is 45.1 meters away at (44.6, 6.3). A pedestrian with ID 33 is 54.8 meters away at (52.6, -15.2). A vehicle with ID 34 is 61.4 meters away at (60.9, -7.7). A vehicle with ID 35 is 66.3 meters away at (65.4, -10.5).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.027855  -0.5486086] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.2905447  0.4808975] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.2921431  0.3823276] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.77578634 -0.4428148 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(36.967647552490234, 10.16646957397461)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [14.615762  9.691585], 17.53702735900879 meters away.)"}
{"file_name": "images/scenario_994_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 1.9) m/s. Its current heading (yaw) is 1.01 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 13.6 meters away at (13.3, 3.0). A unknown object with ID 11 is 31.5 meters away at (31.2, 4.3). A vehicle with ID 23 is 32.5 meters away at (-7.5, -31.6). A unknown object with ID 10 is 32.7 meters away at (32.6, 3.0). A vehicle with ID 24 is 34.5 meters away at (6.8, -33.9). A vehicle with ID 30 is 38.8 meters away at (38.8, 2.3). A vehicle with ID 32 is 41.1 meters away at (41.1, 0.7). A pedestrian with ID 21 is 43.6 meters away at (-43.6, -1.3). A pedestrian with ID 22 is 43.7 meters away at (-43.7, -1.9). A pedestrian with ID 33 is 55.3 meters away at (50.8, -21.8).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.0197574 -0.7480773] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.2436328   0.57837427] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.2484412  0.6366575] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.8409974 -0.4928211] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(36.967647552490234, 10.16646957397461)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [13.274332   2.9544373], 13.599139213562012 meters away.)"}
{"file_name": "images/scenario_995_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 1.9) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 15.1 meters away at (-13.2, 7.2). A vehicle with ID 21 is 15.6 meters away at (13.3, -8.1). A pedestrian with ID 58 is 20.3 meters away at (0.7, -20.3). A vehicle with ID 57 is 29.8 meters away at (-24.4, 17.2). A vehicle with ID 62 is 40.0 meters away at (-38.0, 12.4). A vehicle with ID 66 is 46.0 meters away at (-41.9, 18.9). A vehicle with ID 37 is 51.2 meters away at (-41.5, 30.0). A vehicle with ID 60 is 51.6 meters away at (47.7, -19.7). A vehicle with ID 61 is 51.7 meters away at (37.6, -35.5). A vehicle with ID 68 is 54.6 meters away at (-49.7, 22.5).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.0315995  2.801629 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.92945415  0.506697  ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.3107505  0.6967652] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-10.7272625   5.613994 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 5.3910317 -3.134111 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 4.4656515 -2.53363  ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 3.019304  -1.7463099] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-219.7975311279297, -22.645164489746094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-13.239549    7.1891003], 15.065484046936035 meters away.)"}
{"file_name": "images/scenario_995_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 3.5) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 15.0 meters away at (-15.0, -0.7). A vehicle with ID 22 is 19.2 meters away at (-16.9, 9.1). A vehicle with ID 21 is 21.2 meters away at (18.2, -10.9). A vehicle with ID 66 is 21.7 meters away at (-20.6, 6.8). A pedestrian with ID 58 is 25.6 meters away at (7.9, -24.3). A vehicle with ID 71 is 34.2 meters away at (-32.9, 9.2). A vehicle with ID 68 is 35.4 meters away at (-32.9, 12.9). A vehicle with ID 37 is 40.0 meters away at (-31.7, 24.4). A vehicle with ID 56 is 44.6 meters away at (-43.4, 10.3). A vehicle with ID 57 is 46.2 meters away at (-39.1, 24.5).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [ 7.5621924 -4.3049097] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-7.918009   4.3600307] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.6732166  2.0481758] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 7.032138  -4.0426593] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.1640345   0.78537613] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [ 5.7801275 -3.3895578] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 3.736898  -2.1299784] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-12.996294    6.9519114] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-219.7975311279297, -22.645164489746094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-15.030113   -0.7432656], 15.048480033874512 meters away.)"}
{"file_name": "images/scenario_995_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.9) m/s. Its current heading (yaw) is 2.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 8.4 meters away at (-6.3, -5.7). A vehicle with ID 68 is 10.3 meters away at (-10.3, 0.3). A vehicle with ID 66 is 13.3 meters away at (8.9, -9.9). A vehicle with ID 22 is 23.3 meters away at (-20.5, 11.1). A vehicle with ID 62 is 23.5 meters away at (15.3, -17.8). A vehicle with ID 37 is 24.9 meters away at (-18.2, 16.9). A vehicle with ID 42 is 24.9 meters away at (-24.4, 4.7). A vehicle with ID 21 is 25.3 meters away at (21.8, -12.8). A vehicle with ID 56 is 30.0 meters away at (-29.9, 2.8). A vehicle with ID 36 is 31.2 meters away at (-23.8, 20.1).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [ 7.1632776 -3.948874 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 5.737824  -3.1999779] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 8.726273  -5.0093856] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-9.128241   5.1948223] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 9.023723 -5.175211] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 7.4194684 -4.3271728] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-6.2103233  3.54094  ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-219.7975311279297, -22.645164489746094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.260891  -5.6607523], 8.440549850463867 meters away.)"}
{"file_name": "images/scenario_995_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 4.6) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 6.9 meters away at (-6.9, -0.6). A vehicle with ID 37 is 8.9 meters away at (-2.7, 8.4). A vehicle with ID 42 is 13.8 meters away at (6.4, -12.2). A vehicle with ID 36 is 14.2 meters away at (-8.2, 11.6). A vehicle with ID 56 is 15.3 meters away at (-14.2, -5.8). A vehicle with ID 55 is 18.8 meters away at (-18.5, -3.2). A cyclist with ID 53 is 19.6 meters away at (-15.7, -11.8). A vehicle with ID 35 is 20.0 meters away at (-13.7, 14.6). A vehicle with ID 24 is 23.8 meters away at (-23.8, -0.2). A vehicle with ID 34 is 24.0 meters away at (-23.6, 4.5).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [ 4.0890617 -2.4107237] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 7.7944574 -4.0090356] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 53 is traveling at a (x, y) velocity of [ 3.3759224 -1.7233375] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 7.0691757 -4.2112336] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-219.7975311279297, -22.645164489746094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.9188004 -0.6003132], 6.944794654846191 meters away.)"}
{"file_name": "images/scenario_996_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 6.9 meters away at (4.5, 5.2). A unknown object with ID 10 is 27.2 meters away at (23.8, 13.2). A unknown object with ID 11 is 29.4 meters away at (25.1, 15.2). A unknown object with ID 12 is 31.1 meters away at (26.1, 17.0). A unknown object with ID 13 is 33.0 meters away at (27.5, 18.2). A unknown object with ID 8 is 45.0 meters away at (19.1, 40.7). A unknown object with ID 9 is 45.3 meters away at (18.5, 41.3). A vehicle with ID 2 is 64.3 meters away at (-56.4, 30.8).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 7.2925296 -6.0431633] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -9.537302 -10.74259 ]\n [ -9.704956 -10.928041]]", "nav_goal": "(-190.3243865966797, 187.06326293945312)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.547191 5.241904], 6.93934440612793 meters away.)"}
{"file_name": "images/scenario_996_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -1.9) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 9.2 meters away at (5.9, 7.1). A unknown object with ID 10 is 29.7 meters away at (25.4, 15.3). A unknown object with ID 11 is 31.9 meters away at (26.7, 17.3). A unknown object with ID 12 is 33.6 meters away at (27.6, 19.1). A unknown object with ID 13 is 35.5 meters away at (29.1, 20.3). A vehicle with ID 2 is 47.4 meters away at (-42.1, 21.7). A unknown object with ID 8 is 47.5 meters away at (20.6, 42.9). A unknown object with ID 9 is 47.8 meters away at (20.0, 43.4). A unknown object with ID 6 is 48.6 meters away at (21.2, 43.7). A vehicle with ID 1 is 68.9 meters away at (-58.6, 36.1).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.18212004 -0.2509412 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 5.39523  -4.699067] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.3347263 -4.652375 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-190.3243865966797, 187.06326293945312)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.9310694 7.096675 ], 9.248804092407227 meters away.)"}
{"file_name": "images/scenario_996_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -2.6) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 11.6 meters away at (7.3, 9.0). A unknown object with ID 10 is 35.1 meters away at (28.9, 19.9). A vehicle with ID 2 is 35.4 meters away at (-30.1, 18.6). A unknown object with ID 11 is 37.4 meters away at (30.3, 21.9). A unknown object with ID 12 is 39.2 meters away at (31.2, 23.7). A unknown object with ID 13 is 41.0 meters away at (32.6, 25.0). A unknown object with ID 8 is 53.2 meters away at (24.1, 47.4). A unknown object with ID 9 is 53.5 meters away at (23.4, 48.1). A unknown object with ID 6 is 54.2 meters away at (24.8, 48.2). A vehicle with ID 1 is 55.4 meters away at (-45.3, 32.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.9626878 -2.3998306] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 3.2436562 -3.063277 ] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.4513307 -3.966022 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-190.3243865966797, 187.06326293945312)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [7.3013105 9.045218 ], 11.624333381652832 meters away.)"}
{"file_name": "images/scenario_996_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -2.1) m/s. Its current heading (yaw) is -2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 11.2 meters away at (7.6, 8.2). A vehicle with ID 4 is 24.2 meters away at (15.5, 18.6). A vehicle with ID 2 is 27.1 meters away at (-19.8, 18.5). A unknown object with ID 10 is 42.0 meters away at (33.8, 24.9). A unknown object with ID 11 is 44.3 meters away at (35.1, 27.0). A vehicle with ID 1 is 44.6 meters away at (-32.9, 30.1). A unknown object with ID 12 is 46.1 meters away at (36.0, 28.8). A unknown object with ID 8 is 59.8 meters away at (28.8, 52.4). A unknown object with ID 6 is 60.8 meters away at (29.4, 53.2).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.6745863 -2.9943666] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.2106934 -2.639464 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 2.0895784 -2.0097654] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 2.5441961 -2.8107295] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.60478    -9.614484 ]\n [-14.607145   -6.4773645]]", "nav_goal": "(-190.3243865966797, 187.06326293945312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [7.629836 8.21348 ], 11.210515022277832 meters away.)"}
{"file_name": "images/scenario_997_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.7) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 5.4 meters away at (-5.4, 0.8). A vehicle with ID 18 is 5.6 meters away at (3.4, 4.5). A vehicle with ID 65 is 7.8 meters away at (-0.3, 7.8). A vehicle with ID 66 is 9.8 meters away at (-9.0, 3.9). A vehicle with ID 15 is 11.6 meters away at (11.5, -1.7). A vehicle with ID 80 is 13.2 meters away at (-2.9, -12.9). A pedestrian with ID 71 is 16.7 meters away at (7.5, -14.9). A pedestrian with ID 73 is 17.4 meters away at (7.2, -15.8). A unknown object with ID 70 is 17.8 meters away at (-2.9, 17.6). A vehicle with ID 87 is 18.1 meters away at (-6.4, -17.0).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.915545 3.396634] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.03429266  0.02219128] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.08856437  0.05463777] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.085792541503906, 110.92316436767578)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.374645  0.791381], 5.432595729827881 meters away.)"}
{"file_name": "images/scenario_997_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -0.7) m/s. Its current heading (yaw) is -0.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 6.4 meters away at (-0.2, 6.4). A vehicle with ID 63 is 9.4 meters away at (-9.0, 2.8). A vehicle with ID 65 is 10.6 meters away at (-3.9, 9.8). A vehicle with ID 80 is 12.8 meters away at (-6.6, -10.9). A pedestrian with ID 71 is 13.9 meters away at (4.1, -13.3). A vehicle with ID 66 is 14.0 meters away at (-12.7, 5.9). A pedestrian with ID 73 is 14.7 meters away at (4.0, -14.2). A vehicle with ID 89 is 15.2 meters away at (-11.9, 9.4). A vehicle with ID 15 is 16.1 meters away at (14.2, 7.5). A vehicle with ID 87 is 18.1 meters away at (-10.2, -14.9).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.670672   -0.58319795] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.7128085 -0.5233256] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [ 3.6820147 -3.1677074] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [3.7104018 4.305031 ] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-59.085792541503906, 110.92316436767578)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.17761993  6.404439  ], 6.4069013595581055 meters away.)"}
{"file_name": "images/scenario_997_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 1.8) m/s. Its current heading (yaw) is 0.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 9.0 meters away at (-6.8, 5.8). A vehicle with ID 89 is 13.7 meters away at (-13.1, 4.1). A vehicle with ID 65 is 14.1 meters away at (-10.6, 9.2). A vehicle with ID 75 is 14.5 meters away at (11.0, -9.4). A pedestrian with ID 71 is 15.4 meters away at (-0.6, -15.4). A vehicle with ID 63 is 15.9 meters away at (-15.8, 2.2). A pedestrian with ID 73 is 16.2 meters away at (-0.5, -16.2). A vehicle with ID 80 is 17.6 meters away at (-13.3, -11.6). A vehicle with ID 82 is 19.6 meters away at (7.7, -18.0). A vehicle with ID 87 is 23.0 meters away at (-16.8, -15.7).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [ 1.5341994 -1.3457913] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.97327083 -0.7888379 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.96756756 -0.8149478 ] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[66.18884 66.44352]]", "nav_goal": "(-59.085792541503906, 110.92316436767578)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.8472624  5.7673373], 8.952496528625488 meters away.)"}
{"file_name": "images/scenario_997_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 4.0) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 14.0 meters away at (-14.0, -0.3). A vehicle with ID 19 is 14.8 meters away at (6.0, 13.5). A vehicle with ID 75 is 15.9 meters away at (3.8, -15.4). A vehicle with ID 65 is 18.0 meters away at (-17.7, 3.2). A vehicle with ID 89 is 18.6 meters away at (-18.2, -3.9). A vehicle with ID 63 is 23.1 meters away at (-22.7, -4.1). A pedestrian with ID 71 is 23.5 meters away at (-5.6, -22.8). A vehicle with ID 82 is 24.1 meters away at (0.7, -24.1). A pedestrian with ID 73 is 24.5 meters away at (-5.7, -23.8). A vehicle with ID 17 is 25.7 meters away at (13.0, 22.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [ 1.3676665 -1.1756188] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.2147529 -0.7428377] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.9995006 -0.836919 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[66.18884 66.44352]]", "nav_goal": "(-59.085792541503906, 110.92316436767578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-13.970047   -0.2725196], 13.972704887390137 meters away.)"}
{"file_name": "images/scenario_998_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.9) m/s. Its current heading (yaw) is 2.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 4.4 meters away at (4.2, 1.3). A pedestrian with ID 75 is 7.7 meters away at (-0.1, 7.7). A pedestrian with ID 73 is 8.4 meters away at (1.6, 8.3). A vehicle with ID 69 is 12.2 meters away at (11.3, -4.7). A vehicle with ID 82 is 12.8 meters away at (-12.4, -3.0). A vehicle with ID 78 is 13.1 meters away at (3.5, -12.7). A vehicle with ID 76 is 13.2 meters away at (-12.2, 5.0). A vehicle with ID 13 is 18.4 meters away at (13.7, -12.3). A vehicle with ID 29 is 19.7 meters away at (-16.4, 10.9). A vehicle with ID 72 is 25.6 meters away at (21.7, -13.6).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.06596128 -0.01319126] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.01263721  0.00318844] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [10.565523 -8.402362] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 9.48148 -7.66166] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.53653795  0.34903258] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-4.5040817  3.816966 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-7.895029   3.4847407] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.551281  24.046926]\n [-30.036583  25.21109 ]\n [-33.384617  20.560057]\n [-28.899445  24.211765]]", "nav_goal": "(-137.67970275878906, -56.11300277709961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.199669  1.3148079], 4.400674819946289 meters away.)"}
{"file_name": "images/scenario_998_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 3.8) m/s. Its current heading (yaw) is 2.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 76 is 3.7 meters away at (-0.6, -3.7). A pedestrian with ID 75 is 12.3 meters away at (12.3, -1.4). A pedestrian with ID 73 is 13.8 meters away at (13.8, -1.1). A vehicle with ID 13 is 18.2 meters away at (14.3, -11.3). A vehicle with ID 71 is 18.3 meters away at (16.5, -7.9). A vehicle with ID 92 is 18.4 meters away at (-18.4, -0.9). A vehicle with ID 83 is 20.1 meters away at (-19.7, 4.0). A vehicle with ID 81 is 20.8 meters away at (1.4, 20.8). A vehicle with ID 29 is 23.3 meters away at (-21.7, 8.4). A vehicle with ID 69 is 27.2 meters away at (23.4, -14.0).", "velocity_description": "The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.04610551 -0.0844228 ] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.06545936 -0.05185382] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-6.7230105  5.819908 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 7.981329 -3.626968] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-9.85824    3.3299477] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.551281  24.046926]\n [-30.036583  25.21109 ]\n [-33.384617  20.560057]\n [-28.899445  24.211765]]", "nav_goal": "(-137.67970275878906, -56.11300277709961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.6333771 -3.6833029], 3.737363576889038 meters away.)"}
{"file_name": "images/scenario_998_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 2.7) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 4.6 meters away at (-3.9, -2.5). A vehicle with ID 59 is 9.4 meters away at (-7.9, -5.1). A vehicle with ID 85 is 14.5 meters away at (-12.1, -8.1). A vehicle with ID 13 is 16.3 meters away at (15.1, -6.0). A vehicle with ID 76 is 17.9 meters away at (14.8, -10.0). A vehicle with ID 92 is 22.1 meters away at (14.5, -16.6). A vehicle with ID 81 is 22.1 meters away at (16.7, 14.5). A vehicle with ID 35 is 24.8 meters away at (-24.5, -3.4). A vehicle with ID 39 is 25.6 meters away at (-25.5, 1.5). A vehicle with ID 29 is 28.5 meters away at (-27.0, 9.0).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [ 0.67262566 -0.23000605] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 7.847591  -3.1936595] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.115014  4.802801] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 9.041928 -5.776345] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 5.9946566 -2.442488 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-10.575885    3.5517497] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.551281  24.046926]\n [-30.036583  25.21109 ]\n [-33.384617  20.560057]\n [-28.899445  24.211765]]", "nav_goal": "(-137.67970275878906, -56.11300277709961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.9108582 -2.4930115], 4.63787841796875 meters away.)"}
{"file_name": "images/scenario_998_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.6, 3.1) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 11.1 meters away at (-10.6, -3.3). A vehicle with ID 39 is 11.2 meters away at (5.8, -9.6). A vehicle with ID 35 is 11.6 meters away at (-6.9, -9.3). A vehicle with ID 85 is 15.0 meters away at (5.6, -13.9). A vehicle with ID 27 is 15.4 meters away at (-12.7, 8.8). A vehicle with ID 13 is 16.5 meters away at (15.8, -4.7). A pedestrian with ID 44 is 17.1 meters away at (-14.3, -9.3). A vehicle with ID 28 is 18.3 meters away at (-17.3, -5.8). A vehicle with ID 83 is 20.3 meters away at (18.1, -9.2). A vehicle with ID 25 is 22.7 meters away at (-22.4, -3.8).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [ 5.682138  -2.1272006] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 7.4979653 -2.999274 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.809567   2.7243066] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.00115878 -0.01842493] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [ 3.7815926  -0.11861489] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-28.551281  24.046926]\n [-30.036583  25.21109 ]\n [-28.899445  24.211765]]", "nav_goal": "(-137.67970275878906, -56.11300277709961)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.575539  -3.276823], 11.071566581726074 meters away.)"}
{"file_name": "images/scenario_999_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 3.7) m/s. Its current heading (yaw) is 1.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 5.5 meters away at (5.2, 1.6). A pedestrian with ID 25 is 11.2 meters away at (-9.3, 6.3). A vehicle with ID 77 is 11.5 meters away at (-3.1, -11.1). A vehicle with ID 18 is 12.5 meters away at (3.9, 11.9). A unknown object with ID 78 is 15.3 meters away at (-15.3, 0.2). A pedestrian with ID 79 is 17.5 meters away at (17.1, -3.5). A pedestrian with ID 80 is 18.1 meters away at (17.9, -2.8). A pedestrian with ID 83 is 18.4 meters away at (18.1, -3.5). A pedestrian with ID 81 is 18.4 meters away at (17.9, -4.4). A pedestrian with ID 84 is 19.7 meters away at (19.3, -3.9).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [3.3002326 3.099266 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.70657146 1.2493188 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [2.3256056 4.219888 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0.52852935 6.1993    ] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 1.143243   -0.49323627] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 1.1928501  -0.40031996] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 1.0726284  -0.38866368] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.092116   -0.45015585] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [ 0.9851816 -0.380058 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.075714  11.407812 ]\n [ 5.5929832 21.23424  ]\n [ 9.117528  21.246761 ]\n [25.993196  11.75646  ]\n [26.241194  12.127705 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [5.2131104 1.6334958], 5.463042259216309 meters away.)"}
{"file_name": "images/scenario_999_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.7) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 9.6 meters away at (8.7, -4.0). A vehicle with ID 77 is 10.9 meters away at (-2.4, -10.7). A pedestrian with ID 25 is 12.2 meters away at (-12.2, 0.2). A vehicle with ID 18 is 16.9 meters away at (-2.8, 16.7). A pedestrian with ID 36 is 19.4 meters away at (15.9, 11.2). A pedestrian with ID 79 is 20.0 meters away at (14.8, -13.4). A pedestrian with ID 49 is 20.1 meters away at (15.7, 12.5). A pedestrian with ID 80 is 20.2 meters away at (15.7, -12.7). A pedestrian with ID 83 is 20.7 meters away at (15.7, -13.5). A pedestrian with ID 81 is 21.0 meters away at (15.4, -14.3).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [ 4.343485   -0.08226871] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [2.4864712 4.003678 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.49125436 1.1929946 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.3495765  7.2686095] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.68608904 -0.9774439 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 0.90557426 -0.6464754 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.61533797 -0.98253024] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.92392385 -0.64510685] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.87393296 -0.6343776 ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.91508794 -0.624379  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.075714  11.407812 ]\n [ 5.5929832 21.23424  ]\n [ 9.117528  21.246761 ]\n [25.993196  11.75646  ]\n [26.241194  12.127705 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.70225   -3.9619265], 9.561695098876953 meters away.)"}
{"file_name": "images/scenario_999_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 6.7) m/s. Its current heading (yaw) is 1.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 104 is 13.6 meters away at (6.1, 12.1). A vehicle with ID 91 is 13.7 meters away at (-10.2, 9.0). A pedestrian with ID 25 is 14.8 meters away at (-11.8, -8.9). A pedestrian with ID 49 is 16.5 meters away at (16.5, -1.1). A vehicle with ID 77 is 16.6 meters away at (2.5, -16.4). A pedestrian with ID 36 is 16.7 meters away at (16.5, -2.4). A vehicle with ID 76 is 16.7 meters away at (-2.9, 16.5). A vehicle with ID 70 is 19.6 meters away at (-13.4, 14.3). A vehicle with ID 75 is 21.9 meters away at (-6.2, 21.0). A pedestrian with ID 90 is 24.2 meters away at (22.2, -9.6).", "velocity_description": "The pedestrian with ID 104 is traveling at a (x, y) velocity of [ 0.9314615 -1.0979728] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.39627004 1.2319521 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.6877791  -0.94280183] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [3.5100093 1.5626036] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.60982764 -0.89511746] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.6172711 -0.7894929] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.075714  11.407812 ]\n [ 5.5929832 21.23424  ]\n [ 9.117528  21.246761 ]\n [25.993196  11.75646  ]\n [26.241194  12.127705 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 6.104372 12.131485], 13.580732345581055 meters away.)"}
{"file_name": "images/scenario_999_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 6.3) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 91 is 4.7 meters away at (-3.3, -3.3). A vehicle with ID 76 is 5.8 meters away at (4.1, 4.1). A vehicle with ID 70 is 6.7 meters away at (-6.4, 1.9). A vehicle with ID 75 is 8.6 meters away at (0.7, 8.6). A vehicle with ID 74 is 13.6 meters away at (-2.8, 13.3). A pedestrian with ID 104 is 15.4 meters away at (15.1, -2.5). A pedestrian with ID 25 is 19.2 meters away at (-4.6, -18.7). A unknown object with ID 50 is 19.2 meters away at (-5.7, 18.4). A vehicle with ID 7 is 20.6 meters away at (-9.3, 18.4). A pedestrian with ID 85 is 22.2 meters away at (-20.6, 8.0).", "velocity_description": "The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [ 1.0521383 -1.1091608] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.10298768  1.2559134 ] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.764036   -0.99306387] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.075714  11.407812 ]\n [ 5.5929832 21.23424  ]\n [ 9.117528  21.246761 ]\n [25.993196  11.75646  ]\n [26.241194  12.127705 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.3301256 -3.2944489], 4.684349536895752 meters away.)"}
{"file_name": "images/scenario_1000_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -8.2) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 17.2 meters away at (0.7, -17.2). A vehicle with ID 28 is 23.2 meters away at (-1.5, -23.1). A vehicle with ID 33 is 23.3 meters away at (-16.4, -16.6). A vehicle with ID 34 is 24.3 meters away at (-18.7, -15.5). A vehicle with ID 5 is 24.8 meters away at (-11.4, -22.1). A vehicle with ID 8 is 25.7 meters away at (-21.1, -14.7). A vehicle with ID 13 is 27.6 meters away at (-23.8, -13.9). A vehicle with ID 25 is 29.2 meters away at (-26.2, -13.0). A vehicle with ID 30 is 30.0 meters away at (-3.7, -29.8). A vehicle with ID 18 is 31.3 meters away at (-28.8, -12.2).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(12.662530899047852, -230.3602752685547)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  0.69144917 -17.190176  ], 17.204076766967773 meters away.)"}
{"file_name": "images/scenario_1000_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.6) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 6.3 meters away at (5.8, -2.4). A vehicle with ID 28 is 9.1 meters away at (3.7, -8.3). A vehicle with ID 5 is 9.5 meters away at (-6.2, -7.3). A vehicle with ID 33 is 11.4 meters away at (-11.3, -1.8). A vehicle with ID 34 is 13.5 meters away at (-13.5, -0.7). A vehicle with ID 30 is 15.0 meters away at (1.6, -14.9). A vehicle with ID 8 is 15.9 meters away at (-15.9, 0.3). A vehicle with ID 13 is 18.6 meters away at (-18.6, 1.0). A vehicle with ID 25 is 21.2 meters away at (-21.1, 1.9). A vehicle with ID 18 is 23.8 meters away at (-23.6, 2.7).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(12.662530899047852, -230.3602752685547)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.8445935 -2.4354877], 6.331735610961914 meters away.)"}
{"file_name": "images/scenario_1000_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -4.1) m/s. Its current heading (yaw) is -2.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 3.7 meters away at (-1.8, 3.2). A vehicle with ID 30 is 7.4 meters away at (6.0, -4.3). A vehicle with ID 28 is 8.4 meters away at (8.1, 2.3). A vehicle with ID 33 is 11.1 meters away at (-6.8, 8.7). A vehicle with ID 27 is 13.1 meters away at (10.2, 8.2). A vehicle with ID 34 is 13.2 meters away at (-9.2, 9.5). A pedestrian with ID 20 is 13.4 meters away at (5.6, -12.1). A pedestrian with ID 21 is 14.4 meters away at (6.7, -12.7). A vehicle with ID 8 is 15.6 meters away at (-11.5, 10.6). A pedestrian with ID 31 is 17.2 meters away at (-9.8, -14.1).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.31879586 1.1034566 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.5024157 1.2032657] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.4956205 1.5388047] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(12.662530899047852, -230.3602752685547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.775856   3.1967201], 3.6568682193756104 meters away.)"}
{"file_name": "images/scenario_1000_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.7) m/s. Its current heading (yaw) is -2.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 31 is 5.3 meters away at (-4.1, -3.4). A vehicle with ID 5 is 11.3 meters away at (3.1, 10.9). A vehicle with ID 30 is 11.4 meters away at (10.9, 3.3). A pedestrian with ID 20 is 11.6 meters away at (11.3, -2.3). A pedestrian with ID 21 is 12.7 meters away at (12.4, -2.8). A vehicle with ID 28 is 16.4 meters away at (13.0, 9.9). A vehicle with ID 33 is 16.6 meters away at (-1.8, 16.5). A vehicle with ID 32 is 20.9 meters away at (-7.6, -19.4). A vehicle with ID 27 is 21.9 meters away at (15.2, 15.8). A vehicle with ID 1 is 42.3 meters away at (-5.2, -42.0).", "velocity_description": "The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.30977944 1.3686364 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.52851844 0.9919321 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.48123375 1.1278324 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(12.662530899047852, -230.3602752685547)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-4.056118  -3.4228134], 5.307329177856445 meters away.)"}
{"file_name": "images/scenario_1001_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.7) m/s. Its current heading (yaw) is 2.76 ", "actor_description": " The most relevant actors are: A pedestrian with ID 24 is 24.2 meters away at (-6.1, 23.4). A pedestrian with ID 25 is 24.4 meters away at (-5.4, 23.8). A pedestrian with ID 27 is 25.3 meters away at (-5.2, 24.7). A pedestrian with ID 28 is 25.4 meters away at (-4.5, 25.0). A pedestrian with ID 19 is 25.9 meters away at (-5.9, 25.3). A pedestrian with ID 29 is 26.3 meters away at (-4.9, 25.9). A vehicle with ID 20 is 26.6 meters away at (24.6, -10.2). A vehicle with ID 21 is 31.5 meters away at (-6.9, 30.7). A pedestrian with ID 37 is 37.3 meters away at (-20.9, 30.9). A unknown object with ID 40 is 39.7 meters away at (-38.8, -8.8).", "velocity_description": "The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00487229  0.00125586] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.0101601   0.00413899] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.00322474 0.08631983] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.03201384 -0.01099851] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.0117494 0.0177079] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01353994 -0.01459975] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.6528862  1.5986453] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.8747767 -1.9697328] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.41958743 -0.11891118] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.230366   28.185429 ]\n [-28.268887   24.699423 ]\n [-28.154242   24.930933 ]\n [-14.147287    6.1078863]\n [-17.85102    11.4534445]\n [-30.062498   21.733877 ]\n [-14.35972     6.2483087]\n [-14.758606    4.6099157]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.111387 23.402594], 24.187402725219727 meters away.)"}
{"file_name": "images/scenario_1001_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 20.9 meters away at (19.3, -7.9). A pedestrian with ID 24 is 23.4 meters away at (-4.5, 22.9). A pedestrian with ID 25 is 23.6 meters away at (-3.8, 23.3). A pedestrian with ID 28 is 24.6 meters away at (-2.8, 24.5). A pedestrian with ID 27 is 25.0 meters away at (-3.6, 24.8). A pedestrian with ID 19 is 25.1 meters away at (-4.3, 24.7). A pedestrian with ID 29 is 25.5 meters away at (-3.2, 25.3). A vehicle with ID 21 is 25.7 meters away at (-8.0, 24.4). A pedestrian with ID 37 is 36.0 meters away at (-19.1, 30.5). A unknown object with ID 40 is 38.4 meters away at (-37.3, -9.2).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.1616073  1.3716416] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00441779  0.00389792] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00182214 0.00221852] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.00350449 0.00113994] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.01060073 0.01864328] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01006026 0.02206418] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.00597649 0.01031082] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.766373 -3.948611] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.0024224   0.02508214] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.230366   28.185429 ]\n [-28.268887   24.699423 ]\n [-28.154242   24.930933 ]\n [-14.147287    6.1078863]\n [-17.85102    11.4534445]\n [-30.062498   21.733877 ]\n [-14.35972     6.2483087]\n [-14.758606    4.6099157]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [19.325172  -7.9320297], 20.889694213867188 meters away.)"}
{"file_name": "images/scenario_1001_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 15.3 meters away at (14.1, -5.8). A vehicle with ID 21 is 19.5 meters away at (-12.1, 15.3). A pedestrian with ID 24 is 23.3 meters away at (-4.4, 22.9). A pedestrian with ID 25 is 23.5 meters away at (-3.7, 23.2). A pedestrian with ID 28 is 24.6 meters away at (-2.7, 24.5). A pedestrian with ID 27 is 25.0 meters away at (-3.5, 24.8). A pedestrian with ID 19 is 25.1 meters away at (-4.2, 24.7). A pedestrian with ID 29 is 25.5 meters away at (-3.1, 25.3). A vehicle with ID 9 is 30.0 meters away at (3.7, 29.7). A pedestrian with ID 37 is 36.0 meters away at (-18.9, 30.6).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.9807345  0.8916249] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.2645252 -5.3605323] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.00565357 -0.00040591] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00224555 -0.0039174 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.0069522  0.01913927] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00577746 -0.00035818] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01753646 0.01152907] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00690055  0.00075508] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 0.07070059 -8.294828  ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.0501379  0.03581768] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.230366   28.185429 ]\n [-28.268887   24.699423 ]\n [-28.154242   24.930933 ]\n [-14.147287    6.1078863]\n [-17.85102    11.4534445]\n [-30.062498   21.733877 ]\n [-14.35972     6.2483087]\n [-14.758606    4.6099157]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [14.142574  -5.7506275], 15.267026901245117 meters away.)"}
{"file_name": "images/scenario_1001_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 11.9 meters away at (11.0, -4.5). A vehicle with ID 21 is 17.2 meters away at (-16.8, 3.6). A vehicle with ID 9 is 17.2 meters away at (9.2, 14.5). A pedestrian with ID 24 is 23.3 meters away at (-4.4, 22.8). A pedestrian with ID 25 is 23.5 meters away at (-3.7, 23.2). A pedestrian with ID 28 is 24.6 meters away at (-2.9, 24.4). A pedestrian with ID 27 is 25.1 meters away at (-3.5, 24.9). A pedestrian with ID 29 is 25.5 meters away at (-3.1, 25.3). A pedestrian with ID 37 is 35.9 meters away at (-19.0, 30.5). A vehicle with ID 1 is 37.1 meters away at (35.5, -11.0).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.5744512 -6.271811 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 5.799904  -6.7991753] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00209887 -0.00251175] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00128767 0.01100998] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.16821255 -0.08538623] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.02439115  0.00011413] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00701074 -0.00119546] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00135844 -0.000676  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.575006   3.3736541] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.230366   28.185429 ]\n [-28.268887   24.699423 ]\n [-28.154242   24.930933 ]\n [-14.147287    6.1078863]\n [-17.85102    11.4534445]\n [-30.062498   21.733877 ]\n [-14.35972     6.2483087]\n [-14.758606    4.6099157]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.03392 -4.46519], 11.90316390991211 meters away.)"}
{"file_name": "images/scenario_1002_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 8.6) m/s. Its current heading (yaw) is 2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 16.5 meters away at (13.0, -10.1). A vehicle with ID 20 is 18.4 meters away at (6.7, -17.1). A pedestrian with ID 23 is 25.2 meters away at (-22.7, 10.9). A pedestrian with ID 21 is 30.9 meters away at (13.3, -27.9). A vehicle with ID 22 is 31.6 meters away at (15.8, -27.4). A vehicle with ID 24 is 38.7 meters away at (-29.4, 25.2). A pedestrian with ID 26 is 52.5 meters away at (-30.2, 43.0). A vehicle with ID 25 is 52.6 meters away at (-31.7, 42.0). A vehicle with ID 8 is 64.1 meters away at (-46.2, 44.4). A vehicle with ID 14 is 70.1 meters away at (-47.8, 51.3).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8741379  1.0861609] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.0000789 -0.913641 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.09246519 -0.13674699] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.158972 -9.713201] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-150.37750244140625, 247.4282989501953)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 12.951622 -10.14885 ], 16.45429039001465 meters away.)"}
{"file_name": "images/scenario_1002_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 8.7) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 10.3 meters away at (-9.6, -4.0). A vehicle with ID 24 is 16.7 meters away at (-14.8, 7.8). A vehicle with ID 14 is 22.5 meters away at (-16.9, 14.9). A vehicle with ID 25 is 29.8 meters away at (-17.0, 24.5). A pedestrian with ID 26 is 29.9 meters away at (-15.6, 25.6). A vehicle with ID 19 is 38.8 meters away at (27.4, -27.5). A vehicle with ID 20 is 40.6 meters away at (21.3, -34.5). A vehicle with ID 6 is 40.9 meters away at (-28.8, 29.1). A vehicle with ID 8 is 41.5 meters away at (-31.5, 27.0). A vehicle with ID 22 is 54.1 meters away at (30.5, -44.8).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.90728927  1.3718461 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 7.9039407 -9.346289 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.05747515  0.0375709 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 7.979739 -9.651905] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-150.37750244140625, 247.4282989501953)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-9.554417  -3.9717827], 10.347073554992676 meters away.)"}
{"file_name": "images/scenario_1002_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 8.5) m/s. Its current heading (yaw) is 2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 7.4 meters away at (1.9, -7.1). A vehicle with ID 25 is 7.8 meters away at (-2.4, 7.4). A pedestrian with ID 26 is 8.5 meters away at (-1.0, 8.4). A vehicle with ID 24 is 9.3 meters away at (-0.3, -9.3). A vehicle with ID 16 is 18.2 meters away at (-14.2, 11.3). A pedestrian with ID 23 is 18.8 meters away at (3.4, -18.5). A vehicle with ID 8 is 19.7 meters away at (-17.0, 9.8). A vehicle with ID 14 is 25.2 meters away at (14.0, -20.9). A vehicle with ID 17 is 38.8 meters away at (-27.5, 27.3). A unknown object with ID 12 is 53.4 meters away at (-30.1, 44.1).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 7.8720737 -9.308224 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.02643917 -0.01625234] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.8605256 -9.54827  ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.80909747  1.2109873 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.277655 -9.401761] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.6533213 -9.542692 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-150.37750244140625, 247.4282989501953)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.8728561 -7.14452  ], 7.385915756225586 meters away.)"}
{"file_name": "images/scenario_1002_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 8.8) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 7.9 meters away at (-2.2, -7.6). A vehicle with ID 17 is 8.8 meters away at (2.6, -8.4). A unknown object with ID 15 is 9.9 meters away at (2.3, 9.7). A vehicle with ID 25 is 15.4 meters away at (12.0, -9.7). A pedestrian with ID 26 is 16.4 meters away at (13.7, -9.0). A vehicle with ID 18 is 17.3 meters away at (-13.3, 11.1). A unknown object with ID 11 is 18.4 meters away at (13.4, -12.6). A vehicle with ID 16 is 30.2 meters away at (16.8, -25.1). A vehicle with ID 24 is 30.3 meters away at (14.5, -26.7). A pedestrian with ID 23 is 37.4 meters away at (16.7, -33.4).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.4192047 -8.743157 ] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00342165 -0.01523137] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [  8.101699 -10.171238] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 8.083717 -9.374881] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.86105394  1.0770371 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-150.37750244140625, 247.4282989501953)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.2313805 -7.577442 ], 7.899157524108887 meters away.)"}
{"file_name": "images/scenario_1003_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.5) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 16.6 meters away at (13.3, -10.0). A vehicle with ID 17 is 23.5 meters away at (19.0, 13.9). A vehicle with ID 16 is 28.6 meters away at (-25.8, 12.3). A unknown object with ID 13 is 31.6 meters away at (12.5, -29.0). A unknown object with ID 18 is 40.5 meters away at (14.1, -38.0). A unknown object with ID 5 is 65.0 meters away at (14.3, 63.4). A vehicle with ID 3 is 74.4 meters away at (-51.6, 53.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [13.302745 -9.953053], 16.61404037475586 meters away.)"}
{"file_name": "images/scenario_1003_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 16.1 meters away at (12.8, -9.6). A vehicle with ID 17 is 23.4 meters away at (18.6, 14.3). A vehicle with ID 16 is 29.1 meters away at (-26.3, 12.7). A unknown object with ID 13 is 31.1 meters away at (12.0, -28.7). A unknown object with ID 18 is 40.1 meters away at (13.6, -37.7).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [12.831438 -9.646011], 16.052766799926758 meters away.)"}
{"file_name": "images/scenario_1003_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -2.1) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 12.5 meters away at (10.1, -7.3). A vehicle with ID 17 is 22.9 meters away at (15.7, 16.6). A unknown object with ID 13 is 28.0 meters away at (9.3, -26.4). A vehicle with ID 16 is 32.6 meters away at (-29.0, 14.8). A unknown object with ID 18 is 37.0 meters away at (10.9, -35.4). A vehicle with ID 10 is 39.6 meters away at (12.3, 37.6). A unknown object with ID 4 is 67.1 meters away at (11.0, 66.2).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [10.13289   -7.3437066], 12.514211654663086 meters away.)"}
{"file_name": "images/scenario_1003_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -4.4) m/s. Its current heading (yaw) is -1.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 5.5 meters away at (5.4, -0.8). A unknown object with ID 13 is 20.3 meters away at (4.7, -19.7). A vehicle with ID 17 is 25.7 meters away at (11.0, 23.2). A unknown object with ID 18 is 29.4 meters away at (6.4, -28.7). A vehicle with ID 16 is 40.1 meters away at (-33.9, 21.5). A vehicle with ID 10 is 44.9 meters away at (7.5, 44.3). A unknown object with ID 4 is 73.2 meters away at (6.0, 72.9).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.419586  -0.7933092], 5.477339744567871 meters away.)"}
{"file_name": "images/scenario_1004_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 4.8) m/s. Its current heading (yaw) is 0.91 ", "actor_description": " The most relevant actors are: A unknown object with ID 51 is 5.4 meters away at (-3.8, 3.7). A vehicle with ID 53 is 10.6 meters away at (-0.8, 10.5). A vehicle with ID 58 is 14.5 meters away at (-14.4, -1.7). A vehicle with ID 56 is 15.6 meters away at (-14.3, 6.3). A vehicle with ID 54 is 16.6 meters away at (-6.9, 15.1). A vehicle with ID 64 is 20.5 meters away at (-20.2, 3.4). A vehicle with ID 65 is 22.9 meters away at (-22.4, 5.0). A vehicle with ID 67 is 24.0 meters away at (-20.3, -12.8). A vehicle with ID 69 is 24.7 meters away at (-22.3, -10.7). A vehicle with ID 41 is 25.1 meters away at (20.7, -14.1).", "velocity_description": "The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.189949 27.845886]\n [25.996798 34.597397]\n [16.13743  25.227137]\n [18.309721 24.50521 ]\n [27.57746  28.616602]\n [24.60996  36.310104]\n [30.160166 30.648577]\n [25.928165 34.961605]]", "nav_goal": "(-6.094561576843262, 216.7591552734375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.8367     3.7395468], 5.357656002044678 meters away.)"}
{"file_name": "images/scenario_1004_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 2.1) m/s. Its current heading (yaw) is 0.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 7.2 meters away at (-6.2, 3.7). A unknown object with ID 51 is 9.8 meters away at (-9.3, -3.2). A vehicle with ID 54 is 14.8 meters away at (-12.3, 8.2). A vehicle with ID 56 is 19.7 meters away at (-19.7, -0.6). A vehicle with ID 52 is 21.5 meters away at (-7.9, 20.0). A vehicle with ID 58 is 21.7 meters away at (-19.9, -8.6). A vehicle with ID 83 is 22.3 meters away at (0.1, 22.3). A vehicle with ID 79 is 24.0 meters away at (23.9, 1.3). A vehicle with ID 90 is 24.9 meters away at (13.4, 21.0). A vehicle with ID 64 is 26.0 meters away at (-25.7, -3.6).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-5.387917  2.880306] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-4.7090116 -2.4944375] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.189949 27.845886]\n [25.996798 34.597397]\n [16.13743  25.227137]\n [27.57746  28.616602]\n [24.60996  36.310104]\n [30.160166 30.648577]\n [25.928165 34.961605]]", "nav_goal": "(-6.094561576843262, 216.7591552734375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.1933336  3.6589737], 7.193432331085205 meters away.)"}
{"file_name": "images/scenario_1004_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.6) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 8.2 meters away at (-8.1, 1.2). A unknown object with ID 51 is 12.5 meters away at (-11.2, -5.6). A vehicle with ID 54 is 15.3 meters away at (-14.2, 5.8). A unknown object with ID 34 is 17.4 meters away at (-5.2, -16.6). A vehicle with ID 90 is 17.9 meters away at (1.8, 17.8). A vehicle with ID 52 is 20.1 meters away at (-9.8, 17.5). A vehicle with ID 56 is 21.8 meters away at (-21.6, -3.0). A vehicle with ID 79 is 22.0 meters away at (22.0, -1.1). A pedestrian with ID 66 is 22.9 meters away at (16.7, 15.7). A vehicle with ID 58 is 24.5 meters away at (-21.8, -11.0).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [-5.2025886  1.811941 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.85797447  0.80147344] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.189949 27.845886]\n [25.996798 34.597397]\n [16.13743  25.227137]\n [27.57746  28.616602]\n [24.60996  36.310104]\n [30.160166 30.648577]\n [25.928165 34.961605]]", "nav_goal": "(-6.094561576843262, 216.7591552734375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.143838   1.2060947], 8.232664108276367 meters away.)"}
{"file_name": "images/scenario_1004_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.7) m/s. Its current heading (yaw) is 0.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 9.0 meters away at (-9.0, 0.2). A unknown object with ID 51 is 13.9 meters away at (-12.1, -6.7). A vehicle with ID 54 is 15.8 meters away at (-15.0, 4.8). A vehicle with ID 52 is 19.6 meters away at (-10.7, 16.5). A vehicle with ID 79 is 21.1 meters away at (21.0, -2.2). A vehicle with ID 3 is 22.6 meters away at (12.9, 18.5). A vehicle with ID 56 is 22.9 meters away at (-22.6, -4.0). A pedestrian with ID 66 is 23.0 meters away at (15.7, 16.9). A pedestrian with ID 15 is 25.4 meters away at (25.1, 3.6). A vehicle with ID 58 is 25.8 meters away at (-22.8, -12.1).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.1377776 -2.3529432] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.10279888 1.341025  ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.03950034 -0.01965985] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.189949 27.845886]\n [25.996798 34.597397]\n [16.13743  25.227137]\n [27.57746  28.616602]\n [30.160166 30.648577]\n [25.928165 34.961605]]", "nav_goal": "(-6.094561576843262, 216.7591552734375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.018003    0.17697906], 9.019740104675293 meters away.)"}
{"file_name": "images/scenario_1005_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.3) m/s. Its current heading (yaw) is 2.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 7.4 meters away at (1.8, -7.2). A unknown object with ID 36 is 10.5 meters away at (10.5, 1.0). A vehicle with ID 37 is 11.1 meters away at (6.7, -8.8). A pedestrian with ID 13 is 14.0 meters away at (-7.7, -11.7). A vehicle with ID 39 is 14.6 meters away at (14.5, -2.0). A vehicle with ID 44 is 16.1 meters away at (-16.1, 0.8). A vehicle with ID 42 is 16.2 meters away at (12.2, -10.6). A vehicle with ID 35 is 22.4 meters away at (-10.7, 19.7). A vehicle with ID 47 is 24.4 meters away at (-21.2, -12.2). A vehicle with ID 45 is 28.9 meters away at (-26.6, 11.2).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.03181687 -0.01032699] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 4.743371 -1.558417] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.78294372558594, 161.76699829101562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.8277755 -7.165612 ], 7.395049571990967 meters away.)"}
{"file_name": "images/scenario_1005_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 1.8) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 4.5 meters away at (-1.3, -4.3). A vehicle with ID 33 is 10.4 meters away at (5.4, -8.9). A unknown object with ID 36 is 14.0 meters away at (14.0, -0.7). A pedestrian with ID 13 is 14.1 meters away at (-4.0, -13.6). A vehicle with ID 37 is 14.7 meters away at (10.3, -10.5). A vehicle with ID 39 is 18.4 meters away at (18.0, -3.7). A vehicle with ID 35 is 19.3 meters away at (-7.3, 17.9). A vehicle with ID 42 is 20.0 meters away at (15.8, -12.3). A vehicle with ID 47 is 22.5 meters away at (-17.5, -14.1). A vehicle with ID 45 is 24.9 meters away at (-23.1, 9.3).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.6711574 -1.6797463] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.02219174 -0.00018179] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.78294372558594, 161.76699829101562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.3347168 -4.2660637], 4.469985485076904 meters away.)"}
{"file_name": "images/scenario_1005_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 3.4) m/s. Its current heading (yaw) is 1.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 13.0 meters away at (-4.2, 12.3). A vehicle with ID 33 is 16.7 meters away at (8.4, -14.5). A unknown object with ID 36 is 18.2 meters away at (17.1, -6.2). A pedestrian with ID 13 is 19.0 meters away at (-0.9, -19.0). A vehicle with ID 45 is 20.3 meters away at (-19.9, 3.9). A vehicle with ID 44 is 20.7 meters away at (15.6, -13.6). A vehicle with ID 37 is 20.9 meters away at (13.3, -16.0). A vehicle with ID 39 is 22.9 meters away at (21.0, -9.1). A vehicle with ID 1 is 23.5 meters away at (7.8, 22.2). A vehicle with ID 47 is 24.4 meters away at (-14.5, -19.6).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00624416 0.01491969] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 7.0086927 -2.0989416] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.78294372558594, 161.76699829101562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.2125244 12.336309 ], 13.03571605682373 meters away.)"}
{"file_name": "images/scenario_1005_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 2.9) m/s. Its current heading (yaw) is 1.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 8.6 meters away at (-6.1, 6.2). A vehicle with ID 1 is 17.0 meters away at (6.0, 15.9). A vehicle with ID 41 is 18.7 meters away at (-2.0, 18.6). A vehicle with ID 33 is 21.7 meters away at (6.4, -20.7). A vehicle with ID 45 is 22.0 meters away at (-21.9, -2.2). A vehicle with ID 39 is 24.4 meters away at (19.0, -15.4). A vehicle with ID 3 is 24.7 meters away at (-0.0, 24.7). A vehicle with ID 37 is 25.0 meters away at (11.2, -22.4). A pedestrian with ID 13 is 25.4 meters away at (-3.1, -25.2). A vehicle with ID 42 is 29.4 meters away at (16.7, -24.2).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.01698599  0.00038729] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.78294372558594, 161.76699829101562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.0561123  6.1757393], 8.649639129638672 meters away.)"}
{"file_name": "images/scenario_1006_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 5.7 meters away at (4.7, 3.2). A pedestrian with ID 59 is 7.0 meters away at (-6.0, -3.6). A vehicle with ID 9 is 11.3 meters away at (-9.0, 6.8). A pedestrian with ID 54 is 13.2 meters away at (4.6, -12.4). A pedestrian with ID 68 is 20.2 meters away at (7.1, -18.9). A unknown object with ID 70 is 24.9 meters away at (22.1, 11.5). A vehicle with ID 61 is 29.2 meters away at (11.0, -27.0). A pedestrian with ID 56 is 30.4 meters away at (28.4, 10.9). A pedestrian with ID 65 is 30.8 meters away at (19.2, -24.0). A pedestrian with ID 55 is 30.9 meters away at (29.2, 10.3).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.2329186  1.061963 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.00138393  0.00333431] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.31078625 -1.4729916 ] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 1.1335415 -0.9195269] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.16368261  0.18963575] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 1.0963248 -0.9113293] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 34.28122    -9.047508 ]\n [ 17.921785  -20.657125 ]\n [ 27.731028    8.829321 ]\n [  9.922607   -7.4939766]\n [ 12.145693   -4.7392893]\n [ 10.738917   -5.8676515]\n [ 36.52656    -6.6062465]\n [ 27.745527    8.820663 ]\n [ 16.530289  -19.337343 ]\n [ 33.948498   -9.704064 ]\n [ 16.475025  -19.30902  ]\n [  8.999962   -8.476721 ]\n [ 17.772755  -20.432024 ]\n [ 36.360455   -6.8390126]]", "nav_goal": "(244.99546813964844, -168.13584899902344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.6956887 3.2476122], 5.709332466125488 meters away.)"}
{"file_name": "images/scenario_1006_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.6) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 5.7 meters away at (4.7, 3.3). A pedestrian with ID 59 is 9.2 meters away at (-9.1, -1.0). A vehicle with ID 9 is 10.8 meters away at (-8.6, 6.5). A pedestrian with ID 43 is 11.9 meters away at (3.4, -11.4). A pedestrian with ID 54 is 12.5 meters away at (3.9, -11.9). A unknown object with ID 70 is 24.6 meters away at (21.4, 12.0). A pedestrian with ID 71 is 27.5 meters away at (15.9, -22.4). A pedestrian with ID 72 is 27.5 meters away at (15.2, -22.9). A vehicle with ID 61 is 28.5 meters away at (10.4, -26.5). A pedestrian with ID 66 is 29.5 meters away at (16.6, -24.4).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [ 1.0737728  -0.61483246] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.3365881   0.94425094] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 0.89565575 -0.6759965 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-2.3491435e-02  4.6998375e-05] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.0371497   0.01919117] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-1.3345371  0.8965021] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.3430121   0.89358556] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.80376023  0.8086453 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 17.921785 -20.657125]\n [ 27.731028   8.829321]\n [ 27.745527   8.820663]\n [ 16.530289 -19.337343]\n [ 33.948498  -9.704064]\n [ 16.475025 -19.30902 ]\n [ 17.772755 -20.432024]]", "nav_goal": "(244.99546813964844, -168.13584899902344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.7068634 3.3016677], 5.7493977546691895 meters away.)"}
{"file_name": "images/scenario_1006_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -1.8) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 6.0 meters away at (4.7, 3.7). A pedestrian with ID 43 is 9.2 meters away at (0.3, -9.1). A pedestrian with ID 54 is 9.7 meters away at (0.8, -9.6). A vehicle with ID 9 is 11.0 meters away at (-8.9, 6.5). A pedestrian with ID 59 is 15.2 meters away at (-14.9, 3.1). A pedestrian with ID 71 is 21.0 meters away at (10.3, -18.3). A pedestrian with ID 72 is 21.2 meters away at (9.7, -18.9). A unknown object with ID 70 is 23.2 meters away at (18.3, 14.3). A pedestrian with ID 66 is 23.5 meters away at (11.5, -20.5). A pedestrian with ID 65 is 24.4 meters away at (13.9, -20.1).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [ 1.399421  -0.7583052] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.0018571   0.00951903] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00083421 0.00267945] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.8847387 -1.3741899] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.293136   0.9887139] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-1.3548217   0.92284065] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.3636535   0.87410045] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.90529895  0.76680607] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-1.3547224  1.0186918] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 17.921785 -20.657125]\n [ 27.731028   8.829321]\n [ 27.745527   8.820663]\n [ 16.530289 -19.337343]\n [ 16.475025 -19.30902 ]\n [ 17.772755 -20.432024]]", "nav_goal": "(244.99546813964844, -168.13584899902344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.742494  3.7260647], 6.031153202056885 meters away.)"}
{"file_name": "images/scenario_1006_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -2.7) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 7.4 meters away at (0.0, 7.4). A pedestrian with ID 54 is 7.6 meters away at (-5.6, -5.1). A pedestrian with ID 71 is 12.1 meters away at (1.5, -12.0). A pedestrian with ID 72 is 12.6 meters away at (0.9, -12.6). A vehicle with ID 9 is 13.5 meters away at (-11.0, 7.8). A vehicle with ID 85 is 14.3 meters away at (8.9, 11.3). A pedestrian with ID 65 is 14.7 meters away at (5.0, -13.8). A pedestrian with ID 66 is 15.1 meters away at (3.1, -14.7). A vehicle with ID 87 is 17.0 meters away at (16.8, 2.4). A vehicle with ID 61 is 19.8 meters away at (0.9, -19.7).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [ 0.50838566 -0.24933475] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01481117 -0.01398632] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-1.1507227  0.8488571] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.1526436  0.8743372] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 2.814251  -2.0444198] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-8.422448  5.522803] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-1.1668271   0.60509646] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.0048962   0.44631124] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-6.7106566  4.264682 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 17.921785 -20.657125]\n [ 27.731028   8.829321]\n [ 27.745527   8.820663]\n [ 16.530289 -19.337343]\n [ 16.475025 -19.30902 ]\n [ 17.772755 -20.432024]]", "nav_goal": "(244.99546813964844, -168.13584899902344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.00878143 7.398321  ], 7.398326396942139 meters away.)"}
{"file_name": "images/scenario_1007_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.4) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 13.0 meters away at (4.5, 12.2). A vehicle with ID 16 is 21.7 meters away at (-19.3, -9.9). A pedestrian with ID 18 is 23.5 meters away at (-7.3, 22.4). A vehicle with ID 17 is 30.3 meters away at (-24.5, -17.8). A vehicle with ID 19 is 31.1 meters away at (14.1, 27.8). A vehicle with ID 21 is 45.7 meters away at (6.0, 45.3). A vehicle with ID 20 is 48.5 meters away at (15.5, 45.9). A unknown object with ID 10 is 62.4 meters away at (-37.4, -50.0). A unknown object with ID 15 is 62.7 meters away at (-38.4, -49.5). A vehicle with ID 23 is 73.7 meters away at (15.5, 72.1).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.3263357 -6.5562797] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.33566907 -1.3187883 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0.6670535 1.4796238] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.1354737 -3.6501458] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.05765708 -0.7041869 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.633942 46.501797]\n [ 7.535963 47.40783 ]]", "nav_goal": "(-118.57566833496094, 8.544489860534668)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.4798746 12.177941 ], 12.97580623626709 meters away.)"}
{"file_name": "images/scenario_1007_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -5.6) m/s. Its current heading (yaw) is -2.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 13.0 meters away at (5.4, 11.8). A vehicle with ID 16 is 13.7 meters away at (-13.5, 2.1). A vehicle with ID 17 is 19.6 meters away at (-18.7, -5.8). A pedestrian with ID 18 is 31.8 meters away at (-0.1, 31.8). A vehicle with ID 19 is 44.5 meters away at (19.9, 39.8). A unknown object with ID 6 is 45.8 meters away at (-28.5, -35.8). A unknown object with ID 9 is 48.4 meters away at (-30.4, -37.7). A unknown object with ID 11 is 49.2 meters away at (-33.0, -36.5). A unknown object with ID 10 is 49.4 meters away at (-31.5, -38.0). A vehicle with ID 20 is 53.6 meters away at (20.5, 49.5).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.6390502 -5.9091916] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.77637947 -1.1849225 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.4460615 -4.1435456] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-118.57566833496094, 8.544489860534668)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.374419 11.795104], 12.961823463439941 meters away.)"}
{"file_name": "images/scenario_1007_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -4.9) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 12.4 meters away at (6.0, 10.8). A vehicle with ID 17 is 13.7 meters away at (-12.9, 4.6). A vehicle with ID 16 is 14.6 meters away at (-7.7, 12.4). A pedestrian with ID 18 is 41.0 meters away at (7.5, 40.3). A vehicle with ID 3 is 54.3 meters away at (-19.9, -50.5). A vehicle with ID 19 is 56.5 meters away at (25.7, 50.3). A vehicle with ID 20 is 57.2 meters away at (23.4, 52.2).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.7302136 -5.4416704] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.7668223 -0.8321533] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.2973285  3.3566072] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.2935233 -3.9700525] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-118.57566833496094, 8.544489860534668)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.0186596 10.838957 ], 12.397872924804688 meters away.)"}
{"file_name": "images/scenario_1007_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -4.1) m/s. Its current heading (yaw) is -2.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 12.1 meters away at (6.5, 10.2). A vehicle with ID 17 is 15.4 meters away at (-7.1, 13.7). A vehicle with ID 16 is 21.6 meters away at (-1.9, 21.5). A vehicle with ID 3 is 40.8 meters away at (-23.9, -33.0). A pedestrian with ID 18 is 50.0 meters away at (15.2, 47.7). A vehicle with ID 20 is 60.7 meters away at (28.2, 53.8). A vehicle with ID 19 is 67.3 meters away at (31.5, 59.5).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.655774 -4.436703] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.2602577  5.149728 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.81030595 -0.9313142 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.2650294 -3.4635088] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-118.57566833496094, 8.544489860534668)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.5308514 10.19558  ], 12.107925415039062 meters away.)"}
{"file_name": "images/scenario_1008_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 7.1) m/s. Its current heading (yaw) is 1.28 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 8.7 meters away at (4.8, -7.2). A vehicle with ID 11 is 17.2 meters away at (-15.9, -6.6). A vehicle with ID 10 is 18.9 meters away at (-11.8, -14.8). A vehicle with ID 12 is 21.0 meters away at (-20.6, -4.2). A vehicle with ID 14 is 23.6 meters away at (-23.4, -3.3). A vehicle with ID 15 is 28.6 meters away at (-28.5, -2.0). A vehicle with ID 13 is 31.2 meters away at (-16.0, -26.8). A vehicle with ID 16 is 38.5 meters away at (-38.5, 1.3). A vehicle with ID 17 is 41.0 meters away at (-41.0, 1.9). A vehicle with ID 8 is 46.3 meters away at (-46.1, 3.9).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.43462378 1.1236037 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(224.49346923828125, -63.716346740722656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 4.837437 -7.183157], 8.66016960144043 meters away.)"}
{"file_name": "images/scenario_1008_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.5) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 19.9 meters away at (0.8, -19.9). A vehicle with ID 11 is 29.7 meters away at (-20.6, -21.5). A vehicle with ID 12 is 31.7 meters away at (-25.3, -19.1). A vehicle with ID 14 is 33.6 meters away at (-28.2, -18.4). A vehicle with ID 10 is 34.0 meters away at (-16.5, -29.8). A vehicle with ID 15 is 37.3 meters away at (-33.2, -16.9). A vehicle with ID 13 is 46.6 meters away at (-20.6, -41.7). A vehicle with ID 18 is 76.7 meters away at (-30.4, -70.4).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.37828836 1.2019154 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(224.49346923828125, -63.716346740722656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [  0.77870464 -19.885643  ], 19.9008846282959 meters away.)"}
{"file_name": "images/scenario_1008_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 7.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 32.3 meters away at (-3.5, -32.1). A vehicle with ID 11 is 44.0 meters away at (-25.5, -35.9). A vehicle with ID 12 is 45.3 meters away at (-30.3, -33.7). A vehicle with ID 10 is 49.2 meters away at (-21.4, -44.3). A vehicle with ID 13 is 61.8 meters away at (-25.5, -56.2).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.43706143 1.093617  ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(224.49346923828125, -63.716346740722656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -3.5279522 -32.062798 ], 32.25630569458008 meters away.)"}
{"file_name": "images/scenario_1008_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 4.1) m/s. Its current heading (yaw) is 0.73 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 42.6 meters away at (-8.8, -41.7). A vehicle with ID 5 is 57.5 meters away at (-31.9, -47.8). A vehicle with ID 10 is 62.7 meters away at (-27.9, -56.1). A vehicle with ID 13 is 75.1 meters away at (-31.9, -68.0).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.881912  1.1445343] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(224.49346923828125, -63.716346740722656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -8.844132 -41.714874], 42.64210891723633 meters away.)"}
{"file_name": "images/scenario_1009_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.6) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 10.0 meters away at (9.7, -2.5). A pedestrian with ID 18 is 27.2 meters away at (-27.2, 0.7). A pedestrian with ID 19 is 27.7 meters away at (-27.6, 2.3). A pedestrian with ID 20 is 28.2 meters away at (-27.9, 4.2). A pedestrian with ID 21 is 28.7 meters away at (-28.5, 2.6). A pedestrian with ID 22 is 29.2 meters away at (-29.0, 3.5). A unknown object with ID 1 is 32.3 meters away at (31.7, 6.4). A unknown object with ID 15 is 33.4 meters away at (32.4, 8.1). A unknown object with ID 4 is 39.5 meters away at (-34.7, 18.9). A vehicle with ID 29 is 58.9 meters away at (31.2, -50.0).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.01483938 0.00959802] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.00561718 0.0003553 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.00760838 -0.00054737] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.02388944 0.02109994] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.01058054 0.00176605] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.26421276 -1.0642797 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.156977  -7.518627 ]\n [19.339022  -7.077023 ]\n [19.695171  -4.412622 ]\n [19.336206  -7.0846577]\n [19.271088  -7.247735 ]]", "nav_goal": "(21.286148071289062, -216.2595672607422)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.734327 -2.45812 ], 10.039895057678223 meters away.)"}
{"file_name": "images/scenario_1009_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.1) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 8.4 meters away at (8.2, -1.9). A pedestrian with ID 11 is 23.6 meters away at (14.9, -18.3). A pedestrian with ID 18 is 28.9 meters away at (-28.9, 1.3). A pedestrian with ID 19 is 29.4 meters away at (-29.3, 3.0). A pedestrian with ID 20 is 29.9 meters away at (-29.5, 4.8). A pedestrian with ID 21 is 30.4 meters away at (-30.2, 3.2). A unknown object with ID 1 is 30.8 meters away at (30.0, 7.0). A pedestrian with ID 22 is 30.9 meters away at (-30.7, 4.1). A unknown object with ID 15 is 31.9 meters away at (30.7, 8.7). A unknown object with ID 7 is 41.7 meters away at (-41.4, 4.7).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01713525 -0.00836073] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.01517218 -0.00641551] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.200673e-02  7.519034e-05] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.0026976 -0.0078953] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01028552 -0.02573143] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.0042499  -0.00746228] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.156977  -7.518627 ]\n [19.339022  -7.077023 ]\n [19.695171  -4.412622 ]\n [19.336206  -7.0846577]\n [19.271088  -7.247735 ]]", "nav_goal": "(21.286148071289062, -216.2595672607422)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.1631565 -1.8761575], 8.375983238220215 meters away.)"}
{"file_name": "images/scenario_1009_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 8.2 meters away at (8.0, -1.8). A pedestrian with ID 18 is 29.1 meters away at (-29.1, 1.4). A pedestrian with ID 19 is 29.6 meters away at (-29.5, 3.1). A pedestrian with ID 20 is 30.1 meters away at (-29.7, 4.9). A pedestrian with ID 21 is 30.6 meters away at (-30.4, 3.2). A unknown object with ID 1 is 30.6 meters away at (29.8, 7.1). A pedestrian with ID 22 is 31.1 meters away at (-30.8, 4.2). A unknown object with ID 15 is 31.8 meters away at (30.6, 8.7). A unknown object with ID 7 is 42.2 meters away at (-42.0, 4.9). A unknown object with ID 10 is 55.6 meters away at (-54.3, 11.7).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00863892  0.002919  ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00201425  0.0046164 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.01357305  0.00088883] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.00427611 -0.00639917] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00869266 0.01279203] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.156977  -7.518627 ]\n [19.339022  -7.077023 ]\n [19.695171  -4.412622 ]\n [19.336206  -7.0846577]\n [19.271088  -7.247735 ]]", "nav_goal": "(21.286148071289062, -216.2595672607422)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.033634  -1.7796407], 8.228389739990234 meters away.)"}
{"file_name": "images/scenario_1009_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 9.0 meters away at (8.8, -1.8). A pedestrian with ID 18 is 29.2 meters away at (-29.1, 1.4). A pedestrian with ID 19 is 29.7 meters away at (-29.5, 3.0). A pedestrian with ID 20 is 30.2 meters away at (-29.8, 5.0). A unknown object with ID 1 is 30.6 meters away at (29.8, 7.1). A pedestrian with ID 21 is 30.7 meters away at (-30.6, 3.1). A pedestrian with ID 22 is 31.1 meters away at (-30.8, 4.3). A unknown object with ID 15 is 31.8 meters away at (30.5, 8.8). A pedestrian with ID 9 is 53.9 meters away at (-53.8, 2.4). A vehicle with ID 29 is 58.5 meters away at (28.7, -50.9).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [1.0895616  0.00773407] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00210549  0.00087925] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00137399 -0.00011938] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00260319 0.00457132] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.05914066  0.01124008] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.02213583 -0.01031352] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.23729241 1.0654541 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[19.156977  -7.518627 ]\n [19.339022  -7.077023 ]\n [19.695171  -4.412622 ]\n [19.336206  -7.0846577]\n [19.271088  -7.247735 ]]", "nav_goal": "(21.286148071289062, -216.2595672607422)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.785348  -1.7618339], 8.960267066955566 meters away.)"}
{"file_name": "images/scenario_1010_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 0.1) m/s. Its current heading (yaw) is 3.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 9.4 meters away at (8.9, 2.9). A vehicle with ID 10 is 14.7 meters away at (14.4, 2.7). A vehicle with ID 11 is 20.2 meters away at (20.0, 2.4). A vehicle with ID 7 is 20.3 meters away at (-9.1, 18.2). A vehicle with ID 6 is 26.2 meters away at (-9.2, 24.5). A vehicle with ID 12 is 27.0 meters away at (26.9, 1.9). A unknown object with ID 13 is 38.7 meters away at (37.1, -11.0). A vehicle with ID 14 is 44.2 meters away at (-23.0, -37.8). A vehicle with ID 15 is 49.2 meters away at (-23.3, -43.3). A vehicle with ID 16 is 54.2 meters away at (-24.0, -48.6).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-95.5120620727539, 273.8974609375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.93899   2.8622942], 9.386067390441895 meters away.)"}
{"file_name": "images/scenario_1010_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 0.2) m/s. Its current heading (yaw) is 3.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 12.8 meters away at (12.5, 2.6). A vehicle with ID 10 is 18.3 meters away at (18.1, 2.5). A vehicle with ID 7 is 18.8 meters away at (-5.6, 17.9). A vehicle with ID 11 is 23.8 meters away at (23.7, 2.2). A vehicle with ID 6 is 25.0 meters away at (-5.7, 24.3). A vehicle with ID 12 is 30.5 meters away at (30.5, 1.7). A vehicle with ID 14 is 42.7 meters away at (-19.4, -38.0). A vehicle with ID 15 is 47.8 meters away at (-19.7, -43.6). A vehicle with ID 16 is 52.9 meters away at (-20.4, -48.8). A vehicle with ID 17 is 58.5 meters away at (-21.0, -54.6).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-95.5120620727539, 273.8974609375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.498667   2.6417544], 12.774801254272461 meters away.)"}
{"file_name": "images/scenario_1010_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 0.9) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 16.8 meters away at (16.7, 2.1). A vehicle with ID 7 is 17.4 meters away at (-1.6, 17.3). A vehicle with ID 10 is 22.3 meters away at (22.2, 1.9). A vehicle with ID 6 is 23.6 meters away at (-1.9, 23.6). A vehicle with ID 11 is 27.8 meters away at (27.8, 1.6). A vehicle with ID 12 is 34.7 meters away at (34.7, 1.2). A vehicle with ID 14 is 41.5 meters away at (-15.1, -38.7). A vehicle with ID 15 is 46.9 meters away at (-15.3, -44.3). A vehicle with ID 16 is 52.1 meters away at (-16.1, -49.6). A vehicle with ID 17 is 57.7 meters away at (-16.6, -55.3).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-95.5120620727539, 273.8974609375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.678356   2.0976508], 16.809751510620117 meters away.)"}
{"file_name": "images/scenario_1010_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 4.0) m/s. Its current heading (yaw) is 1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 13.0 meters away at (3.1, 12.6). A vehicle with ID 6 is 19.1 meters away at (2.7, 18.9). A vehicle with ID 8 is 21.5 meters away at (21.3, -2.5). A vehicle with ID 10 is 27.1 meters away at (27.0, -2.6). A vehicle with ID 11 is 32.6 meters away at (32.5, -2.9). A vehicle with ID 12 is 39.4 meters away at (39.3, -3.2). A vehicle with ID 14 is 44.7 meters away at (-10.4, -43.4). A vehicle with ID 15 is 50.2 meters away at (-10.7, -49.0). A vehicle with ID 16 is 55.4 meters away at (-11.5, -54.2). A vehicle with ID 17 is 61.2 meters away at (-12.0, -60.0).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-95.5120620727539, 273.8974609375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.058998 12.606397], 12.972228050231934 meters away.)"}
{"file_name": "images/scenario_1011_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.1) m/s. Its current heading (yaw) is -0.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 34.6 meters away at (-9.9, -33.2). A unknown object with ID 3 is 37.6 meters away at (37.0, 7.1).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.7626041  7.1345406] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -9.876966 -33.188232], 34.62677001953125 meters away.)"}
{"file_name": "images/scenario_1011_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 24.3 meters away at (-10.5, -21.9). A unknown object with ID 9 is 42.0 meters away at (-24.8, -33.8). A unknown object with ID 10 is 47.1 meters away at (2.5, -47.0). A vehicle with ID 1 is 58.7 meters away at (56.8, -14.5). A vehicle with ID 7 is 79.7 meters away at (-76.8, -21.4).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [1.7856883 3.7952814] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.72086376  7.9598103 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.2307796 -8.641309 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-10.502892 -21.858269], 24.250661849975586 meters away.)"}
{"file_name": "images/scenario_1011_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 20.9 meters away at (-4.4, -20.4). A unknown object with ID 8 is 30.8 meters away at (30.3, 5.8). A vehicle with ID 1 is 56.0 meters away at (55.9, 2.7).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 3.2400484 -2.463497 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.40847835  9.19168   ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -4.4027   -20.392582], 20.86243438720703 meters away.)"}
{"file_name": "images/scenario_1011_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 29.8 meters away at (-1.3, -29.8).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.81770647 -6.269639  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -1.2798114 -29.784502 ], 29.811986923217773 meters away.)"}
{"file_name": "images/scenario_1012_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -2.7) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A pedestrian with ID 29 is 9.5 meters away at (-5.8, -7.5). A cyclist with ID 27 is 13.3 meters away at (-11.8, 6.2). A cyclist with ID 26 is 17.0 meters away at (-16.7, -3.2). A unknown object with ID 28 is 24.7 meters away at (-19.5, 15.2). A unknown object with ID 31 is 27.7 meters away at (-19.0, -20.2). A unknown object with ID 35 is 28.9 meters away at (-18.0, -22.6). A unknown object with ID 37 is 30.8 meters away at (-18.4, -24.7). A unknown object with ID 38 is 32.8 meters away at (-19.2, -26.6). A pedestrian with ID 36 is 38.0 meters away at (-6.8, 37.4). A vehicle with ID 32 is 39.0 meters away at (-7.8, 38.2).", "velocity_description": "The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.28215146 1.1609457 ] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-2.713306  -6.9101324] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [-4.0014534 -8.929739 ] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.61571646 -1.1165767 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-5.8430166 -7.546258 ], 9.543943405151367 meters away.)"}
{"file_name": "images/scenario_1012_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -2.5) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A pedestrian with ID 29 is 16.1 meters away at (-16.1, -0.5). A unknown object with ID 17 is 28.6 meters away at (24.9, -14.0). A unknown object with ID 11 is 28.6 meters away at (25.4, -13.1). A unknown object with ID 10 is 28.7 meters away at (25.1, -14.0). A cyclist with ID 27 is 29.7 meters away at (-29.3, -4.9). A unknown object with ID 31 is 33.5 meters away at (-29.8, -15.3). A unknown object with ID 35 is 33.7 meters away at (-28.7, -17.6). A unknown object with ID 37 is 35.1 meters away at (-29.1, -19.6). A unknown object with ID 28 is 36.5 meters away at (-30.4, 20.1). A unknown object with ID 24 is 37.5 meters away at (-32.5, -18.8).", "velocity_description": "The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.2479382 1.1526525] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-3.549659 -8.619747] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-16.08244    -0.5400753], 16.09150505065918 meters away.)"}
{"file_name": "images/scenario_1012_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.7) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 14.8 meters away at (12.6, -7.7). A unknown object with ID 10 is 15.0 meters away at (12.2, -8.7). A pedestrian with ID 29 is 29.0 meters away at (-28.2, 6.7). A vehicle with ID 25 is 38.1 meters away at (35.4, -14.3). A vehicle with ID 50 is 41.2 meters away at (-31.8, 26.3). A unknown object with ID 31 is 43.8 meters away at (-42.6, -10.1). A pedestrian with ID 4 is 46.3 meters away at (42.2, -19.1). A vehicle with ID 3 is 46.5 meters away at (42.8, -18.1). A unknown object with ID 28 is 50.2 meters away at (-43.4, 25.3). A vehicle with ID 2 is 61.0 meters away at (55.2, -26.1).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.39969143 0.84636444] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-4.059041 -9.646341] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.00045527 -0.01540773] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [12.585533 -7.73337 ], 14.77161693572998 meters away.)"}
{"file_name": "images/scenario_1012_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -2.9) m/s. Its current heading (yaw) is -0.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 2.3 meters away at (0.1, -2.2). A unknown object with ID 10 is 3.2 meters away at (-0.3, -3.2). A vehicle with ID 25 is 24.5 meters away at (22.9, -8.7). A pedestrian with ID 4 is 31.9 meters away at (29.1, -13.2). A vehicle with ID 3 is 32.8 meters away at (30.3, -12.4). A pedestrian with ID 29 is 42.5 meters away at (-40.1, 14.1). A vehicle with ID 2 is 47.4 meters away at (42.7, -20.5). A vehicle with ID 50 is 54.0 meters away at (-52.8, 11.7). A unknown object with ID 28 is 63.8 meters away at (-56.0, 30.6).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.34371784  0.2585255 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.54500437 0.98770297] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ -4.2936   -10.316042] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 0.09133911 -2.2489643 ], 2.2508182525634766 meters away.)"}
{"file_name": "images/scenario_1013_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -4.0) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 6.2 meters away at (6.2, 0.3). A vehicle with ID 1 is 13.8 meters away at (-10.5, 8.9). A vehicle with ID 3 is 17.0 meters away at (14.0, -9.6). A vehicle with ID 29 is 25.4 meters away at (-16.8, 19.1). A vehicle with ID 8 is 26.4 meters away at (24.4, -10.2). A vehicle with ID 28 is 30.4 meters away at (30.4, -1.7). A vehicle with ID 4 is 33.5 meters away at (-25.6, 21.7). A vehicle with ID 27 is 34.7 meters away at (34.6, -2.8). A unknown object with ID 16 is 36.1 meters away at (-32.5, 15.8). A vehicle with ID 32 is 42.7 meters away at (36.3, -22.6).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [-5.5756016  4.0490046] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.1771793 -4.720607 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 4.977025  -1.6222079] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-8.481922  7.308086] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [4.898844  1.5929865] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 3.4860618 -2.9066038] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [4.7202806 5.457842 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 32.230835 -17.271782]\n [ 33.658447 -18.160734]\n [ 38.51592  -22.133337]\n [ 40.39694  -21.078505]]", "nav_goal": "(126.53028106689453, 174.93289184570312)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [6.1615734  0.28739786], 6.168272495269775 meters away.)"}
{"file_name": "images/scenario_1013_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -3.3) m/s. Its current heading (yaw) is -0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 11.4 meters away at (-9.1, 6.9). A vehicle with ID 3 is 15.0 meters away at (14.8, -2.4). A vehicle with ID 28 is 22.0 meters away at (21.3, 5.6). A vehicle with ID 30 is 23.4 meters away at (-15.2, 17.9). A vehicle with ID 8 is 24.5 meters away at (24.2, 3.6). A vehicle with ID 32 is 31.1 meters away at (27.1, -15.3). A vehicle with ID 4 is 33.9 meters away at (-25.9, 21.8). A vehicle with ID 27 is 39.5 meters away at (35.6, 17.0). A vehicle with ID 2 is 46.1 meters away at (-35.0, 30.0). A unknown object with ID 16 is 47.5 meters away at (-41.5, 23.2).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.1896234 -4.4977617] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [4.71506   1.5361927] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-6.692769   5.6942225] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [4.2830687 4.7656107] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 5.274064  -4.3834915] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [5.01072  6.139756] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 5.535371 -4.571431] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 32.230835 -17.271782]\n [ 33.658447 -18.160734]\n [ 38.51592  -22.133337]\n [ 40.39694  -21.078505]]", "nav_goal": "(126.53028106689453, 174.93289184570312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.090976   6.8653793], 11.392070770263672 meters away.)"}
{"file_name": "images/scenario_1013_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 0.3) m/s. Its current heading (yaw) is 0.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 9.8 meters away at (-9.5, 2.1). A vehicle with ID 28 is 13.8 meters away at (10.8, 8.6). A vehicle with ID 3 is 14.1 meters away at (12.5, 6.4). A unknown object with ID 24 is 17.6 meters away at (17.4, -2.9). A vehicle with ID 32 is 20.5 meters away at (16.5, -12.2). A vehicle with ID 8 is 28.6 meters away at (22.8, 17.3). A vehicle with ID 4 is 29.8 meters away at (-25.3, 15.7). A vehicle with ID 2 is 41.4 meters away at (-34.0, 23.6). A vehicle with ID 27 is 45.4 meters away at (33.8, 30.4). A vehicle with ID 30 is 51.8 meters away at (-39.8, 33.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.1967773 -2.9860425] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [3.474459 3.833361] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [4.4355054 5.3879843] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 5.542145 -4.567348] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 5.8167257 -4.95953  ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [3.3862588 3.9660447] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-7.0439057  6.2776465] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 32.230835 -17.271782]\n [ 33.658447 -18.160734]\n [ 38.51592  -22.133337]\n [ 40.39694  -21.078505]]", "nav_goal": "(126.53028106689453, 174.93289184570312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.531656   2.1471252], 9.77049732208252 meters away.)"}
{"file_name": "images/scenario_1013_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 3.4) m/s. Its current heading (yaw) is 0.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 4.8 meters away at (0.5, 4.8). A vehicle with ID 1 is 9.6 meters away at (-8.4, -4.6). A vehicle with ID 3 is 13.8 meters away at (9.0, 10.4). A vehicle with ID 32 is 17.1 meters away at (6.3, -15.9). A vehicle with ID 4 is 24.6 meters away at (-24.5, 2.8). A vehicle with ID 8 is 30.5 meters away at (20.3, 22.7). A vehicle with ID 2 is 34.2 meters away at (-32.9, 9.6). A vehicle with ID 27 is 43.4 meters away at (28.6, 32.7). A vehicle with ID 25 is 54.4 meters away at (15.6, -52.1). A vehicle with ID 10 is 56.4 meters away at (13.1, -54.8).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [5.827269  0.6404669] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [3.377793  3.9306386] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 5.7399    -3.9903932] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [3.2473648 3.8703203] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 5.6299033 -4.861963 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.159318 2.740476] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 32.230835 -17.271782]\n [ 33.658447 -18.160734]\n [ 38.51592  -22.133337]\n [ 40.39694  -21.078505]]", "nav_goal": "(126.53028106689453, 174.93289184570312)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.5084572 4.796212 ], 4.8230881690979 meters away.)"}
{"file_name": "images/scenario_1014_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -4.8) m/s. Its current heading (yaw) is -2.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 41 is 13.2 meters away at (-1.5, -13.1). A unknown object with ID 42 is 13.2 meters away at (-2.3, -13.0). A unknown object with ID 37 is 14.5 meters away at (-11.0, 9.5). A unknown object with ID 38 is 14.6 meters away at (-10.4, 10.3). A unknown object with ID 36 is 14.7 meters away at (-3.8, -14.2). A unknown object with ID 17 is 15.5 meters away at (-11.6, 10.2). A unknown object with ID 27 is 15.5 meters away at (-11.6, 10.4). A unknown object with ID 24 is 15.6 meters away at (-11.3, 10.7). A unknown object with ID 12 is 16.7 meters away at (-4.7, -16.0). A vehicle with ID 8 is 21.7 meters away at (12.5, 17.8).", "velocity_description": "The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.06437  -52.48415 ]\n [ 11.482643  31.65352 ]\n [-55.134212 -48.218925]\n [ 29.23784   21.003996]\n [-56.942432 -71.96077 ]\n [-52.937336 -66.75403 ]\n [-50.23202  -52.6696  ]\n [ 29.998713  22.316994]\n [-55.049744 -69.40416 ]\n [-57.131847 -51.356045]]", "nav_goal": "(-213.1673583984375, 82.49421691894531)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -1.4948816 -13.111564 ], 13.196505546569824 meters away.)"}
{"file_name": "images/scenario_1014_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -4.1) m/s. Its current heading (yaw) is -2.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 36 is 8.2 meters away at (6.1, -5.5). A unknown object with ID 42 is 8.7 meters away at (7.6, -4.2). A unknown object with ID 12 is 8.9 meters away at (5.3, -7.2). A unknown object with ID 10 is 10.0 meters away at (3.9, -9.2). A vehicle with ID 45 is 14.0 meters away at (-12.9, -5.5). A unknown object with ID 37 is 18.3 meters away at (-1.1, 18.3). A unknown object with ID 17 is 18.9 meters away at (-1.7, 18.8). A unknown object with ID 38 is 19.1 meters away at (-0.5, 19.1). A unknown object with ID 27 is 19.1 meters away at (-1.6, 19.0). A unknown object with ID 24 is 19.7 meters away at (-1.4, 19.6).", "velocity_description": "The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [5.1848226 6.1647263] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.06437  -52.48415 ]\n [ 11.482643  31.65352 ]\n [-55.134212 -48.218925]\n [-56.942432 -71.96077 ]\n [-52.937336 -66.75403 ]\n [-50.23202  -52.6696  ]\n [-66.22443  -60.699528]\n [-50.040863 -64.38331 ]\n [-55.049744 -69.40416 ]\n [-65.30039  -65.44071 ]\n [-57.131847 -51.356045]]", "nav_goal": "(-213.1673583984375, 82.49421691894531)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 6.149109  -5.4621162], 8.22473430633545 meters away.)"}
{"file_name": "images/scenario_1014_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -3.3) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 11.6 meters away at (11.4, -1.7). A unknown object with ID 12 is 12.8 meters away at (12.8, 0.2). A unknown object with ID 36 is 13.8 meters away at (13.7, 2.0). A vehicle with ID 45 is 14.4 meters away at (4.6, 13.6). A unknown object with ID 42 is 15.6 meters away at (15.2, 3.2). A vehicle with ID 18 is 16.4 meters away at (14.6, 7.6). A vehicle with ID 39 is 21.7 meters away at (-13.7, -16.8). A unknown object with ID 37 is 26.6 meters away at (6.6, 25.8). A unknown object with ID 17 is 27.1 meters away at (6.0, 26.4). A unknown object with ID 27 is 27.2 meters away at (6.1, 26.6).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [4.5467024 5.4249463] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-5.3934703 -7.0941315] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.06437  -52.48415 ]\n [ 11.482643  31.65352 ]\n [-55.134212 -48.218925]\n [-56.942432 -71.96077 ]\n [-52.937336 -66.75403 ]\n [-50.23202  -52.6696  ]\n [-66.22443  -60.699528]\n [-50.040863 -64.38331 ]\n [-55.049744 -69.40416 ]\n [-65.30039  -65.44071 ]\n [-57.131847 -51.356045]]", "nav_goal": "(-213.1673583984375, 82.49421691894531)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [11.443594  -1.7268925], 11.573159217834473 meters away.)"}
{"file_name": "images/scenario_1014_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -2.3) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 10.2 meters away at (10.2, -0.4). A vehicle with ID 39 is 15.0 meters away at (-9.4, -11.7). A unknown object with ID 10 is 16.9 meters away at (16.4, 3.8). A unknown object with ID 12 is 18.6 meters away at (17.7, 5.8). A unknown object with ID 36 is 20.1 meters away at (18.6, 7.7). A unknown object with ID 42 is 22.0 meters away at (20.1, 8.8). A cyclist with ID 43 is 31.7 meters away at (-30.6, -8.3). A unknown object with ID 37 is 33.5 meters away at (11.5, 31.4). A unknown object with ID 17 is 33.8 meters away at (11.0, 32.0). A unknown object with ID 27 is 33.9 meters away at (10.8, 32.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.6006691 -6.7702694] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.8448985 -0.9932572] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [0.00132093 0.02144909] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 11.482643  31.65352 ]\n [-55.134212 -48.218925]\n [-56.942432 -71.96077 ]\n [-52.937336 -66.75403 ]\n [-50.040863 -64.38331 ]\n [-55.049744 -69.40416 ]\n [-57.131847 -51.356045]]", "nav_goal": "(-213.1673583984375, 82.49421691894531)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.174728   -0.39504623], 10.182394981384277 meters away.)"}
{"file_name": "images/scenario_1015_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -2.9) m/s. Its current heading (yaw) is -0.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 92 is 3.5 meters away at (1.5, 3.2). A unknown object with ID 91 is 3.8 meters away at (-0.6, 3.8). A unknown object with ID 94 is 4.0 meters away at (3.3, 2.3). A unknown object with ID 87 is 5.2 meters away at (-2.2, 4.7). A unknown object with ID 95 is 5.3 meters away at (5.2, 1.3). A unknown object with ID 96 is 6.8 meters away at (6.8, 0.6). A unknown object with ID 86 is 7.0 meters away at (-2.4, 6.6). A unknown object with ID 97 is 8.7 meters away at (8.7, -0.3). A unknown object with ID 52 is 8.8 meters away at (8.7, 1.4). A unknown object with ID 98 is 10.6 meters away at (10.5, -1.4).", "velocity_description": "The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.4618578 3.1508615], 3.4734647274017334 meters away.)"}
{"file_name": "images/scenario_1015_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.7) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A unknown object with ID 100 is 3.4 meters away at (2.0, 2.7). A unknown object with ID 99 is 3.6 meters away at (0.0, 3.6). A unknown object with ID 35 is 4.2 meters away at (-4.0, -1.3). A unknown object with ID 102 is 4.5 meters away at (4.2, 1.7). A unknown object with ID 98 is 4.8 meters away at (-1.8, 4.4). A unknown object with ID 103 is 5.1 meters away at (4.9, 1.4). A unknown object with ID 72 is 6.1 meters away at (6.1, 0.8). A unknown object with ID 97 is 6.6 meters away at (-3.6, 5.5). A unknown object with ID 104 is 7.0 meters away at (7.0, 0.3). A unknown object with ID 43 is 7.4 meters away at (4.8, -5.6).", "velocity_description": "The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 88.392    -39.229416]\n [ 90.11641  -44.33282 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [1.9880562 2.710165 ], 3.361154794692993 meters away.)"}
{"file_name": "images/scenario_1015_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -2.5) m/s. Its current heading (yaw) is -0.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 45 is 2.9 meters away at (-2.1, -2.1). A unknown object with ID 30 is 3.1 meters away at (-0.4, -3.1). A unknown object with ID 46 is 3.6 meters away at (2.1, 2.9). A unknown object with ID 83 is 3.6 meters away at (-0.0, 3.6). A unknown object with ID 63 is 4.1 meters away at (-3.9, -1.2). A unknown object with ID 54 is 4.6 meters away at (0.9, 4.5). A unknown object with ID 47 is 4.7 meters away at (4.1, 2.2). A unknown object with ID 29 is 4.8 meters away at (-0.6, -4.7). A unknown object with ID 59 is 5.0 meters away at (-1.8, 4.6). A unknown object with ID 42 is 5.3 meters away at (-3.4, -4.1).", "velocity_description": "The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 88.392    -39.229416]\n [ 90.11641  -44.33282 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.058361  -2.0644588], 2.9152770042419434 meters away.)"}
{"file_name": "images/scenario_1015_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -2.7) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 73 is 2.3 meters away at (0.4, 2.2). A unknown object with ID 19 is 2.4 meters away at (1.8, 1.6). A unknown object with ID 82 is 3.2 meters away at (0.8, 3.1). A unknown object with ID 18 is 3.8 meters away at (3.7, 0.8). A unknown object with ID 22 is 5.2 meters away at (1.2, 5.1). A unknown object with ID 17 is 5.8 meters away at (5.8, -0.0). A pedestrian with ID 24 is 6.0 meters away at (-5.8, -1.1). A unknown object with ID 32 is 6.3 meters away at (1.5, 6.1). A unknown object with ID 21 is 7.3 meters away at (2.8, 6.7). A unknown object with ID 16 is 7.6 meters away at (7.6, -0.8).", "velocity_description": "The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.10469425 0.87965506] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 88.392    -39.229416]\n [ 90.11641  -44.33282 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [0.36346436 2.2296543 ], 2.259084939956665 meters away.)"}
{"file_name": "images/scenario_1016_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -2.6) m/s. Its current heading (yaw) is -0.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 7.3 meters away at (3.5, 6.4). A vehicle with ID 42 is 12.7 meters away at (-9.5, -8.5). A vehicle with ID 37 is 16.2 meters away at (15.9, 2.8). A pedestrian with ID 27 is 18.1 meters away at (15.3, -9.7). A vehicle with ID 35 is 22.2 meters away at (22.2, 0.5). A vehicle with ID 36 is 27.9 meters away at (27.8, -1.4). A vehicle with ID 34 is 32.8 meters away at (30.3, -12.5). A vehicle with ID 53 is 33.7 meters away at (-32.4, 9.1). A vehicle with ID 52 is 33.9 meters away at (-15.7, 30.1). A vehicle with ID 39 is 37.0 meters away at (36.7, -4.0).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.11665558 -0.24924783] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-1.7293202 -5.6115446] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(252.47625732421875, -135.83177185058594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.5333939 6.406888 ], 7.316630840301514 meters away.)"}
{"file_name": "images/scenario_1016_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -1.8) m/s. Its current heading (yaw) is -0.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 10.7 meters away at (7.5, 7.7). A vehicle with ID 38 is 12.2 meters away at (-4.8, 11.3). A vehicle with ID 35 is 14.8 meters away at (13.8, 5.3). A vehicle with ID 42 is 18.3 meters away at (-17.9, -3.6). A vehicle with ID 36 is 19.8 meters away at (19.5, 3.4). A unknown object with ID 25 is 20.7 meters away at (-20.7, -0.9). A vehicle with ID 34 is 23.2 meters away at (21.8, -7.7). A vehicle with ID 39 is 28.3 meters away at (28.3, 0.7). A pedestrian with ID 55 is 34.4 meters away at (34.3, 2.3). A vehicle with ID 52 is 38.5 meters away at (-26.1, 28.4).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [ 1.3863146  -0.39300635] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-0.7029416 -2.537263 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(252.47625732421875, -135.83177185058594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [7.491913  7.6519737], 10.708942413330078 meters away.)"}
{"file_name": "images/scenario_1016_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.3) m/s. Its current heading (yaw) is -0.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 9.9 meters away at (3.1, 9.4). A vehicle with ID 35 is 11.8 meters away at (9.4, 7.1). A vehicle with ID 38 is 15.9 meters away at (-9.2, 13.0). A vehicle with ID 36 is 16.0 meters away at (15.1, 5.1). A vehicle with ID 34 is 18.3 meters away at (17.3, -5.9). A vehicle with ID 42 is 22.5 meters away at (-22.5, -1.7). A vehicle with ID 39 is 24.0 meters away at (23.8, 2.5). A unknown object with ID 25 is 25.1 meters away at (-25.1, 0.9). A vehicle with ID 52 is 40.1 meters away at (-32.7, 23.2). A unknown object with ID 30 is 41.1 meters away at (37.0, -17.8).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-1.4108331 -4.8821497] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(252.47625732421875, -135.83177185058594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [3.061613 9.424325], 9.90915584564209 meters away.)"}
{"file_name": "images/scenario_1016_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 9.9 meters away at (2.7, 9.5). A vehicle with ID 35 is 11.6 meters away at (9.1, 7.2). A vehicle with ID 36 is 15.6 meters away at (14.7, 5.2). A vehicle with ID 38 is 16.2 meters away at (-9.5, 13.1). A vehicle with ID 34 is 17.9 meters away at (17.0, -5.8). A vehicle with ID 39 is 23.6 meters away at (23.5, 2.6). A pedestrian with ID 2 is 34.9 meters away at (34.8, 2.4). A vehicle with ID 52 is 38.4 meters away at (-36.8, 10.9). A unknown object with ID 13 is 42.4 meters away at (-37.4, 20.1). A pedestrian with ID 17 is 44.6 meters away at (-43.9, 7.8).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.4247465  -0.34406176] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-2.2161655 -7.2598667] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.4843854 1.5964384] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(252.47625732421875, -135.83177185058594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.7176132 9.5244665], 9.90458869934082 meters away.)"}
{"file_name": "images/scenario_1017_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -6.4) m/s. Its current heading (yaw) is -1.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 94 is 7.5 meters away at (-6.9, -2.8). A vehicle with ID 93 is 7.5 meters away at (-7.1, 2.6). A vehicle with ID 92 is 8.7 meters away at (-6.9, 5.3). A vehicle with ID 95 is 8.8 meters away at (-6.8, -5.6). A vehicle with ID 91 is 10.6 meters away at (-6.8, 8.2). A vehicle with ID 90 is 12.6 meters away at (-6.9, 10.6). A vehicle with ID 100 is 13.0 meters away at (-7.1, -10.9). A vehicle with ID 102 is 15.5 meters away at (-7.4, -13.7). A vehicle with ID 104 is 18.0 meters away at (-7.4, -16.4). A vehicle with ID 97 is 22.0 meters away at (-20.5, 8.0).", "velocity_description": "The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-260.5637512207031, -45.65494918823242)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.9243526 -2.8076448], 7.471916198730469 meters away.)"}
{"file_name": "images/scenario_1017_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -5.9) m/s. Its current heading (yaw) is -1.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 100 is 7.4 meters away at (-7.2, 1.7). A vehicle with ID 102 is 7.7 meters away at (-7.6, -1.0). A vehicle with ID 104 is 8.5 meters away at (-7.6, -3.7). A vehicle with ID 95 is 9.9 meters away at (-6.9, 7.0). A vehicle with ID 94 is 12.1 meters away at (-7.1, 9.8). A vehicle with ID 93 is 16.9 meters away at (-7.2, 15.2). A vehicle with ID 92 is 19.3 meters away at (-7.0, 18.0). A vehicle with ID 91 is 22.0 meters away at (-6.9, 20.9). A vehicle with ID 90 is 24.3 meters away at (-7.0, 23.3). A unknown object with ID 117 is 25.3 meters away at (12.1, -22.2).", "velocity_description": "The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-260.5637512207031, -45.65494918823242)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.2352343  1.7295818], 7.439090728759766 meters away.)"}
{"file_name": "images/scenario_1017_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -4.9) m/s. Its current heading (yaw) is -1.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 104 is 9.9 meters away at (-7.1, 6.9). A vehicle with ID 102 is 12.0 meters away at (-7.1, 9.7). A vehicle with ID 100 is 14.1 meters away at (-6.7, 12.4). A unknown object with ID 117 is 17.0 meters away at (12.6, -11.4). A vehicle with ID 95 is 18.9 meters away at (-6.5, 17.7). A vehicle with ID 94 is 21.7 meters away at (-6.8, 20.6). A vehicle with ID 93 is 26.8 meters away at (-6.8, 26.0). A vehicle with ID 92 is 29.5 meters away at (-6.5, 28.8). A vehicle with ID 91 is 32.2 meters away at (-6.5, 31.6). A vehicle with ID 53 is 32.4 meters away at (-14.4, -29.0).", "velocity_description": "The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-260.5637512207031, -45.65494918823242)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.07182   6.860977], 9.853103637695312 meters away.)"}
{"file_name": "images/scenario_1017_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -2.4) m/s. Its current heading (yaw) is -2.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 104 is 14.5 meters away at (-1.1, 14.5). A unknown object with ID 48 is 18.2 meters away at (-5.9, -17.2). A unknown object with ID 117 is 18.9 meters away at (18.5, -4.0). A vehicle with ID 100 is 20.1 meters away at (-0.9, 20.1). A vehicle with ID 53 is 23.0 meters away at (-8.6, -21.4). A vehicle with ID 40 is 23.9 meters away at (-11.9, -20.7). A vehicle with ID 95 is 25.3 meters away at (-0.5, 25.3). A vehicle with ID 92 is 36.4 meters away at (-0.6, 36.4). A vehicle with ID 90 is 41.6 meters away at (-0.6, 41.6). A vehicle with ID 35 is 42.6 meters away at (-40.7, -12.4).", "velocity_description": "The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-260.5637512207031, -45.65494918823242)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.1290178 14.477125 ], 14.521082878112793 meters away.)"}
{"file_name": "images/scenario_1018_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.7) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 3.6 meters away at (-2.3, -2.8). A vehicle with ID 19 is 9.8 meters away at (4.6, -8.7). A vehicle with ID 20 is 23.1 meters away at (-8.4, 21.5). A vehicle with ID 21 is 28.2 meters away at (-2.3, 28.1). A vehicle with ID 22 is 35.2 meters away at (3.3, 35.0). A vehicle with ID 23 is 36.4 meters away at (7.7, -35.6). A vehicle with ID 15 is 40.1 meters away at (-32.2, 23.9). A vehicle with ID 25 is 42.0 meters away at (3.6, -41.8). A vehicle with ID 7 is 44.3 meters away at (31.3, -31.3). A vehicle with ID 26 is 45.1 meters away at (1.8, -45.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.9128917 -2.7206616] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.15011509 -0.32932982] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.24901041 -0.18245512] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-5.780731  4.913461] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.482632   7.960379]\n [-12.028385   5.856102]\n [-28.229475  10.59113 ]]", "nav_goal": "(177.7437286376953, 226.63621520996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.326462  -2.7952344], 3.6367239952087402 meters away.)"}
{"file_name": "images/scenario_1018_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 2.8) m/s. Its current heading (yaw) is 2.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 6.8 meters away at (1.9, -6.5). A vehicle with ID 20 is 12.6 meters away at (-9.1, 8.7). A vehicle with ID 19 is 15.2 meters away at (8.8, -12.4). A vehicle with ID 21 is 21.0 meters away at (-1.1, 20.9). A vehicle with ID 22 is 31.7 meters away at (6.9, 30.9). A vehicle with ID 15 is 34.6 meters away at (-28.0, 20.3). A vehicle with ID 7 is 36.7 meters away at (25.5, -26.4). A vehicle with ID 17 is 40.5 meters away at (-38.0, 14.2). A vehicle with ID 23 is 40.7 meters away at (11.8, -39.0). A vehicle with ID 5 is 41.5 meters away at (13.8, 39.2).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.4173933 -6.4004965] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.8867416 -3.5191097] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.90048426 -0.93347853] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.1037464  3.6216066] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.1045055 -3.693302 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.634519   -0.69546664] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.482632   7.960379]\n [-12.028385   5.856102]\n [-28.229475  10.59113 ]]", "nav_goal": "(177.7437286376953, 226.63621520996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.8813543 -6.540081 ], 6.80530309677124 meters away.)"}
{"file_name": "images/scenario_1018_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 4.5) m/s. Its current heading (yaw) is 1.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 6.4 meters away at (-4.9, 4.2). A vehicle with ID 20 is 13.9 meters away at (-2.8, -13.6). A vehicle with ID 18 is 15.1 meters away at (5.2, -14.1). A vehicle with ID 22 is 20.3 meters away at (6.5, 19.2). A vehicle with ID 19 is 23.4 meters away at (12.2, -19.9). A vehicle with ID 17 is 30.3 meters away at (-30.2, 2.5). A vehicle with ID 8 is 33.4 meters away at (-32.2, 8.8). A vehicle with ID 5 is 33.7 meters away at (15.5, 30.0). A vehicle with ID 7 is 36.2 meters away at (22.5, -28.4). A vehicle with ID 23 is 49.1 meters away at (15.2, -46.7).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.2024896 -5.960967 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 4.604903 -7.19818 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.6770816 -3.1414082] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 0.60473686 -0.43603286] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 3.5547857 -2.8328226] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.952406  -1.1393958] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.3776472  1.969973 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.482632   7.960379]\n [-12.028385   5.856102]\n [-28.229475  10.59113 ]]", "nav_goal": "(177.7437286376953, 226.63621520996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.8517256  4.1524706], 6.386098384857178 meters away.)"}
{"file_name": "images/scenario_1018_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 4.4) m/s. Its current heading (yaw) is 0.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 6.1 meters away at (-5.6, 2.5). A vehicle with ID 5 is 18.6 meters away at (7.0, 17.2). A vehicle with ID 21 is 21.9 meters away at (-12.1, -18.2). A vehicle with ID 18 is 22.6 meters away at (-0.2, -22.6). A vehicle with ID 19 is 29.3 meters away at (6.7, -28.5). A vehicle with ID 8 is 34.2 meters away at (-34.2, -1.8). A vehicle with ID 17 is 35.7 meters away at (-35.2, -5.6). A vehicle with ID 7 is 36.7 meters away at (13.5, -34.1). A vehicle with ID 20 is 37.0 meters away at (6.2, -36.5). A vehicle with ID 14 is 48.8 meters away at (23.8, -42.7).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.0673356 -4.8688736] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.3142214 -2.7096968] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 1.6674095 -7.4518433] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.3272028   0.94944686] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 8.7374   -7.504828] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.8971457  2.0568793] m/s.", "light_description": "There are active red lights at the following coordinates: [[-30.482632   7.960379]\n [-12.028385   5.856102]\n [-28.229475  10.59113 ]]", "nav_goal": "(177.7437286376953, 226.63621520996094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.6032157  2.534647 ], 6.149834156036377 meters away.)"}
{"file_name": "images/scenario_1019_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.7) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 3.7 meters away at (-3.7, -0.5). A vehicle with ID 76 is 5.6 meters away at (5.6, -0.4). A vehicle with ID 62 is 7.0 meters away at (1.0, 6.9). A vehicle with ID 60 is 8.1 meters away at (-7.6, 2.8). A unknown object with ID 17 is 11.3 meters away at (7.3, 8.6). A vehicle with ID 63 is 12.0 meters away at (-4.1, 11.3). A vehicle with ID 81 is 15.7 meters away at (-4.3, -15.2). A vehicle with ID 67 is 17.3 meters away at (-8.5, 15.0). A unknown object with ID 70 is 17.6 meters away at (-2.5, 17.4). A unknown object with ID 71 is 18.9 meters away at (-3.6, 18.5).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-5.942196  4.963787] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-55.145591735839844, 112.59504699707031)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.710012  -0.5136776], 3.7454042434692383 meters away.)"}
{"file_name": "images/scenario_1019_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -0.3) m/s. Its current heading (yaw) is -0.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 8.0 meters away at (-8.0, 1.1). A vehicle with ID 62 is 9.0 meters away at (-3.1, 8.5). A vehicle with ID 60 is 12.8 meters away at (-11.9, 4.5). A vehicle with ID 80 is 14.2 meters away at (-11.6, 8.3). A vehicle with ID 63 is 15.3 meters away at (-8.2, 12.9). A vehicle with ID 81 is 16.0 meters away at (-8.6, -13.5). A vehicle with ID 68 is 17.1 meters away at (17.0, -2.2). A vehicle with ID 76 is 17.5 meters away at (-12.1, 12.7). A vehicle with ID 79 is 18.5 meters away at (16.4, -8.4). A vehicle with ID 66 is 18.7 meters away at (18.7, 0.0).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [ 3.73079   -3.1798322] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-7.384894   6.4975595] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-55.145591735839844, 112.59504699707031)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.95034    1.0619841], 8.020954132080078 meters away.)"}
{"file_name": "images/scenario_1019_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 3.3) m/s. Its current heading (yaw) is 0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 9.2 meters away at (7.9, -4.6). A vehicle with ID 66 is 10.1 meters away at (9.8, -2.5). A vehicle with ID 78 is 12.2 meters away at (5.5, 10.8). A vehicle with ID 79 is 13.2 meters away at (7.6, -10.9). A vehicle with ID 62 is 13.4 meters away at (-12.0, 6.0). A vehicle with ID 80 is 14.6 meters away at (-14.6, 0.7). A vehicle with ID 59 is 16.7 meters away at (8.7, 14.2). A vehicle with ID 61 is 16.9 meters away at (-16.9, -1.5). A vehicle with ID 82 is 18.5 meters away at (11.7, -14.3). A vehicle with ID 63 is 20.1 meters away at (-17.1, 10.5).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [ 1.9248737 -1.6536186] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-55.145591735839844, 112.59504699707031)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.9486675 -4.6224337], 9.1950101852417 meters away.)"}
{"file_name": "images/scenario_1019_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 5.0) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 4.3 meters away at (-3.7, 2.2). A vehicle with ID 59 is 5.6 meters away at (-0.5, 5.6). A vehicle with ID 58 is 10.3 meters away at (3.0, 9.9). A vehicle with ID 66 is 11.1 meters away at (0.6, -11.1). A pedestrian with ID 47 is 11.2 meters away at (1.7, -11.1). A vehicle with ID 68 is 13.3 meters away at (-1.3, -13.2). A vehicle with ID 79 is 19.6 meters away at (-1.8, -19.5). A vehicle with ID 62 is 21.4 meters away at (-21.2, -2.7). A vehicle with ID 82 is 23.1 meters away at (2.5, -23.0). A vehicle with ID 80 is 23.5 meters away at (-21.1, -10.4).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.01350164 -0.00144018] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [ 1.6089479 -1.3108414] m/s.", "light_description": "There are active red lights at the following coordinates: [[71.29243  62.359573]\n [72.94943  60.115097]\n [72.95494  59.079185]]", "nav_goal": "(-55.145591735839844, 112.59504699707031)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.732109   2.1810417], 4.3226823806762695 meters away.)"}
{"file_name": "images/scenario_1020_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.9) m/s. Its current heading (yaw) is -1.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 6.4 meters away at (-1.0, 6.3). A vehicle with ID 58 is 12.1 meters away at (0.6, 12.1). A vehicle with ID 59 is 17.2 meters away at (-17.1, 1.1). A vehicle with ID 64 is 21.2 meters away at (13.3, -16.5). A vehicle with ID 60 is 24.2 meters away at (-24.0, 3.4). A vehicle with ID 48 is 24.3 meters away at (18.8, -15.4). A vehicle with ID 61 is 24.6 meters away at (-21.9, -11.2). A vehicle with ID 62 is 27.5 meters away at (-25.9, -9.2). A vehicle with ID 55 is 27.8 meters away at (13.5, -24.3). A vehicle with ID 63 is 29.6 meters away at (6.5, 28.9).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-3.4609303  1.5722657] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(101.77908325195312, -174.01353454589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.0087756  6.334143 ], 6.413969039916992 meters away.)"}
{"file_name": "images/scenario_1020_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -3.8) m/s. Its current heading (yaw) is -1.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 11.3 meters away at (0.5, 11.3). A vehicle with ID 64 is 14.3 meters away at (10.5, -9.8). A vehicle with ID 59 is 16.8 meters away at (-15.6, 6.2). A vehicle with ID 58 is 17.2 meters away at (2.2, 17.1). A vehicle with ID 61 is 21.4 meters away at (-20.5, -6.1). A vehicle with ID 48 is 22.8 meters away at (20.2, -10.6). A vehicle with ID 60 is 24.2 meters away at (-22.8, 8.2). A vehicle with ID 55 is 24.5 meters away at (14.9, -19.5). A vehicle with ID 62 is 24.8 meters away at (-24.5, -4.3). A vehicle with ID 24 is 28.2 meters away at (-28.0, -3.2).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-0.58038723  0.23005787] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(101.77908325195312, -174.01353454589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.46373618 11.276773  ], 11.286304473876953 meters away.)"}
{"file_name": "images/scenario_1020_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -4.2) m/s. Its current heading (yaw) is -0.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 7.8 meters away at (7.8, -0.8). A vehicle with ID 55 is 16.4 meters away at (12.5, -10.6). A vehicle with ID 48 is 17.9 meters away at (17.8, -1.9). A vehicle with ID 57 is 20.1 meters away at (-1.9, 20.1). A vehicle with ID 61 is 22.9 meters away at (-22.8, 2.6). A vehicle with ID 59 is 23.3 meters away at (-17.9, 14.9). A vehicle with ID 54 is 23.5 meters away at (19.5, -13.1). A vehicle with ID 23 is 23.6 meters away at (23.3, -3.8). A vehicle with ID 58 is 25.9 meters away at (-0.2, 25.9). A vehicle with ID 62 is 27.2 meters away at (-26.9, 4.5).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(101.77908325195312, -174.01353454589844)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.7770667 -0.8101034], 7.819145202636719 meters away.)"}
{"file_name": "images/scenario_1020_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.2) m/s. Its current heading (yaw) is -0.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 5.3 meters away at (3.1, -4.3). A vehicle with ID 64 is 8.7 meters away at (-5.2, 7.0). A vehicle with ID 48 is 9.5 meters away at (8.4, 4.4). A vehicle with ID 36 is 11.3 meters away at (-2.5, -11.1). A vehicle with ID 54 is 12.1 meters away at (10.0, -6.8). A vehicle with ID 23 is 14.0 meters away at (13.8, 2.6). A vehicle with ID 51 is 20.4 meters away at (18.2, -9.4). A vehicle with ID 21 is 21.2 meters away at (21.2, -0.1). A vehicle with ID 50 is 27.5 meters away at (24.8, -11.7). A vehicle with ID 22 is 27.7 meters away at (27.6, -2.5).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-3.0015054  1.271701 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(101.77908325195312, -174.01353454589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.0945415 -4.300045 ], 5.297789573669434 meters away.)"}
{"file_name": "images/scenario_1021_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.3) m/s. Its current heading (yaw) is 2.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 4.0 meters away at (-4.0, 0.6). A vehicle with ID 28 is 15.5 meters away at (-10.3, 11.6). A pedestrian with ID 29 is 18.9 meters away at (14.9, 11.6). A pedestrian with ID 30 is 21.6 meters away at (17.4, 12.8). A pedestrian with ID 31 is 22.2 meters away at (19.2, 11.2). A vehicle with ID 34 is 23.3 meters away at (-17.9, 15.0). A vehicle with ID 32 is 23.7 meters away at (-22.1, -8.4). A vehicle with ID 33 is 24.1 meters away at (-19.9, -13.6). A vehicle with ID 8 is 24.3 meters away at (4.8, 23.8). A vehicle with ID 35 is 24.7 meters away at (-24.6, -1.8).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.43132016  0.63609266] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-1.0685985  2.2139955] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.1903732  0.25059965] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [1.3369871  0.09183805] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1045998 -0.5100278] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.5980742  -0.79239607] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.005451   -3.2305624]\n [-20.766432    2.3172061]\n [-23.597347    5.8923717]\n [ -6.4715357  15.5861435]\n [-18.051756   -3.4762368]\n [-14.26038    -4.114288 ]\n [-10.05228    19.181322 ]]", "nav_goal": "(127.4665756225586, 254.375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.00122     0.59349436], 4.044996738433838 meters away.)"}
{"file_name": "images/scenario_1021_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 2.0) m/s. Its current heading (yaw) is 2.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 3.6 meters away at (-3.6, 0.5). A vehicle with ID 34 is 18.2 meters away at (-14.7, 10.7). A vehicle with ID 28 is 21.3 meters away at (-10.7, 18.4). A pedestrian with ID 29 is 21.5 meters away at (18.9, 10.1). A vehicle with ID 32 is 22.8 meters away at (-20.3, -10.4). A vehicle with ID 8 is 22.9 meters away at (6.5, 21.9). A vehicle with ID 35 is 23.1 meters away at (-22.8, -3.8). A pedestrian with ID 30 is 23.7 meters away at (21.4, 10.2). A vehicle with ID 33 is 23.9 meters away at (-18.1, -15.6). A pedestrian with ID 31 is 24.0 meters away at (22.7, 7.9).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.1528789  1.7151387] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.4859028 -2.361628 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.19313775 6.313698  ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.2084126  0.00653238] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.1641471 -0.6007757] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.8225714  -0.89268816] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.005451   -3.2305624]\n [-20.766432    2.3172061]\n [-23.597347    5.8923717]\n [ -6.4715357  15.5861435]\n [-18.051756   -3.4762368]\n [-14.26038    -4.114288 ]\n [-10.05228    19.181322 ]]", "nav_goal": "(127.4665756225586, 254.375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.6145113   0.45551467], 3.6431009769439697 meters away.)"}
{"file_name": "images/scenario_1021_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 4.9) m/s. Its current heading (yaw) is 1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 3.1 meters away at (-3.1, -0.1). A vehicle with ID 34 is 7.6 meters away at (-7.5, -1.5). A vehicle with ID 8 is 18.4 meters away at (10.7, 14.9). A vehicle with ID 26 is 20.3 meters away at (3.0, 20.1). A vehicle with ID 35 is 21.5 meters away at (-18.6, -10.8). A vehicle with ID 32 is 23.8 meters away at (-16.3, -17.3). A vehicle with ID 21 is 24.1 meters away at (-19.3, 14.5). A pedestrian with ID 29 is 25.2 meters away at (25.0, 2.4). A vehicle with ID 33 is 26.6 meters away at (-14.0, -22.6). A pedestrian with ID 30 is 27.2 meters away at (27.2, 1.7).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.1571593  4.347221 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.9462984 -3.8014445] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 2.1847827 -2.062631 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.69551796 -0.6599548 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.5020931 -0.8279828] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.005451   -3.2305624]\n [-20.766432    2.3172061]\n [-23.597347    5.8923717]\n [ -6.4715357  15.5861435]\n [-18.051756   -3.4762368]\n [-14.26038    -4.114288 ]\n [-10.05228    19.181322 ]]", "nav_goal": "(127.4665756225586, 254.375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.141183  -0.0803194], 3.142209768295288 meters away.)"}
{"file_name": "images/scenario_1021_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 6.7) m/s. Its current heading (yaw) is 1.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 3.2 meters away at (-3.1, -0.6). A vehicle with ID 21 is 10.4 meters away at (-9.6, -3.9). A vehicle with ID 26 is 10.4 meters away at (5.9, 8.6). A vehicle with ID 8 is 14.0 meters away at (13.6, 3.3). A cyclist with ID 37 is 16.3 meters away at (-11.8, 11.3). A vehicle with ID 25 is 19.4 meters away at (-18.8, 4.8). A vehicle with ID 38 is 20.6 meters away at (-17.2, 11.2). A vehicle with ID 34 is 22.6 meters away at (-0.3, -22.6). A pedestrian with ID 27 is 23.2 meters away at (-13.3, 19.0). A vehicle with ID 20 is 25.4 meters away at (-4.9, -24.9).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.28818426  7.1220574 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 3.7820437 -4.5128922] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [-0.02313784  0.03646724] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 3.6035187 -3.1398263] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 0.9539542  -0.74793535] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.9413981 -6.047101 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.49190077  1.128957  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 2.0790913 -8.369319 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-18.005451   -3.2305624]\n [-20.766432    2.3172061]\n [-23.597347    5.8923717]\n [ -6.4715357  15.5861435]\n [-18.051756   -3.4762368]\n [-14.26038    -4.114288 ]\n [-10.05228    19.181322 ]]", "nav_goal": "(127.4665756225586, 254.375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.11728   -0.6366291], 3.181623935699463 meters away.)"}
{"file_name": "images/scenario_1022_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -8.4) m/s. Its current heading (yaw) is -1.84 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 5.3 meters away at (5.1, -1.4). A unknown object with ID 66 is 5.6 meters away at (4.6, -3.3). A unknown object with ID 46 is 5.8 meters away at (5.7, 0.5). A unknown object with ID 68 is 6.6 meters away at (4.0, -5.3). A unknown object with ID 31 is 6.8 meters away at (5.3, -4.2). A unknown object with ID 26 is 6.8 meters away at (6.3, 2.5). A unknown object with ID 54 is 7.3 meters away at (3.7, -6.3). A unknown object with ID 70 is 8.0 meters away at (3.2, -7.3). A unknown object with ID 65 is 8.1 meters away at (6.9, 4.3). A unknown object with ID 38 is 8.7 meters away at (2.8, -8.2).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-129.9600067138672, -264.25927734375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 5.139395  -1.4016476], 5.32710075378418 meters away.)"}
{"file_name": "images/scenario_1022_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -8.4) m/s. Its current heading (yaw) is -1.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-2.7, 5.0). A unknown object with ID 70 is 12.1 meters away at (7.6, 9.4). A unknown object with ID 22 is 13.1 meters away at (9.4, 9.1). A unknown object with ID 42 is 13.2 meters away at (8.8, 9.8). A unknown object with ID 68 is 14.2 meters away at (8.4, 11.4). A unknown object with ID 24 is 14.7 meters away at (10.6, 10.2). A unknown object with ID 31 is 15.8 meters away at (9.8, 12.4). A unknown object with ID 69 is 15.9 meters away at (11.6, 10.9). A unknown object with ID 66 is 16.2 meters away at (9.0, 13.5). A unknown object with ID 67 is 17.7 meters away at (13.2, 11.8).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [ -2.950087 -11.888061] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-129.9600067138672, -264.25927734375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.7231503  4.962858 ], 5.66087532043457 meters away.)"}
{"file_name": "images/scenario_1022_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -8.0) m/s. Its current heading (yaw) is -1.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 4.3 meters away at (-4.1, -1.3). A unknown object with ID 37 is 27.2 meters away at (11.0, 24.9). A unknown object with ID 70 is 28.2 meters away at (11.4, 25.8). A vehicle with ID 20 is 29.2 meters away at (5.9, 28.7). A vehicle with ID 21 is 31.6 meters away at (-13.2, -28.8). A unknown object with ID 31 is 31.9 meters away at (13.5, 28.8). A unknown object with ID 67 is 33.0 meters away at (17.0, 28.2). A vehicle with ID 53 is 34.3 meters away at (-26.2, -22.2). A vehicle with ID 3 is 34.5 meters away at (4.3, 34.2). A unknown object with ID 39 is 37.8 meters away at (15.3, 34.6).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [ -2.403237 -11.137444] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ -3.0650775 -11.265308 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-2.9632888 -9.229996 ] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 4.3055224 15.427537 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ -4.219011 -15.869238] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -32.007935 -115.85938 ]\n [ -33.37611  -119.45013 ]]", "nav_goal": "(-129.9600067138672, -264.25927734375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.1264353 -1.2872391], 4.322551727294922 meters away.)"}
{"file_name": "images/scenario_1022_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -8.0) m/s. Its current heading (yaw) is -1.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 11.0 meters away at (-5.9, -9.3). A vehicle with ID 3 is 19.7 meters away at (0.5, 19.7). A vehicle with ID 20 is 23.5 meters away at (4.3, 23.1). A vehicle with ID 53 is 29.1 meters away at (-15.1, 24.8). A vehicle with ID 21 is 36.5 meters away at (-16.2, -32.7). A unknown object with ID 37 is 42.8 meters away at (14.3, 40.4). A unknown object with ID 67 is 48.2 meters away at (20.2, 43.8). A vehicle with ID 14 is 65.5 meters away at (-10.7, -64.6). A vehicle with ID 13 is 71.5 meters away at (-6.8, -71.2).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [ -2.9672763 -12.507259 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ -3.359685 -14.520667] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ -2.464245 -10.598592] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 3.6262639 16.021431 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.543938 -9.639767] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -32.007935 -115.85938 ]\n [ -33.37611  -119.45013 ]\n [ -36.327583 -115.02855 ]]", "nav_goal": "(-129.9600067138672, -264.25927734375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.883911 -9.300247], 11.005226135253906 meters away.)"}
{"file_name": "images/scenario_1023_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -1.9) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 3.3 meters away at (0.2, -3.3). A vehicle with ID 43 is 5.1 meters away at (-4.9, -1.5). A vehicle with ID 45 is 8.2 meters away at (6.2, -5.3). A vehicle with ID 41 is 9.5 meters away at (9.0, 2.9). A vehicle with ID 50 is 13.4 meters away at (11.4, -7.1). A vehicle with ID 54 is 18.5 meters away at (16.3, -8.9). A vehicle with ID 38 is 19.4 meters away at (19.4, -0.6). A vehicle with ID 9 is 21.1 meters away at (-20.0, 6.8). A pedestrian with ID 15 is 22.3 meters away at (18.5, -12.4). A vehicle with ID 59 is 23.9 meters away at (21.4, -10.8).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.6169276 -2.2685628] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.2708207 -0.33689  ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.22466278076172, 89.23432922363281)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.19823742 -3.2592783 ], 3.265301465988159 meters away.)"}
{"file_name": "images/scenario_1023_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.2) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 3.0 meters away at (-1.1, -2.8). A vehicle with ID 54 is 5.9 meters away at (3.7, -4.5). A vehicle with ID 45 is 6.2 meters away at (-6.1, -1.0). A vehicle with ID 38 is 7.9 meters away at (6.9, 3.7). A vehicle with ID 41 is 7.9 meters away at (-3.3, 7.2). A vehicle with ID 20 is 8.1 meters away at (8.1, 0.3). A vehicle with ID 59 is 11.0 meters away at (8.9, -6.4). A pedestrian with ID 15 is 11.9 meters away at (8.2, -8.6). A vehicle with ID 44 is 12.2 meters away at (-12.2, 1.0). A vehicle with ID 65 is 15.9 meters away at (13.7, -8.0).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-10.867756   3.783758] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.0845809 -0.3569435] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.22466278076172, 89.23432922363281)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.1123543 -2.770485 ], 2.9854512214660645 meters away.)"}
{"file_name": "images/scenario_1023_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -2.4) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 3.4 meters away at (-0.0, -3.4). A vehicle with ID 59 is 5.1 meters away at (-4.7, -1.8). A pedestrian with ID 15 is 5.7 meters away at (-3.4, -4.5). A vehicle with ID 16 is 7.0 meters away at (5.0, -4.9). A vehicle with ID 54 is 9.9 meters away at (-9.9, 0.1). A vehicle with ID 38 is 10.7 meters away at (-6.8, 8.3). A vehicle with ID 37 is 14.5 meters away at (1.2, 14.4). A vehicle with ID 50 is 15.0 meters away at (-14.9, 1.9). A vehicle with ID 17 is 19.1 meters away at (16.8, -9.1). A vehicle with ID 33 is 19.6 meters away at (5.6, 18.8).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.1778723  -0.43099013] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.22466278076172, 89.23432922363281)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.03826904 -3.3579035 ], 3.358121633529663 meters away.)"}
{"file_name": "images/scenario_1023_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -2.4) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 5.0 meters away at (2.6, -4.2). A vehicle with ID 39 is 6.9 meters away at (5.5, 4.1). A vehicle with ID 16 is 9.2 meters away at (-9.2, -0.1). A vehicle with ID 65 is 14.4 meters away at (-14.3, 1.5). A vehicle with ID 40 is 15.5 meters away at (15.4, 0.8). A pedestrian with ID 15 is 15.7 meters away at (-15.7, -0.5). A vehicle with ID 25 is 18.6 meters away at (-0.8, -18.5). A unknown object with ID 6 is 19.4 meters away at (12.9, -14.5). A vehicle with ID 59 is 19.4 meters away at (-19.2, 3.1). A unknown object with ID 26 is 19.5 meters away at (12.3, -15.1).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 1.0460631 -0.3257397] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.22466278076172, 89.23432922363281)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.619339  -4.2437344], 4.98700475692749 meters away.)"}
{"file_name": "images/scenario_1024_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 0.6) m/s. Its current heading (yaw) is 1.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 13.6 meters away at (3.1, 13.3). A pedestrian with ID 22 is 15.6 meters away at (9.0, -12.8). A unknown object with ID 16 is 16.6 meters away at (9.0, -13.9). A unknown object with ID 27 is 17.8 meters away at (15.6, -8.5). A vehicle with ID 6 is 18.7 meters away at (-4.8, 18.0). A unknown object with ID 29 is 20.6 meters away at (17.7, 10.6). A vehicle with ID 20 is 24.9 meters away at (-0.5, 24.9). A vehicle with ID 24 is 30.9 meters away at (-6.8, 30.1). A vehicle with ID 2 is 35.2 meters away at (-18.5, 30.0). A vehicle with ID 31 is 37.4 meters away at (-12.6, 35.2).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [-0.71403414  2.9832425 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.67218626 -0.9368637 ] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-43.31562423706055, 185.10275268554688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.0733428 13.283775 ], 13.634666442871094 meters away.)"}
{"file_name": "images/scenario_1024_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.8) m/s. Its current heading (yaw) is 1.02 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 17.2 meters away at (8.2, -15.1). A unknown object with ID 15 is 17.5 meters away at (11.0, -13.6). A vehicle with ID 33 is 17.5 meters away at (-0.8, 17.5). A unknown object with ID 8 is 17.6 meters away at (13.0, -11.8). A vehicle with ID 6 is 17.7 meters away at (-5.5, 16.8). A unknown object with ID 27 is 17.8 meters away at (14.9, -9.8). A unknown object with ID 29 is 19.4 meters away at (17.0, 9.3). A vehicle with ID 20 is 23.7 meters away at (-1.2, 23.7). A vehicle with ID 24 is 29.9 meters away at (-7.5, 28.9). A vehicle with ID 2 is 34.5 meters away at (-19.2, 28.6).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.0589967  2.2840617] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-43.31562423706055, 185.10275268554688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  8.181771  -15.1407385], 17.209978103637695 meters away.)"}
{"file_name": "images/scenario_1024_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 1.5) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 15.9 meters away at (-6.8, 14.4). A unknown object with ID 29 is 17.0 meters away at (15.5, 6.9). A unknown object with ID 27 is 18.1 meters away at (13.4, -12.2). A unknown object with ID 8 is 18.4 meters away at (11.5, -14.3). A unknown object with ID 15 is 18.6 meters away at (9.6, -16.0). A vehicle with ID 33 is 21.0 meters away at (-7.0, 19.8). A vehicle with ID 20 is 21.4 meters away at (-2.6, 21.2). A vehicle with ID 24 is 28.0 meters away at (-8.9, 26.6). A vehicle with ID 2 is 33.4 meters away at (-20.5, 26.3). A vehicle with ID 31 is 34.8 meters away at (-14.5, 31.6).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.9151638  2.7634888] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-43.31562423706055, 185.10275268554688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.771284 14.383887], 15.898002624511719 meters away.)"}
{"file_name": "images/scenario_1024_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 2.1) m/s. Its current heading (yaw) is 1.36 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 8.4 meters away at (-5.4, 6.4). A unknown object with ID 13 is 11.7 meters away at (-10.6, -5.1). A vehicle with ID 6 is 13.7 meters away at (-8.2, 10.9). A unknown object with ID 29 is 14.5 meters away at (14.1, 3.3). A vehicle with ID 20 is 18.2 meters away at (-4.0, 17.8). A pedestrian with ID 26 is 23.7 meters away at (7.0, -22.6). A vehicle with ID 24 is 25.3 meters away at (-10.2, 23.1). A vehicle with ID 33 is 27.7 meters away at (-15.5, 23.0). A vehicle with ID 2 is 31.7 meters away at (-21.9, 22.9). A vehicle with ID 31 is 32.3 meters away at (-15.9, 28.2).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.80454504 -0.14844283] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-4.1668563  3.748281 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-43.31562423706055, 185.10275268554688)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-5.416587  6.431055], 8.408203125 meters away.)"}
{"file_name": "images/scenario_1025_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -3.2) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 4.4 meters away at (-1.8, 4.0). A vehicle with ID 74 is 9.0 meters away at (-6.2, -6.6). A vehicle with ID 25 is 15.0 meters away at (-14.8, 2.2). A pedestrian with ID 24 is 19.3 meters away at (10.6, -16.1). A vehicle with ID 75 is 23.3 meters away at (5.9, 22.6). A vehicle with ID 67 is 32.5 meters away at (-31.1, -9.6). A cyclist with ID 48 is 37.1 meters away at (-34.5, -13.6). A vehicle with ID 78 is 41.8 meters away at (-32.3, -26.5). A vehicle with ID 79 is 48.8 meters away at (-28.0, -39.9). A unknown object with ID 76 is 50.0 meters away at (24.0, 43.9).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.8966986 -2.2306092] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-0.99830353 -2.3046508 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [8.6608161e-05 2.5361913e-04] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [2.752776 9.269447] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [2.3450096 8.279629 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [1.1862798 4.8862677] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.374891 -13.401073]\n [-19.794147 -16.996252]\n [-27.58299  -36.696682]\n [-31.374367 -36.05863 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.7908249  4.0492797], 4.427608966827393 meters away.)"}
{"file_name": "images/scenario_1025_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -3.2) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 5.6 meters away at (-2.8, 4.8). A vehicle with ID 74 is 13.1 meters away at (-8.7, -9.8). A pedestrian with ID 24 is 15.3 meters away at (11.7, -9.9). A vehicle with ID 75 is 29.0 meters away at (6.8, 28.2). A vehicle with ID 78 is 30.2 meters away at (-28.4, -10.2). A vehicle with ID 80 is 38.4 meters away at (-28.8, -25.5). A vehicle with ID 81 is 42.5 meters away at (-32.9, -26.9). A vehicle with ID 79 is 43.1 meters away at (-26.8, -33.8). A vehicle with ID 82 is 52.1 meters away at (-31.7, -41.3). A vehicle with ID 60 is 52.7 meters away at (-34.7, -39.6).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.3235959 -3.7221258] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-2.2566447 -6.762188 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.0537481  -0.03355005] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [-0.29399967 -0.97911245] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [1.700565 5.393145] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [1.3727106 4.9640117] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [1.1246773 4.8848233] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0.18654501 0.97774446] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0.8515117 3.9513142] m/s.", "light_description": "There are active red lights at the following coordinates: [[-27.58299  -36.696682]\n [-31.374367 -36.05863 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.7840893  4.843409 ], 5.586569786071777 meters away.)"}
{"file_name": "images/scenario_1025_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -3.2) m/s. Its current heading (yaw) is -1.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 6.6 meters away at (-6.3, 2.0). A pedestrian with ID 24 is 12.1 meters away at (11.5, -3.7). A vehicle with ID 62 is 24.0 meters away at (-1.5, 23.9). A vehicle with ID 74 is 25.0 meters away at (-14.1, -20.6). A vehicle with ID 78 is 26.1 meters away at (-24.5, 9.0). A vehicle with ID 80 is 26.3 meters away at (-25.5, -6.4). A vehicle with ID 81 is 31.1 meters away at (-30.0, -8.2). A vehicle with ID 75 is 31.9 meters away at (5.3, 31.5). A cyclist with ID 44 is 34.7 meters away at (-19.4, -28.8). A vehicle with ID 79 is 38.7 meters away at (-27.1, -27.6).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.7638966 -5.4812384] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00409041 -0.01673805] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ -3.9415812 -10.262111 ] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ -2.5161102 -10.101339 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [2.4329836 6.7341967] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [2.1798038 7.4786873] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [1.7759984 6.7735777] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [-0.8866498 -2.2493308] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [ 2.2932477 -1.5825583] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.374891 -13.401073]\n [-19.794147 -16.996252]\n [-27.58299  -36.696682]\n [-31.374367 -36.05863 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.3216686  1.9689732], 6.621204376220703 meters away.)"}
{"file_name": "images/scenario_1025_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.8) m/s. Its current heading (yaw) is -1.08 ", "actor_description": " The most relevant actors are: A pedestrian with ID 24 is 9.8 meters away at (9.2, 3.3). A vehicle with ID 73 is 12.8 meters away at (-12.4, -3.2). A vehicle with ID 62 is 15.6 meters away at (-11.1, 11.0). A vehicle with ID 69 is 25.9 meters away at (-9.6, 24.0). A cyclist with ID 23 is 26.0 meters away at (12.9, -22.6). A vehicle with ID 42 is 27.1 meters away at (-16.3, 21.7). A vehicle with ID 19 is 27.2 meters away at (-21.7, -16.4). A vehicle with ID 80 is 28.7 meters away at (-22.6, 17.7). A vehicle with ID 46 is 31.1 meters away at (-27.5, 14.6). A vehicle with ID 82 is 31.6 meters away at (-30.3, -9.1).", "velocity_description": "The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00432152 -0.00328485] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.88064  -6.472113] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-3.4823892 -9.791818 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ -4.8574967 -12.727222 ] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [-7.741272  4.551766] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ -2.6388755 -12.629815 ] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [3.2054815 9.523207 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [2.8713562 8.848436 ] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [1.6719131 7.1975493] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.374891 -13.401073]\n [-19.794147 -16.996252]\n [-27.58299  -36.696682]\n [-31.374367 -36.05863 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [9.207144  3.2916107], 9.77784252166748 meters away.)"}
{"file_name": "images/scenario_1026_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 6.4) m/s. Its current heading (yaw) is 1.12 ", "actor_description": " The most relevant actors are: A pedestrian with ID 65 is 11.0 meters away at (11.0, 0.3). A pedestrian with ID 67 is 11.3 meters away at (11.3, 1.2). A pedestrian with ID 74 is 13.6 meters away at (13.4, 2.3). A pedestrian with ID 76 is 14.1 meters away at (13.4, 4.5). A pedestrian with ID 70 is 14.3 meters away at (14.2, -1.7). A vehicle with ID 54 is 14.4 meters away at (-8.8, -11.5). A pedestrian with ID 81 is 15.2 meters away at (14.1, 5.6). A unknown object with ID 50 is 18.3 meters away at (4.1, 17.9). A pedestrian with ID 55 is 19.6 meters away at (-18.1, -7.4). A vehicle with ID 77 is 19.6 meters away at (-16.4, 10.7).", "velocity_description": "The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.00044187  0.01842591] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.01482882 0.02782694] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.02597329  0.07121018] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.02014267  0.02612055] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.00459776  0.0296569 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [1.0746183 3.1942   ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.00959621  0.01585203] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.00338063 0.01854814] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-121.48294067382812, 90.42393493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [10.95627     0.31423283], 10.960775375366211 meters away.)"}
{"file_name": "images/scenario_1026_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 6.7) m/s. Its current heading (yaw) is 1.04 ", "actor_description": " The most relevant actors are: A unknown object with ID 50 is 5.6 meters away at (-3.2, 4.7). A vehicle with ID 16 is 6.0 meters away at (5.8, 1.5). A vehicle with ID 52 is 8.2 meters away at (-2.3, 7.8). A pedestrian with ID 81 is 10.2 meters away at (6.9, -7.5). A pedestrian with ID 76 is 10.6 meters away at (6.2, -8.6). A pedestrian with ID 74 is 12.3 meters away at (6.0, -10.7). A pedestrian with ID 67 is 12.6 meters away at (4.0, -11.9). A pedestrian with ID 65 is 13.3 meters away at (3.7, -12.8). A pedestrian with ID 70 is 16.4 meters away at (7.0, -14.8). A vehicle with ID 48 is 22.1 meters away at (14.8, 16.3).", "velocity_description": "The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.00638158 0.01249319] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.01297056 0.02100417] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.16841811  0.20895995] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.00626033 0.00687117] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.00835141 0.00375873] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.0136139   0.01383339] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-121.48294067382812, 90.42393493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.158947  4.674206], 5.641555309295654 meters away.)"}
{"file_name": "images/scenario_1026_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 7.4) m/s. Its current heading (yaw) is 1.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 6.8 meters away at (6.3, 2.5). A vehicle with ID 51 is 8.5 meters away at (-2.0, 8.3). A vehicle with ID 52 is 12.2 meters away at (-10.7, -5.8). A vehicle with ID 16 is 12.3 meters away at (-2.6, -12.1). A vehicle with ID 4 is 13.5 meters away at (10.3, 8.7). A unknown object with ID 50 is 14.8 meters away at (-11.6, -9.1). A vehicle with ID 53 is 15.7 meters away at (2.5, 15.6). A pedestrian with ID 81 is 21.4 meters away at (-1.6, -21.3). A pedestrian with ID 76 is 22.5 meters away at (-2.3, -22.4). A pedestrian with ID 74 is 24.1 meters away at (-1.8, -24.0).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.02017548 -0.00619014] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.01534634 0.03451183] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.4217865  0.65133697] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-121.48294067382812, 90.42393493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [6.3431454 2.5365868], 6.831527233123779 meters away.)"}
{"file_name": "images/scenario_1026_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 6.2) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 5.1 meters away at (2.2, -4.6). A vehicle with ID 53 is 6.0 meters away at (-5.7, 2.1). A vehicle with ID 49 is 10.5 meters away at (8.6, 6.0). A vehicle with ID 48 is 10.8 meters away at (-1.7, -10.7). A vehicle with ID 51 is 11.3 meters away at (-10.1, -5.0). A pedestrian with ID 41 is 17.5 meters away at (-3.6, 17.2). A pedestrian with ID 17 is 18.0 meters away at (-4.2, 17.5). A vehicle with ID 52 is 26.9 meters away at (-18.9, -19.2). A vehicle with ID 16 is 27.6 meters away at (-10.7, -25.4). A unknown object with ID 50 is 30.0 meters away at (-19.9, -22.4).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.512565  -0.7699936] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.5120033 -0.8210768] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-121.48294067382812, 90.42393493652344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.2017365 -4.642788 ], 5.138396739959717 meters away.)"}
{"file_name": "images/scenario_1027_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 4.8 meters away at (-1.2, 4.6). A vehicle with ID 73 is 8.1 meters away at (2.9, 7.6). A vehicle with ID 72 is 9.7 meters away at (8.3, 5.0). A vehicle with ID 75 is 14.8 meters away at (10.4, 10.6). A unknown object with ID 76 is 16.6 meters away at (1.2, 16.6). A vehicle with ID 81 is 18.9 meters away at (-15.7, -10.5). A vehicle with ID 86 is 19.3 meters away at (2.7, -19.1). A vehicle with ID 89 is 19.8 meters away at (-19.6, -2.7). A vehicle with ID 80 is 19.9 meters away at (12.0, 15.9). A vehicle with ID 83 is 21.3 meters away at (4.4, 20.9).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.354572  -1.0362853] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [5.5228443 1.2115753] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(231.29635620117188, -74.33577728271484)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.2376702  4.6272535], 4.7899169921875 meters away.)"}
{"file_name": "images/scenario_1027_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.4) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 5.9 meters away at (-0.8, 5.8). A vehicle with ID 73 is 8.6 meters away at (3.1, 8.0). A vehicle with ID 72 is 10.7 meters away at (8.7, 6.2). A vehicle with ID 75 is 15.9 meters away at (10.8, 11.7). A vehicle with ID 81 is 16.7 meters away at (-13.4, -10.1). A vehicle with ID 89 is 19.3 meters away at (-19.2, -1.5). A vehicle with ID 70 is 20.4 meters away at (13.2, -15.6). A vehicle with ID 80 is 21.1 meters away at (12.4, 17.1). A vehicle with ID 83 is 22.5 meters away at (4.9, 22.0). A pedestrian with ID 59 is 23.1 meters away at (3.9, 22.8).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [ 3.0815227 -1.2087983] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [-3.3004012  1.1971819] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.05868562 0.08423945] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(231.29635620117188, -74.33577728271484)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.8233693  5.8350334], 5.892838954925537 meters away.)"}
{"file_name": "images/scenario_1027_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.9) m/s. Its current heading (yaw) is -1.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 8.8 meters away at (0.3, 8.8). A vehicle with ID 73 is 10.9 meters away at (3.9, 10.2). A vehicle with ID 81 is 11.4 meters away at (-2.3, -11.2). A vehicle with ID 72 is 13.3 meters away at (9.8, 9.1). A vehicle with ID 70 is 15.8 meters away at (10.7, -11.5). A vehicle with ID 89 is 18.3 meters away at (-18.2, 1.4). A vehicle with ID 75 is 18.8 meters away at (11.8, 14.7). A vehicle with ID 92 is 22.0 meters away at (-3.0, -21.8). A unknown object with ID 7 is 23.6 meters away at (21.1, -10.5). A vehicle with ID 80 is 24.1 meters away at (13.5, 20.0).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.31373557 -0.9550466 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [ 6.993896  -2.4208863] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [-0.3457309   0.10571277] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0.9120779 2.3066013] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(231.29635620117188, -74.33577728271484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.25939178 8.788113  ], 8.791939735412598 meters away.)"}
{"file_name": "images/scenario_1027_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -3.7) m/s. Its current heading (yaw) is -1.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 12.1 meters away at (10.7, -5.5). A vehicle with ID 73 is 12.9 meters away at (2.8, 12.6). A vehicle with ID 92 is 13.0 meters away at (-1.4, -12.9). A vehicle with ID 68 is 14.9 meters away at (0.5, 14.9). A vehicle with ID 81 is 17.8 meters away at (14.4, -10.4). A vehicle with ID 72 is 18.1 meters away at (10.0, 15.1). A vehicle with ID 89 is 19.6 meters away at (-18.0, 7.6). A vehicle with ID 87 is 20.5 meters away at (3.9, -20.1). A unknown object with ID 7 is 21.7 meters away at (21.3, -4.6). A vehicle with ID 66 is 21.8 meters away at (6.7, -20.7).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.699516  -1.9621968] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0.3062538  0.46100104] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [ 9.422225  -3.0512538] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(231.29635620117188, -74.33577728271484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [10.74049 -5.47019], 12.053260803222656 meters away.)"}
{"file_name": "images/scenario_1028_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.4) m/s. Its current heading (yaw) is -1.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 6.9 meters away at (-6.7, -1.6). A unknown object with ID 23 is 17.4 meters away at (-16.8, 4.6). A unknown object with ID 22 is 17.4 meters away at (-16.1, 6.6). A unknown object with ID 24 is 18.5 meters away at (-18.3, 2.8). A unknown object with ID 25 is 18.7 meters away at (-16.5, 8.8). A unknown object with ID 9 is 20.0 meters away at (-18.6, 7.4). A unknown object with ID 15 is 20.2 meters away at (-19.5, 5.5). A unknown object with ID 27 is 22.2 meters away at (-12.5, 18.4). A unknown object with ID 17 is 24.8 meters away at (-14.5, 20.1). A unknown object with ID 19 is 26.4 meters away at (-9.5, 24.7).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.522864  -9.677016 ]\n [-3.160643  -3.4896514]\n [-9.308716  -9.504066 ]\n [-1.0123857 -4.2762847]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.722885  -1.5558584], 6.900571346282959 meters away.)"}
{"file_name": "images/scenario_1028_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 6.9 meters away at (-6.7, -1.4). A vehicle with ID 30 is 16.8 meters away at (-16.7, -2.2). A unknown object with ID 23 is 17.5 meters away at (-16.8, 4.7). A unknown object with ID 22 is 17.5 meters away at (-16.1, 6.8). A unknown object with ID 24 is 18.5 meters away at (-18.2, 3.0). A unknown object with ID 25 is 18.8 meters away at (-16.5, 9.0). A unknown object with ID 27 is 22.4 meters away at (-12.4, 18.6). A unknown object with ID 19 is 26.6 meters away at (-9.6, 24.8). A pedestrian with ID 28 is 33.8 meters away at (-16.0, -29.8).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [2.8254716 6.3926487] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.06461941 -0.03990267] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.522864  -9.677016 ]\n [-3.160643  -3.4896514]\n [-9.308716  -9.504066 ]\n [-1.0123857 -4.2762847]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.7239137 -1.3528984], 6.858669281005859 meters away.)"}
{"file_name": "images/scenario_1028_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 6.9 meters away at (-6.7, -1.3). A vehicle with ID 30 is 15.3 meters away at (-11.5, 10.1). A unknown object with ID 23 is 17.5 meters away at (-16.8, 4.8). A unknown object with ID 22 is 17.5 meters away at (-16.2, 6.8). A unknown object with ID 24 is 18.5 meters away at (-18.2, 3.0). A unknown object with ID 25 is 18.7 meters away at (-16.5, 8.9). A unknown object with ID 27 is 22.4 meters away at (-12.4, 18.7). A unknown object with ID 19 is 26.7 meters away at (-9.6, 24.9). A pedestrian with ID 6 is 28.1 meters away at (-10.6, 26.0). A pedestrian with ID 28 is 33.8 meters away at (-16.0, -29.8).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [2.3271952 5.9208   ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00171808 -0.01113939] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00155203 -0.00020114] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.522864  -9.677016 ]\n [-3.160643  -3.4896514]\n [-9.308716  -9.504066 ]\n [-1.0123857 -4.2762847]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.727429  -1.2934844], 6.850649833679199 meters away.)"}
{"file_name": "images/scenario_1028_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 6.9 meters away at (-6.7, -1.3). A unknown object with ID 23 is 17.5 meters away at (-16.8, 4.8). A unknown object with ID 22 is 17.5 meters away at (-16.1, 6.8). A unknown object with ID 24 is 18.5 meters away at (-18.2, 3.1). A unknown object with ID 25 is 18.8 meters away at (-16.5, 9.0). A unknown object with ID 27 is 22.4 meters away at (-12.5, 18.7). A vehicle with ID 30 is 23.6 meters away at (-6.7, 22.6). A unknown object with ID 1 is 28.0 meters away at (-12.8, 25.0). A pedestrian with ID 28 is 33.8 meters away at (-16.0, -29.8).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [2.3219824 6.6639028] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.00062137 -0.00496631] m/s.", "light_description": "There are active red lights at the following coordinates: [[-9.522864  -9.677016 ]\n [-3.160643  -3.4896514]\n [-9.308716  -9.504066 ]\n [-1.0123857 -4.2762847]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.748199  -1.2928591], 6.870929718017578 meters away.)"}
{"file_name": "images/scenario_1029_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.7) m/s. Its current heading (yaw) is -1.50 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 23.1 meters away at (-13.8, -18.6). A vehicle with ID 6 is 29.1 meters away at (-3.9, 28.9). A cyclist with ID 7 is 31.1 meters away at (12.5, -28.5).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [-0.01721994 -0.00941306] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.9814932 -14.246122 ]\n [  3.2699144 -30.11316  ]\n [  1.409696  -11.2478485]\n [  1.278149  -11.26941  ]\n [  1.2810982 -11.269063 ]\n [  3.210537  -30.321115 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-13.766654 -18.60889 ], 23.14760398864746 meters away.)"}
{"file_name": "images/scenario_1029_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.50 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 22.9 meters away at (-13.8, -18.3). A vehicle with ID 6 is 29.5 meters away at (-4.0, 29.2). A cyclist with ID 7 is 30.8 meters away at (12.5, -28.1). A unknown object with ID 3 is 67.2 meters away at (-21.1, -63.7).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [0.00735759 0.02718648] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.9814932 -14.246122 ]\n [  3.2699144 -30.11316  ]\n [  1.409696  -11.2478485]\n [  1.278149  -11.26941  ]\n [  1.2810982 -11.269063 ]\n [  3.210537  -30.321115 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-13.817007 -18.288126], 22.920846939086914 meters away.)"}
{"file_name": "images/scenario_1029_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.50 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 22.9 meters away at (-13.8, -18.2). A unknown object with ID 2 is 28.1 meters away at (-14.6, -24.0). A vehicle with ID 6 is 29.5 meters away at (-4.0, 29.2). A cyclist with ID 7 is 30.1 meters away at (10.9, -28.0). A pedestrian with ID 1 is 38.0 meters away at (13.9, -35.3).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [-2.7357335   0.18411145] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.21615112  0.11786636] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.9814932 -14.246122 ]\n [  1.409696  -11.2478485]\n [  1.278149  -11.26941  ]\n [  1.2810982 -11.269063 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-13.830204 -18.23806 ], 22.888891220092773 meters away.)"}
{"file_name": "images/scenario_1029_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.50 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 22.9 meters away at (-13.8, -18.2). A cyclist with ID 7 is 24.7 meters away at (2.2, -24.6). A vehicle with ID 6 is 29.5 meters away at (-4.0, 29.2). A unknown object with ID 8 is 72.9 meters away at (-12.9, 71.8).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [-4.844942   3.3274977] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.9814932 -14.246122 ]\n [  1.409696  -11.2478485]\n [  1.278149  -11.26941  ]\n [  1.2810982 -11.269063 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-13.825048 -18.225061], 22.87541961669922 meters away.)"}
{"file_name": "images/scenario_1030_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 1.2) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 33.8 meters away at (-24.6, -23.1). A unknown object with ID 8 is 35.5 meters away at (-25.8, -24.4). A vehicle with ID 11 is 39.9 meters away at (31.1, -25.1). A vehicle with ID 9 is 49.2 meters away at (-15.0, 46.9). A vehicle with ID 12 is 66.1 meters away at (-39.2, -53.2).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.7396188  1.9290984] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.8295019  6.594479 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.3433747 -3.221963 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-24.61407  -23.135397], 33.78015899658203 meters away.)"}
{"file_name": "images/scenario_1030_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 3.6) m/s. Its current heading (yaw) is 1.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 35.5 meters away at (24.7, -25.5). A unknown object with ID 7 is 39.2 meters away at (-27.5, -27.9). A unknown object with ID 8 is 41.0 meters away at (-28.7, -29.3). A unknown object with ID 2 is 55.5 meters away at (-26.5, 48.8). A vehicle with ID 9 is 59.7 meters away at (-22.6, 55.2).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.9536614  2.508917 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.375659  6.904861] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 24.690136 -25.539064], 35.52248001098633 meters away.)"}
{"file_name": "images/scenario_1030_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 3.7) m/s. Its current heading (yaw) is 1.92 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 29.5 meters away at (1.3, -29.5). A vehicle with ID 11 is 35.3 meters away at (21.4, -28.1). A unknown object with ID 7 is 44.6 meters away at (-27.2, -35.4). A vehicle with ID 9 is 67.5 meters away at (-26.3, 62.1). A vehicle with ID 5 is 75.2 meters away at (-23.1, -71.6).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9005274   0.09796842] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.0152402  2.6398084] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.6282085  7.4217887] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [  1.2558272 -29.451618 ], 29.47838020324707 meters away.)"}
{"file_name": "images/scenario_1030_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 3.2) m/s. Its current heading (yaw) is 2.08 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 36.8 meters away at (2.3, -36.7). A vehicle with ID 11 is 36.9 meters away at (20.6, -30.6). A vehicle with ID 9 is 74.2 meters away at (-25.2, 69.8).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.2005166  -0.34090585] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.2252371  1.9792047] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.8316267  7.608201 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [  2.3015878 -36.6885   ], 36.760623931884766 meters away.)"}
{"file_name": "images/scenario_1031_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 1.2) m/s. Its current heading (yaw) is 1.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 17.9 meters away at (-8.2, -16.0). A unknown object with ID 26 is 31.0 meters away at (-0.8, 31.0). A vehicle with ID 29 is 34.0 meters away at (26.3, 21.6). A unknown object with ID 10 is 34.6 meters away at (32.2, 12.6). A unknown object with ID 21 is 34.6 meters away at (23.7, 25.2). A unknown object with ID 22 is 35.4 meters away at (23.8, 26.1). A unknown object with ID 5 is 37.3 meters away at (35.1, 12.6). A unknown object with ID 28 is 37.6 meters away at (26.1, 27.0). A vehicle with ID 27 is 39.0 meters away at (32.9, 21.0). A unknown object with ID 2 is 39.1 meters away at (28.5, 26.8).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00053401 -0.00443662] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.87696   -62.14611  ]\n [  1.7530345  19.077126 ]\n [  4.956493   19.527918 ]\n [ 16.592113   27.885174 ]\n [ 16.532736   27.677217 ]\n [ -4.7287025 -62.932743 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -8.203942 -15.963665], 17.94835090637207 meters away.)"}
{"file_name": "images/scenario_1031_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 1.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 18.6 meters away at (-8.3, -16.6). A unknown object with ID 26 is 30.4 meters away at (-0.9, 30.4). A vehicle with ID 29 is 33.5 meters away at (26.2, 20.9). A unknown object with ID 10 is 34.3 meters away at (32.2, 11.9). A unknown object with ID 22 is 34.8 meters away at (23.7, 25.5). A unknown object with ID 5 is 37.0 meters away at (35.0, 12.0). A unknown object with ID 28 is 37.1 meters away at (26.0, 26.4). A vehicle with ID 27 is 38.6 meters away at (32.8, 20.3). A unknown object with ID 16 is 39.3 meters away at (28.4, 27.2). A pedestrian with ID 8 is 39.7 meters away at (38.0, 11.2).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00156538 -0.00146488] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.222925 -0.389058] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.87696   -62.14611  ]\n [  1.7530345  19.077126 ]\n [  4.956493   19.527918 ]\n [ 16.592113   27.885174 ]\n [ 16.532736   27.677217 ]\n [ -4.7287025 -62.932743 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -8.276698 -16.614983], 18.56236457824707 meters away.)"}
{"file_name": "images/scenario_1031_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 18.6 meters away at (-8.3, -16.7). A unknown object with ID 26 is 30.3 meters away at (-0.9, 30.3). A unknown object with ID 7 is 32.3 meters away at (29.7, 12.8). A vehicle with ID 29 is 33.4 meters away at (26.2, 20.8). A unknown object with ID 10 is 34.2 meters away at (32.1, 11.8). A unknown object with ID 22 is 34.7 meters away at (23.7, 25.4). A unknown object with ID 5 is 36.9 meters away at (35.0, 11.9). A unknown object with ID 28 is 37.0 meters away at (26.0, 26.3). A pedestrian with ID 8 is 37.1 meters away at (35.5, 10.8). A vehicle with ID 27 is 38.6 meters away at (32.9, 20.2).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00043315 -0.00078153] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.0352893  -0.08887146] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.87696   -62.14611  ]\n [  1.7530345  19.077126 ]\n [  4.956493   19.527918 ]\n [ 16.592113   27.885174 ]\n [ 16.532736   27.677217 ]\n [ -4.7287025 -62.932743 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -8.292717 -16.700575], 18.646135330200195 meters away.)"}
{"file_name": "images/scenario_1031_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 9 is 18.7 meters away at (-8.3, -16.7). A unknown object with ID 26 is 30.2 meters away at (-0.9, 30.2). A unknown object with ID 7 is 32.4 meters away at (29.7, 12.8). A vehicle with ID 29 is 33.4 meters away at (26.2, 20.8). A unknown object with ID 10 is 34.2 meters away at (32.2, 11.8). A pedestrian with ID 8 is 34.7 meters away at (32.9, 10.9). A unknown object with ID 22 is 34.7 meters away at (23.7, 25.3). A unknown object with ID 28 is 37.0 meters away at (26.0, 26.3). A vehicle with ID 27 is 38.6 meters away at (32.8, 20.2). A unknown object with ID 16 is 39.2 meters away at (28.3, 27.1).", "velocity_description": "The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00120698 -0.00183847] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.3277943   0.06995996] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.87696   -62.14611  ]\n [  1.7530345  19.077126 ]\n [  4.956493   19.527918 ]\n [ 16.592113   27.885174 ]\n [ 16.532736   27.677217 ]\n [ -4.7287025 -62.932743 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -8.295662 -16.73413 ], 18.67750358581543 meters away.)"}
{"file_name": "images/scenario_1032_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 3.6 meters away at (-1.8, 3.1). A vehicle with ID 10 is 6.9 meters away at (4.5, 5.2). A vehicle with ID 22 is 6.9 meters away at (-6.4, -2.5). A vehicle with ID 26 is 9.3 meters away at (3.0, 8.8). A vehicle with ID 23 is 13.8 meters away at (8.9, 10.6). A vehicle with ID 30 is 17.7 meters away at (8.6, 15.5). A vehicle with ID 28 is 18.0 meters away at (-13.9, -11.5). A vehicle with ID 33 is 22.4 meters away at (14.9, 16.7). A vehicle with ID 36 is 26.7 meters away at (14.4, 22.4). A vehicle with ID 31 is 30.1 meters away at (-22.0, -20.5).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.40753856 -0.48364136] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.3593996  -0.42611217] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.8772283 -1.0399439] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.7153246 -0.8311098] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.6686137  0.76687634] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.6707895 -1.9860007] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-2.100174  -2.4474344] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.882727 27.562086]\n [20.579363 27.33703 ]\n [22.442764 26.435654]\n [26.752148 27.346   ]\n [26.66661  27.080322]]", "nav_goal": "(-184.1056671142578, 193.90435791015625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.8462346  3.0791366], 3.5902178287506104 meters away.)"}
{"file_name": "images/scenario_1032_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.5) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 3.5 meters away at (-3.2, 1.5). A vehicle with ID 10 is 6.6 meters away at (4.4, 5.0). A vehicle with ID 26 is 7.7 meters away at (1.9, 7.5). A vehicle with ID 22 is 9.3 meters away at (-8.1, -4.5). A vehicle with ID 23 is 14.3 meters away at (9.2, 10.9). A vehicle with ID 30 is 15.4 meters away at (7.1, 13.7). A vehicle with ID 28 is 23.2 meters away at (-17.4, -15.4). A vehicle with ID 36 is 23.5 meters away at (12.3, 20.0). A vehicle with ID 33 is 27.4 meters away at (18.3, 20.4). A vehicle with ID 38 is 32.5 meters away at (18.5, 26.7).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.56917036 -0.67536205] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.45325634 0.5562394 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.94048846 -1.0845704 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [1.4941398 1.7413683] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-2.225795  -2.5641487] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.3933493 -0.5220236] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [3.156789  3.5090876] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.8041056 -2.1508226] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.882727 27.562086]\n [27.54255  37.03539 ]\n [26.752148 27.346   ]\n [26.66661  27.080322]]", "nav_goal": "(-184.1056671142578, 193.90435791015625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.2063746  1.4785173], 3.5308427810668945 meters away.)"}
{"file_name": "images/scenario_1032_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 5.7 meters away at (0.4, 5.7). A vehicle with ID 21 is 6.2 meters away at (-5.9, -1.7). A vehicle with ID 10 is 9.7 meters away at (6.4, 7.3). A vehicle with ID 30 is 13.6 meters away at (5.9, 12.3). A vehicle with ID 22 is 16.2 meters away at (-12.8, -10.0). A vehicle with ID 23 is 21.2 meters away at (13.7, 16.2). A vehicle with ID 36 is 21.3 meters away at (10.9, 18.3). A vehicle with ID 38 is 28.4 meters away at (15.9, 23.5). A vehicle with ID 28 is 33.8 meters away at (-24.4, -23.4). A vehicle with ID 33 is 37.8 meters away at (25.1, 28.3).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.66733456 -0.7808141 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.7995245 -2.1431398] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.4512665 2.8565128] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.3650504  -0.43203044] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.928664  -3.3562582] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [3.5367022 4.1038127] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.4664228 -0.5602294] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-3.8064358 -4.348373 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [4.5047574 5.209998 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 26.882727  27.562086]\n [-53.38466  -57.826546]\n [ 27.54255   37.03539 ]\n [ 26.752148  27.346   ]\n [-51.957043 -58.7155  ]\n [ 26.66661   27.080322]]", "nav_goal": "(-184.1056671142578, 193.90435791015625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.41953123 5.6789136 ], 5.694389343261719 meters away.)"}
{"file_name": "images/scenario_1032_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 2.6) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 5.3 meters away at (-5.2, -0.9). A vehicle with ID 30 is 8.0 meters away at (2.1, 7.7). A vehicle with ID 10 is 16.1 meters away at (10.6, 12.1). A vehicle with ID 36 is 16.5 meters away at (7.7, 14.6). A unknown object with ID 16 is 17.1 meters away at (2.9, 16.8). A vehicle with ID 21 is 18.5 meters away at (-14.3, -11.6). A vehicle with ID 38 is 23.8 meters away at (12.9, 20.0). A vehicle with ID 23 is 30.0 meters away at (19.4, 22.9). A vehicle with ID 22 is 31.9 meters away at (-23.1, -22.0). A vehicle with ID 24 is 35.8 meters away at (32.0, 16.2).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.6348732 -3.0070248] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.1056725 -1.2526598] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [4.47831  5.244037] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.6429059  -0.71511334] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.8246748 -4.449507 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.32764974 -0.3613231 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [4.760688  5.7764454] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.532915 -5.268792] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[26.882727 27.562086]\n [27.54255  37.03539 ]\n [26.752148 27.346   ]\n [26.66661  27.080322]]", "nav_goal": "(-184.1056671142578, 193.90435791015625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.2021813  -0.94279957], 5.286923408508301 meters away.)"}
{"file_name": "images/scenario_1033_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.2) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 32.3 meters away at (-31.9, -5.1). A unknown object with ID 12 is 35.2 meters away at (12.6, 32.9).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.2587202  -0.01319604] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-31.91166   -5.104966], 32.317405700683594 meters away.)"}
{"file_name": "images/scenario_1033_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -1.7) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 29.3 meters away at (-29.2, -1.9). A unknown object with ID 12 is 39.3 meters away at (14.7, 36.4).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.40376845 0.23643008] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-29.2243     -1.8751507], 29.28439712524414 meters away.)"}
{"file_name": "images/scenario_1033_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -0.0) m/s. Its current heading (yaw) is -3.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 22.5 meters away at (-22.5, 1.3).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.815162  0.8722533] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-22.49334     1.2690854], 22.529111862182617 meters away.)"}
{"file_name": "images/scenario_1033_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 0.5) m/s. Its current heading (yaw) is 3.05 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 13.0 meters away at (-12.8, 2.1). A vehicle with ID 1 is 56.4 meters away at (-29.8, -47.8). A vehicle with ID 3 is 70.0 meters away at (-44.6, -54.0). A vehicle with ID 4 is 71.1 meters away at (-47.1, -53.2). A pedestrian with ID 10 is 73.5 meters away at (-45.5, -57.7).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0197967  0.74958545] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.9771706 5.921216 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0708297  0.4737619] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-12.822367    2.0635214], 12.987347602844238 meters away.)"}
{"file_name": "images/scenario_1034_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.6) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-139.20631408691406, 65.90910339355469)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_1034_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.6) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-139.20631408691406, 65.90910339355469)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_1034_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 3.0) m/s. Its current heading (yaw) is 2.77 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-139.20631408691406, 65.90910339355469)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_1034_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 0.5) m/s. Its current heading (yaw) is 3.08 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-139.20631408691406, 65.90910339355469)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_1035_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 3.8) m/s. Its current heading (yaw) is 1.05 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 26.5 meters away at (-7.9, 25.3). A vehicle with ID 22 is 30.0 meters away at (18.4, -23.7). A unknown object with ID 8 is 39.8 meters away at (-3.7, 39.7). A pedestrian with ID 28 is 41.8 meters away at (5.7, 41.4). A vehicle with ID 27 is 45.1 meters away at (32.6, -31.2). A pedestrian with ID 2 is 53.4 meters away at (37.6, -37.9). A cyclist with ID 12 is 79.7 meters away at (70.3, -37.7).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.154181   1.2419652] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0714288 -0.6505507] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [-2.3331752 -4.170025 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(237.7415313720703, -128.72732543945312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-7.878913 25.313656], 26.511478424072266 meters away.)"}
{"file_name": "images/scenario_1035_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 3.7) m/s. Its current heading (yaw) is 1.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 34.7 meters away at (14.8, -31.4). A vehicle with ID 27 is 48.5 meters away at (29.1, -38.8). A pedestrian with ID 2 is 58.6 meters away at (35.9, -46.3). A vehicle with ID 5 is 60.7 meters away at (58.7, -15.2).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.1722058  -0.72744095] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.01899   5.204481] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(237.7415313720703, -128.72732543945312)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 14.83225  -31.353176], 34.684539794921875 meters away.)"}
{"file_name": "images/scenario_1035_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.6) m/s. Its current heading (yaw) is 0.50 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 38.4 meters away at (36.8, -10.8). A vehicle with ID 22 is 38.7 meters away at (10.9, -37.1). A pedestrian with ID 14 is 49.2 meters away at (20.7, -44.6). A vehicle with ID 27 is 51.0 meters away at (25.1, -44.4). A pedestrian with ID 2 is 62.9 meters away at (34.1, -52.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-8.435006  4.506732] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.08763355 -0.07952452] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2643296  -0.70972794] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(237.7415313720703, -128.72732543945312)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 36.828053 -10.831468], 38.38783645629883 meters away.)"}
{"file_name": "images/scenario_1035_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -1.3) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 14.8 meters away at (14.4, -3.2). A vehicle with ID 22 is 37.7 meters away at (3.3, -37.6). A pedestrian with ID 14 is 46.9 meters away at (12.9, -45.1). A vehicle with ID 27 is 48.3 meters away at (17.5, -45.0). A pedestrian with ID 2 is 61.4 meters away at (28.3, -54.5).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.563146   3.5052793] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.46671075  0.01810128] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.564391  -0.7284761] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(237.7415313720703, -128.72732543945312)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [14.43297   -3.1891499], 14.781112670898438 meters away.)"}
{"file_name": "images/scenario_1036_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 8.4) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 11.1 meters away at (-8.6, 7.1). A vehicle with ID 64 is 11.3 meters away at (-10.1, 5.0). A vehicle with ID 70 is 13.9 meters away at (-1.4, 13.9). A vehicle with ID 68 is 14.6 meters away at (-6.6, 13.0). A vehicle with ID 55 is 14.9 meters away at (-7.0, 13.2). A pedestrian with ID 63 is 15.4 meters away at (-15.1, 3.4). A vehicle with ID 62 is 20.0 meters away at (-8.0, 18.3). A vehicle with ID 61 is 20.5 meters away at (-20.3, -2.3). A unknown object with ID 42 is 26.4 meters away at (-4.7, 26.0). A vehicle with ID 71 is 28.5 meters away at (8.3, 27.2).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.46319494 -0.00897825] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(210.62416076660156, -52.31795883178711)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.579793  7.109783], 11.142794609069824 meters away.)"}
{"file_name": "images/scenario_1036_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 7.5) m/s. Its current heading (yaw) is 1.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 10.5 meters away at (-10.4, -1.3). A vehicle with ID 71 is 11.9 meters away at (-0.8, 11.9). A unknown object with ID 30 is 13.7 meters away at (-13.6, 1.9). A vehicle with ID 68 is 15.9 meters away at (-15.8, -2.3). A vehicle with ID 55 is 16.3 meters away at (-16.1, -2.2). A vehicle with ID 72 is 17.1 meters away at (2.3, 17.0). A vehicle with ID 62 is 17.4 meters away at (-17.1, 3.0). A vehicle with ID 67 is 19.5 meters away at (-17.7, -8.2). A vehicle with ID 64 is 21.7 meters away at (-19.1, -10.3). A vehicle with ID 73 is 23.3 meters away at (5.8, 22.5).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(210.62416076660156, -52.31795883178711)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.424419   -1.3350449], 10.509560585021973 meters away.)"}
{"file_name": "images/scenario_1036_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 7.0) m/s. Its current heading (yaw) is 1.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 6.7 meters away at (-6.2, 2.7). A vehicle with ID 73 is 8.7 meters away at (-2.7, 8.2). A vehicle with ID 71 is 9.6 meters away at (-9.3, -2.3). A vehicle with ID 74 is 16.3 meters away at (1.9, 16.2). A pedestrian with ID 46 is 20.1 meters away at (-4.9, -19.5). A vehicle with ID 70 is 24.6 meters away at (-18.9, -15.6). A vehicle with ID 62 is 28.1 meters away at (-25.7, -11.4). A vehicle with ID 68 is 29.7 meters away at (-24.5, -16.7). A vehicle with ID 1 is 34.5 meters away at (33.9, 6.0). A vehicle with ID 67 is 34.6 meters away at (-26.2, -22.5).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.3931835 0.7708891] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(210.62416076660156, -52.31795883178711)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.157648   2.7360039], 6.738126277923584 meters away.)"}
{"file_name": "images/scenario_1036_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 4.7) m/s. Its current heading (yaw) is 0.78 ", "actor_description": " The most relevant actors are: A unknown object with ID 26 is 7.6 meters away at (2.8, -7.1). A vehicle with ID 74 is 7.6 meters away at (-6.6, 3.8). A unknown object with ID 38 is 9.6 meters away at (-6.0, 7.5). A pedestrian with ID 40 is 11.5 meters away at (-6.0, 9.8). A vehicle with ID 73 is 11.9 meters away at (-11.2, -4.2). A pedestrian with ID 41 is 12.3 meters away at (-6.1, 10.6). A vehicle with ID 72 is 17.5 meters away at (-14.6, -9.7). A unknown object with ID 35 is 19.5 meters away at (-5.3, -18.8). A vehicle with ID 39 is 21.8 meters away at (-12.0, 18.3). A vehicle with ID 32 is 21.8 meters away at (-8.6, 20.1).", "velocity_description": "The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01837034 -0.01490084] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.02374534 -0.01822929] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 1.0690634 -0.5942613] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(210.62416076660156, -52.31795883178711)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.7543373 -7.0920143], 7.608090400695801 meters away.)"}
{"file_name": "images/scenario_1037_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -4.2) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 5.7 meters away at (-1.5, 5.5). A vehicle with ID 37 is 5.8 meters away at (-5.7, 0.5). A vehicle with ID 42 is 6.6 meters away at (1.5, -6.4). A vehicle with ID 44 is 9.7 meters away at (3.2, 9.1). A vehicle with ID 49 is 11.1 meters away at (-10.1, -4.6). A vehicle with ID 46 is 11.3 meters away at (8.0, 7.9). A vehicle with ID 43 is 12.2 meters away at (-3.1, -11.8). A vehicle with ID 54 is 17.9 meters away at (-14.7, -10.1). A vehicle with ID 15 is 19.8 meters away at (-8.5, -17.9). A vehicle with ID 39 is 23.7 meters away at (-18.6, -14.8).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.085095  -3.5004442] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.5198946  5.5171647], 5.722690105438232 meters away.)"}
{"file_name": "images/scenario_1037_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -5.2) m/s. Its current heading (yaw) is -2.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 4.9 meters away at (-1.5, 4.7). A vehicle with ID 43 is 6.1 meters away at (5.5, -2.5). A vehicle with ID 54 is 6.1 meters away at (-6.1, -0.8). A vehicle with ID 15 is 8.6 meters away at (0.2, -8.6). A vehicle with ID 37 is 10.2 meters away at (2.8, 9.8). A vehicle with ID 42 is 10.5 meters away at (10.1, 2.8). A vehicle with ID 39 is 11.3 meters away at (-9.9, -5.4). A vehicle with ID 46 is 12.1 meters away at (7.8, 9.2). A vehicle with ID 40 is 15.6 meters away at (-5.3, -14.7). A vehicle with ID 45 is 16.5 meters away at (7.2, 14.9).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.65486 -4.49373] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.5099239  4.6549044], 4.893670082092285 meters away.)"}
{"file_name": "images/scenario_1037_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, -5.6) m/s. Its current heading (yaw) is -2.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 3.7 meters away at (-3.5, 1.1). A vehicle with ID 39 is 5.4 meters away at (0.2, 5.4). A vehicle with ID 40 is 6.2 meters away at (4.9, -3.8). A vehicle with ID 41 is 10.0 meters away at (0.0, -10.0). A vehicle with ID 15 is 10.7 meters away at (10.5, 2.3). A vehicle with ID 54 is 10.9 meters away at (4.2, 10.1). A vehicle with ID 46 is 14.0 meters away at (9.1, 10.7). A vehicle with ID 49 is 17.9 meters away at (8.8, 15.6). A vehicle with ID 43 is 17.9 meters away at (15.8, 8.4). A vehicle with ID 37 is 24.5 meters away at (13.1, 20.7).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.541025  -5.1240926] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.5020332  1.0966129], 3.6697134971618652 meters away.)"}
{"file_name": "images/scenario_1037_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -5.4) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 10.0 meters away at (10.0, 0.8). A vehicle with ID 38 is 13.6 meters away at (6.5, 11.9). A vehicle with ID 46 is 15.0 meters away at (10.2, 11.0). A vehicle with ID 40 is 16.5 meters away at (15.0, 7.0). A vehicle with ID 3 is 19.3 meters away at (-18.4, -5.9). A vehicle with ID 39 is 19.4 meters away at (10.4, 16.3). A vehicle with ID 15 is 24.3 meters away at (20.4, 13.1). A vehicle with ID 54 is 25.5 meters away at (14.4, 21.0). A vehicle with ID 43 is 32.2 meters away at (25.8, 19.3). A vehicle with ID 49 is 32.6 meters away at (18.9, 26.5).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.2587404 -5.1836205] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-75.210266 -84.320114]\n [-77.26279  -86.938866]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [9.983547  0.8069496], 10.016105651855469 meters away.)"}
{"file_name": "images/scenario_1038_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, -8.1) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 10.7 meters away at (-9.6, -4.9). A cyclist with ID 41 is 12.2 meters away at (12.2, -0.6). A vehicle with ID 42 is 14.5 meters away at (-14.5, 0.2). A vehicle with ID 40 is 16.4 meters away at (2.0, 16.3). A vehicle with ID 45 is 20.1 meters away at (-19.2, -6.0). A vehicle with ID 56 is 30.8 meters away at (-9.2, -29.4). A unknown object with ID 31 is 35.3 meters away at (-14.6, -32.1). A unknown object with ID 37 is 36.3 meters away at (-15.2, -33.0). A unknown object with ID 43 is 56.0 meters away at (15.0, 53.9). A unknown object with ID 44 is 57.8 meters away at (17.0, 55.2).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [-10.819284 -12.735301] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [2.4438412 4.844343 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-4.013474  -3.8301957] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.726307 -23.695316]\n [-33.740997 -40.33107 ]\n [-34.07092  -40.98407 ]\n [-36.638615 -43.396816]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.567323 -4.884886], 10.742241859436035 meters away.)"}
{"file_name": "images/scenario_1038_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -8.5) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 11.6 meters away at (-5.1, 10.5). A vehicle with ID 56 is 13.7 meters away at (4.9, -12.7). A cyclist with ID 27 is 15.8 meters away at (-0.0, -15.8). A vehicle with ID 42 is 16.7 meters away at (-0.4, 16.7). A vehicle with ID 39 is 21.9 meters away at (-15.8, -15.2). A vehicle with ID 40 is 28.5 meters away at (9.9, 26.7). A cyclist with ID 41 is 41.9 meters away at (34.3, 24.0). A pedestrian with ID 29 is 50.7 meters away at (-22.1, -45.6). A unknown object with ID 43 is 76.2 meters away at (29.1, 70.4). A unknown object with ID 44 is 78.2 meters away at (31.1, 71.7).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.01081693 -0.01418667] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -9.5997715 -14.378073 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.2546606 -2.2535145] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [4.6840577 3.8075345] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.64028984 -1.266073  ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.726307 -23.695316]\n [-33.740997 -40.33107 ]\n [-34.07092  -40.98407 ]\n [-36.638615 -43.396816]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.093006 10.475262], 11.647738456726074 meters away.)"}
{"file_name": "images/scenario_1038_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, -8.8) m/s. Its current heading (yaw) is -2.16 ", "actor_description": " The most relevant actors are: A cyclist with ID 27 is 12.9 meters away at (12.8, 1.5). A unknown object with ID 25 is 18.3 meters away at (16.8, -7.2). A vehicle with ID 56 is 18.4 meters away at (17.8, 4.6). A vehicle with ID 45 is 28.9 meters away at (7.7, 27.8). A pedestrian with ID 29 is 32.3 meters away at (-10.5, -30.6). A vehicle with ID 39 is 34.7 meters away at (-20.2, -28.2). A vehicle with ID 42 is 36.3 meters away at (12.5, 34.1). A vehicle with ID 40 is 45.6 meters away at (19.8, 41.1). A vehicle with ID 28 is 72.4 meters away at (-69.2, 21.5).", "velocity_description": "The cyclist with ID 27 is traveling at a (x, y) velocity of [ 0.02573561 -0.03604717] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.6616461 -1.2251756] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -7.6963396 -15.862361 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.81013536 -0.85657513] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.726307 -23.695316]\n [-33.740997 -40.33107 ]\n [-34.07092  -40.98407 ]\n [-36.638615 -43.396816]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [12.770313   1.5186768], 12.860299110412598 meters away.)"}
{"file_name": "images/scenario_1038_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -9.2) m/s. Its current heading (yaw) is -2.10 ", "actor_description": " The most relevant actors are: A pedestrian with ID 29 is 15.1 meters away at (-0.5, -15.1). A cyclist with ID 27 is 30.9 meters away at (24.0, 19.4). A vehicle with ID 56 is 36.8 meters away at (29.0, 22.5). A cyclist with ID 34 is 38.0 meters away at (-31.6, -21.1). A vehicle with ID 39 is 48.7 meters away at (-21.9, -43.5). A vehicle with ID 45 is 49.5 meters away at (18.9, 45.7). A vehicle with ID 42 is 57.1 meters away at (23.7, 52.0). A unknown object with ID 35 is 64.4 meters away at (-19.8, -61.3). A vehicle with ID 40 is 65.3 meters away at (30.0, 58.0).", "velocity_description": "The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.68716973 -1.1586204 ] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.06626182 -0.00419865] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [ 6.9952292 16.385431 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -5.4933496 -17.139624 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.726307 -23.695316]\n [-33.740997 -40.33107 ]\n [-34.07092  -40.98407 ]\n [-36.638615 -43.396816]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ -0.513546 -15.130379], 15.139091491699219 meters away.)"}
{"file_name": "images/scenario_1039_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.1) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 9.5 meters away at (0.0, -9.5). A vehicle with ID 34 is 17.0 meters away at (-10.1, 13.7). A pedestrian with ID 33 is 17.4 meters away at (1.0, -17.4). A vehicle with ID 35 is 19.5 meters away at (-13.4, 14.2). A vehicle with ID 36 is 26.4 meters away at (-20.5, 16.7). A vehicle with ID 37 is 30.5 meters away at (-11.9, 28.1). A vehicle with ID 38 is 32.6 meters away at (-15.3, 28.7). A vehicle with ID 40 is 35.7 meters away at (-19.0, 30.2). A vehicle with ID 41 is 36.1 meters away at (35.4, 6.8). A vehicle with ID 8 is 41.3 meters away at (16.5, 37.9).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.38165066 1.0881501 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-29.149874 -73.82891 ]\n [-28.952885 -73.87043 ]]", "nav_goal": "(183.33914184570312, 71.68887329101562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.02298558 -9.453733  ], 9.453761100769043 meters away.)"}
{"file_name": "images/scenario_1039_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.6) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 14.4 meters away at (-12.1, 7.8). A vehicle with ID 32 is 15.5 meters away at (-2.0, -15.4). A vehicle with ID 35 is 17.6 meters away at (-15.5, 8.4). A pedestrian with ID 33 is 20.9 meters away at (-0.3, -20.9). A vehicle with ID 36 is 25.0 meters away at (-22.5, 11.0). A vehicle with ID 37 is 26.2 meters away at (-14.0, 22.2). A vehicle with ID 38 is 28.6 meters away at (-17.3, 22.8). A vehicle with ID 40 is 32.2 meters away at (-21.1, 24.3). A vehicle with ID 41 is 33.4 meters away at (33.4, 0.8). A vehicle with ID 10 is 34.3 meters away at (-24.1, 24.4).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.38374463 1.2568206 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-29.149874 -73.82891 ]\n [-28.952885 -73.87043 ]]", "nav_goal": "(183.33914184570312, 71.68887329101562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.07717    7.757724], 14.354104995727539 meters away.)"}
{"file_name": "images/scenario_1039_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 6.7) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 16.3 meters away at (-15.9, -3.6). A vehicle with ID 35 is 19.4 meters away at (-19.2, -3.2). A vehicle with ID 37 is 20.8 meters away at (-17.8, 10.8). A vehicle with ID 8 is 23.1 meters away at (10.6, 20.5). A vehicle with ID 38 is 24.0 meters away at (-21.2, 11.2). A vehicle with ID 36 is 26.4 meters away at (-26.4, -0.4). A vehicle with ID 32 is 27.5 meters away at (-5.9, -26.9). A vehicle with ID 40 is 28.0 meters away at (-24.9, 12.8). A pedestrian with ID 33 is 30.1 meters away at (-3.3, -29.9). A vehicle with ID 10 is 30.7 meters away at (-27.9, 12.8).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.4193302 1.3406435] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(183.33914184570312, 71.68887329101562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-15.911439   -3.6363754], 16.32167625427246 meters away.)"}
{"file_name": "images/scenario_1039_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 7.0) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 8.7 meters away at (5.9, 6.5). A vehicle with ID 30 is 21.7 meters away at (0.7, 21.7). A vehicle with ID 37 is 22.8 meters away at (-22.5, -3.3). A vehicle with ID 34 is 27.0 meters away at (-20.6, -17.5). A vehicle with ID 31 is 28.3 meters away at (3.0, 28.2). A vehicle with ID 35 is 29.5 meters away at (-23.8, -17.4). A vehicle with ID 36 is 34.3 meters away at (-31.0, -14.8). A pedestrian with ID 33 is 42.0 meters away at (-7.1, -41.4). A vehicle with ID 32 is 42.2 meters away at (-10.5, -40.9). A vehicle with ID 1 is 52.4 meters away at (20.0, 48.4).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.4462163 1.348732 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(183.33914184570312, 71.68887329101562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.897481 6.454571], 8.743098258972168 meters away.)"}
{"file_name": "images/scenario_1040_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 0.7) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 17.0 meters away at (13.9, -9.9). A pedestrian with ID 8 is 25.4 meters away at (-7.3, 24.4). A unknown object with ID 27 is 27.1 meters away at (20.9, -17.2). A unknown object with ID 15 is 28.9 meters away at (22.2, -18.4). A unknown object with ID 13 is 38.6 meters away at (-20.9, 32.5). A pedestrian with ID 30 is 39.7 meters away at (-38.6, 9.5). A unknown object with ID 17 is 52.6 meters away at (4.8, -52.4). A vehicle with ID 38 is 55.9 meters away at (-12.4, -54.5). A vehicle with ID 40 is 60.5 meters away at (-46.1, 39.1). A vehicle with ID 34 is 61.0 meters away at (-61.0, 0.7).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.02875575  0.00934934] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.92096984 1.1572629 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-2.012401  -1.8484279] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.560529  -2.2277734] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-194.26995849609375, -186.5580291748047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [13.856553 -9.892517], 17.025449752807617 meters away.)"}
{"file_name": "images/scenario_1040_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 1.2) m/s. Its current heading (yaw) is 2.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 21.5 meters away at (18.3, -11.4). A pedestrian with ID 8 is 23.0 meters away at (-3.1, 22.8). A unknown object with ID 27 is 31.5 meters away at (25.4, -18.6). A unknown object with ID 15 is 33.3 meters away at (26.7, -19.8). A pedestrian with ID 30 is 33.7 meters away at (-32.3, 9.9). A unknown object with ID 13 is 35.0 meters away at (-17.0, 30.6). A unknown object with ID 3 is 36.9 meters away at (-20.2, 30.9). A vehicle with ID 24 is 52.5 meters away at (-47.2, -23.0). A vehicle with ID 34 is 53.5 meters away at (-53.4, -3.8). A unknown object with ID 17 is 54.8 meters away at (9.7, -53.9).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.0180381   0.00836507] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.99282557 1.0889406 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.6393367 -0.5731045] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-194.26995849609375, -186.5580291748047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 18.262491 -11.395769], 21.52631187438965 meters away.)"}
{"file_name": "images/scenario_1040_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 2.1) m/s. Its current heading (yaw) is 2.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 26.4 meters away at (-25.0, 8.5). A vehicle with ID 29 is 27.7 meters away at (23.5, -14.7). A unknown object with ID 27 is 37.7 meters away at (30.7, -22.0). A vehicle with ID 34 is 48.0 meters away at (-47.3, -7.9). A vehicle with ID 24 is 49.6 meters away at (-42.0, -26.4). A vehicle with ID 40 is 49.9 meters away at (-36.9, 33.6). A vehicle with ID 41 is 54.3 meters away at (-50.1, -20.9). A vehicle with ID 28 is 55.4 meters away at (-45.7, -31.2). A vehicle with ID 42 is 59.5 meters away at (-53.8, -25.2). A vehicle with ID 19 is 60.4 meters away at (-49.0, -35.2).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [1.0529355 1.0333713] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.79615813 -0.64193726] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-194.26995849609375, -186.5580291748047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-25.012512   8.486475], 26.41299057006836 meters away.)"}
{"file_name": "images/scenario_1040_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 1.6) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 14.9 meters away at (3.0, 14.5). A pedestrian with ID 30 is 20.3 meters away at (-19.2, 6.7). A vehicle with ID 29 is 33.8 meters away at (28.2, -18.7). A vehicle with ID 34 is 42.8 meters away at (-40.4, -14.0). A vehicle with ID 40 is 43.7 meters away at (-32.1, 29.7). A unknown object with ID 27 is 43.8 meters away at (35.3, -25.9). A vehicle with ID 24 is 48.0 meters away at (-37.3, -30.3). A vehicle with ID 41 is 51.7 meters away at (-45.4, -24.8). A vehicle with ID 28 is 54.0 meters away at (-41.0, -35.2). A vehicle with ID 22 is 54.6 meters away at (-41.2, 35.8).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.16026573 1.3160517 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.4211144 -2.0751657] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-194.26995849609375, -186.5580291748047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 3.0052948 14.546762 ], 14.853959083557129 meters away.)"}
{"file_name": "images/scenario_1041_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.4) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 15.9 meters away at (-15.9, -1.3). A vehicle with ID 3 is 17.8 meters away at (-16.3, 7.0). A pedestrian with ID 18 is 23.8 meters away at (-18.8, 14.5). A vehicle with ID 17 is 28.1 meters away at (-26.9, 8.1). A vehicle with ID 20 is 33.1 meters away at (-32.6, -5.5). A pedestrian with ID 25 is 40.8 meters away at (40.3, 6.7). A vehicle with ID 23 is 43.0 meters away at (39.5, -17.0). A vehicle with ID 22 is 47.0 meters away at (-46.9, -3.5). A unknown object with ID 24 is 53.7 meters away at (-19.5, 50.0). A vehicle with ID 21 is 62.9 meters away at (-61.9, 11.3).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.6273842  1.8526121] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.4338436 -3.2116992] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.8464166 -0.4444606] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.4781793  4.1340337] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.6713445 -6.9909763] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2875072  -0.05153011] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [10.25274   -4.2955317] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.1401896  3.468642 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-8.019774   3.3008413] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.54882     1.4582031]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-15.853596   -1.3457322], 15.910609245300293 meters away.)"}
{"file_name": "images/scenario_1041_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -3.4) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 19.1 meters away at (-17.6, 7.6). A pedestrian with ID 25 is 25.7 meters away at (21.8, 13.7). A pedestrian with ID 18 is 39.0 meters away at (-33.2, 20.6). A vehicle with ID 19 is 39.9 meters away at (-38.3, 11.0). A vehicle with ID 23 is 48.0 meters away at (44.2, -18.8). A vehicle with ID 17 is 50.6 meters away at (-42.8, 26.9). A vehicle with ID 20 is 55.5 meters away at (-53.5, -14.6). A vehicle with ID 15 is 68.7 meters away at (-67.7, 11.6).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.5974445 -3.158441 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2327862  0.0294781] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.8970261  -0.40116706] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.1119337  4.453411 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [10.32131  -4.313574] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [1.7698832 7.457561 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.767373 -9.042738] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.9383671  4.4317336] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-17.550797   7.613855], 19.13115882873535 meters away.)"}
{"file_name": "images/scenario_1041_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -3.4) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 19.5 meters away at (-17.8, 7.9). A pedestrian with ID 25 is 20.9 meters away at (3.6, 20.6). A vehicle with ID 23 is 52.8 meters away at (48.7, -20.5). A pedestrian with ID 18 is 54.2 meters away at (-47.3, 26.5). A vehicle with ID 19 is 64.9 meters away at (-57.6, 29.9).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.6996717 -3.1730032] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.0649205   0.05366864] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [10.132741 -4.192511] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.7731544  -0.46655026] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.11160804  7.210945  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-17.830027   7.93456 ], 19.51581573486328 meters away.)"}
{"file_name": "images/scenario_1041_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.4) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 16 is 10.0 meters away at (9.3, 3.7). A vehicle with ID 3 is 20.2 meters away at (-18.5, 8.3). A vehicle with ID 23 is 57.7 meters away at (53.2, -22.2).", "velocity_description": "The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.01032063 0.0005514 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.8027205 -3.281395 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [10.257141 -4.310408] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [9.328648  3.6655846], 10.022982597351074 meters away.)"}
{"file_name": "images/scenario_1042_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.3) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 3.7 meters away at (-2.4, 2.8). A pedestrian with ID 2 is 23.4 meters away at (21.0, -10.5). A vehicle with ID 14 is 26.4 meters away at (21.1, 16.0). A vehicle with ID 10 is 29.0 meters away at (15.3, 24.6). A vehicle with ID 13 is 33.2 meters away at (-17.4, -28.2). A vehicle with ID 19 is 39.3 meters away at (-17.0, -35.4). A vehicle with ID 9 is 61.1 meters away at (-28.4, -54.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.529703  1.099358] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.05493918 12.697496  ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [2.6527092 4.8923416] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [5.5452156 9.492221 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [5.178472  7.5384245] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.3430934 23.472803 ]\n [21.59224   -0.5333711]\n [19.89851    3.616642 ]\n [18.253374   9.288362 ]\n [11.624007  20.492607 ]\n [ 8.175101  21.23995  ]]", "nav_goal": "(127.27278137207031, 260.4446105957031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.4073668  2.794145 ], 3.688178539276123 meters away.)"}
{"file_name": "images/scenario_1042_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 3.6 meters away at (-2.5, 2.6). A vehicle with ID 19 is 21.1 meters away at (-8.4, -19.4). A vehicle with ID 13 is 23.3 meters away at (-12.8, -19.5). A vehicle with ID 14 is 26.3 meters away at (21.0, 15.8). A vehicle with ID 9 is 46.9 meters away at (-20.7, -42.1). A vehicle with ID 10 is 54.1 meters away at (19.0, 50.7). A unknown object with ID 5 is 66.1 meters away at (32.5, 57.5). A unknown object with ID 4 is 79.0 meters away at (57.8, -53.7).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.226222 6.386205] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [2.0070305 4.0115733] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [2.9485369 4.9098454] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 3.0404923 13.459839 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.3430934 23.472803 ]\n [21.59224   -0.5333711]\n [19.89851    3.616642 ]\n [18.253374   9.288362 ]\n [11.624007  20.492607 ]\n [ 8.175101  21.23995  ]]", "nav_goal": "(127.27278137207031, 260.4446105957031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.508383   2.5594764], 3.583699941635132 meters away.)"}
{"file_name": "images/scenario_1042_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 3.5 meters away at (-2.5, 2.5). A vehicle with ID 19 is 10.6 meters away at (-3.9, -9.9). A vehicle with ID 13 is 15.8 meters away at (-9.4, -12.6). A vehicle with ID 14 is 26.2 meters away at (21.0, 15.7). A cyclist with ID 7 is 35.5 meters away at (-11.7, -33.5). A vehicle with ID 9 is 37.4 meters away at (-16.0, -33.8). A vehicle with ID 11 is 70.8 meters away at (-34.7, -61.6).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [1.4534836 3.2486055] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [1.4220573 2.9254391] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [3.7086008 6.731477 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [2.0046654 3.8578641] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [5.906175 8.75462 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.3430934 23.472803 ]\n [21.59224   -0.5333711]\n [19.89851    3.616642 ]\n [18.253374   9.288362 ]\n [11.624007  20.492607 ]\n [ 8.175101  21.23995  ]]", "nav_goal": "(127.27278137207031, 260.4446105957031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.540623   2.4533398], 3.531804084777832 meters away.)"}
{"file_name": "images/scenario_1042_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 3.5 meters away at (-2.5, 2.5). A vehicle with ID 19 is 7.1 meters away at (-2.5, -6.7). A vehicle with ID 13 is 11.4 meters away at (-7.5, -8.5). A cyclist with ID 7 is 22.6 meters away at (-5.5, -21.9). A vehicle with ID 14 is 26.2 meters away at (20.9, 15.7). A vehicle with ID 9 is 29.2 meters away at (-12.2, -26.6). A vehicle with ID 11 is 52.7 meters away at (-24.8, -46.5).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0.53817356 1.1826346 ] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [2.7492416 5.335225 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [1.7521483 3.319095 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [4.0217266 6.2651296] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 5.3430934 23.472803 ]\n [21.59224   -0.5333711]\n [19.89851    3.616642 ]\n [18.253374   9.288362 ]\n [11.624007  20.492607 ]\n [ 8.175101  21.23995  ]]", "nav_goal": "(127.27278137207031, 260.4446105957031)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.5299976  2.4674942], 3.534036874771118 meters away.)"}
{"file_name": "images/scenario_1043_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -6.7) m/s. Its current heading (yaw) is -0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 6.9 meters away at (2.9, 6.3). A vehicle with ID 60 is 10.1 meters away at (7.9, 6.4). A pedestrian with ID 26 is 11.2 meters away at (-11.2, -0.2). A pedestrian with ID 69 is 12.5 meters away at (3.1, -12.1). A pedestrian with ID 70 is 12.9 meters away at (2.5, -12.7). A vehicle with ID 52 is 13.6 meters away at (1.6, 13.6). A vehicle with ID 50 is 13.8 meters away at (-2.4, 13.6). A vehicle with ID 67 is 14.0 meters away at (14.0, -0.6). A vehicle with ID 5 is 15.1 meters away at (-9.4, 11.8). A unknown object with ID 51 is 18.3 meters away at (-17.0, 6.8).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.01429099 -0.0069248 ] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.8773181  1.013421 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.8629331  1.0210779] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 4.9248214 -5.0815816] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.6339629  11.818939  ]\n [-0.34069306 10.440375  ]\n [-0.10155966 10.6186905 ]\n [ 2.6517081  12.143441  ]\n [ 4.88003    14.722817  ]\n [-0.44868094 10.364846  ]]", "nav_goal": "(238.72085571289062, -169.44961547851562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.9200716 6.3051486], 6.948504447937012 meters away.)"}
{"file_name": "images/scenario_1043_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -7.3) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A pedestrian with ID 69 is 12.5 meters away at (-11.8, 4.0). A pedestrian with ID 70 is 12.8 meters away at (-12.3, 3.4). A vehicle with ID 67 is 13.5 meters away at (1.0, 13.5). A vehicle with ID 20 is 16.7 meters away at (4.4, 16.1). A vehicle with ID 5 is 17.9 meters away at (-11.9, 13.3). A vehicle with ID 60 is 21.1 meters away at (-5.1, 20.5). A vehicle with ID 55 is 22.9 meters away at (-10.1, 20.5). A pedestrian with ID 68 is 28.0 meters away at (1.8, 27.9). A vehicle with ID 52 is 30.1 meters away at (-11.4, 27.8). A vehicle with ID 11 is 30.4 meters away at (-18.5, 24.2).", "velocity_description": "The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.72299767  0.86943203] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.74372363  0.89087856] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-6.7406826  7.72334  ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 5.974227  -6.8915606] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.8337317  0.9028539] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 6.6878095 -6.8026347] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.64369     15.508195  ]\n [  2.6339629   11.818939  ]\n [-15.388042    14.179661  ]\n [ -0.34069306  10.440375  ]\n [ -0.10155966  10.6186905 ]\n [  2.6517081   12.143441  ]\n [  4.88003     14.722817  ]\n [ -0.44868094  10.364846  ]]", "nav_goal": "(238.72085571289062, -169.44961547851562)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-11.796473   4.001873], 12.456795692443848 meters away.)"}
{"file_name": "images/scenario_1043_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.9, -6.8) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 8.8 meters away at (0.9, 8.7). A vehicle with ID 5 is 20.2 meters away at (-14.8, 13.7). A pedestrian with ID 40 is 24.7 meters away at (15.6, -19.2). A vehicle with ID 31 is 25.9 meters away at (25.7, -3.5). A vehicle with ID 11 is 29.7 meters away at (-19.3, 22.5). A vehicle with ID 67 is 31.9 meters away at (-15.1, 28.0). A pedestrian with ID 48 is 33.5 meters away at (33.5, 0.8). A pedestrian with ID 69 is 36.0 meters away at (-29.6, 20.5). A pedestrian with ID 70 is 36.2 meters away at (-30.3, 19.8). A vehicle with ID 60 is 41.0 meters away at (-21.4, 34.9).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [-8.304766  6.896185] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 7.5626264 -7.147901 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.103888   1.0576758] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-11.209336   9.019454] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 8.703221 -8.962729] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.1371188  0.8995362] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.75894916  0.9316673 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.8073619  0.9049321] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.6339629  11.818939  ]\n [-0.34069306 10.440375  ]\n [-0.10155966 10.6186905 ]\n [ 2.6517081  12.143441  ]\n [ 4.88003    14.722817  ]\n [-0.44868094 10.364846  ]]", "nav_goal": "(238.72085571289062, -169.44961547851562)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.90634155 8.726175  ], 8.773117065429688 meters away.)"}
{"file_name": "images/scenario_1043_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.0, -6.3) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A pedestrian with ID 40 is 6.0 meters away at (-4.3, -4.2). A pedestrian with ID 48 is 20.6 meters away at (13.8, 15.3). A vehicle with ID 5 is 20.9 meters away at (-16.6, 12.7). A vehicle with ID 39 is 21.1 meters away at (21.1, 0.2). A pedestrian with ID 41 is 21.2 meters away at (12.7, -17.0). A vehicle with ID 11 is 24.7 meters away at (-17.5, 17.4). A pedestrian with ID 29 is 26.8 meters away at (26.5, 4.0). A vehicle with ID 31 is 29.0 meters away at (-11.9, 26.5). A vehicle with ID 49 is 36.2 meters away at (34.5, -11.0). A pedestrian with ID 37 is 39.1 meters away at (38.9, -3.0).", "velocity_description": "The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.1473206  1.0429834] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.1496918  0.872622 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 8.0789175 -6.437582 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-9.440158  7.187198] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.2148587   0.99741536] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [10.957729 -8.657458] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.2624449 -0.8945863] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-8.346151   7.5583453] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-11.214254   8.194633] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.2521352 -0.8545612] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 2.6339629  11.818939  ]\n [-0.34069306 10.440375  ]\n [-0.10155966 10.6186905 ]\n [ 2.6517081  12.143441  ]\n [ 4.88003    14.722817  ]\n [-0.44868094 10.364846  ]]", "nav_goal": "(238.72085571289062, -169.44961547851562)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-4.3376617 -4.2162476], 6.049136638641357 meters away.)"}
{"file_name": "images/scenario_1044_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.2) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 2.9 meters away at (-2.1, -2.0). A vehicle with ID 52 is 4.2 meters away at (-1.9, 3.8). A vehicle with ID 44 is 5.2 meters away at (3.2, -4.0). A vehicle with ID 40 is 7.1 meters away at (-7.0, -0.5). A unknown object with ID 45 is 7.9 meters away at (5.4, 5.7). A pedestrian with ID 47 is 8.2 meters away at (6.4, -5.1). A vehicle with ID 38 is 8.4 meters away at (-3.6, 7.5). A vehicle with ID 48 is 10.2 meters away at (8.5, -5.6). A vehicle with ID 49 is 12.1 meters away at (11.9, 2.3). A vehicle with ID 39 is 13.5 meters away at (-13.4, 1.3).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-8.305301  2.573654] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.02031154 -0.03712543] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(55.564308166503906, 94.36571502685547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.0608063 -2.0179253], 2.8842580318450928 meters away.)"}
{"file_name": "images/scenario_1044_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.2) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 3.5 meters away at (0.9, -3.4). A vehicle with ID 48 is 4.5 meters away at (-4.2, -1.6). A vehicle with ID 49 is 6.5 meters away at (-1.0, 6.4). A pedestrian with ID 47 is 6.5 meters away at (-6.4, -0.9). A vehicle with ID 55 is 7.5 meters away at (5.7, -4.8). A pedestrian with ID 27 is 7.7 meters away at (2.9, -7.2). A pedestrian with ID 43 is 8.0 meters away at (3.3, -7.3). A vehicle with ID 64 is 8.9 meters away at (8.9, 0.2). A vehicle with ID 44 is 9.6 meters away at (-9.6, 0.1). A unknown object with ID 25 is 10.0 meters away at (-5.4, 8.4).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.00013335 -0.04774265] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.32258463  0.06612492] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.4581528   0.15917152] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-9.041943   2.7565517] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(55.564308166503906, 94.36571502685547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.9301853 -3.3630724], 3.4893410205841064 meters away.)"}
{"file_name": "images/scenario_1044_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.1) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 2.9 meters away at (-1.5, -2.5). A vehicle with ID 55 is 6.9 meters away at (-6.8, -1.0). A pedestrian with ID 43 is 11.0 meters away at (-10.7, -2.6). A vehicle with ID 51 is 11.7 meters away at (-11.6, 0.5). A vehicle with ID 36 is 12.4 meters away at (12.2, 2.2). A vehicle with ID 20 is 13.5 meters away at (11.7, -6.7). A vehicle with ID 49 is 17.0 meters away at (-13.6, 10.3). A vehicle with ID 48 is 17.0 meters away at (-16.9, 2.4). A vehicle with ID 7 is 18.2 meters away at (-17.4, 5.2). A pedestrian with ID 47 is 19.3 meters away at (-19.1, 3.0).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.7827423   0.31489486] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 6.992459  -2.2737858] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.00935065 -0.02652903] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(55.564308166503906, 94.36571502685547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.531189  -2.5196047], 2.948380470275879 meters away.)"}
{"file_name": "images/scenario_1044_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -1.8) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 3.1 meters away at (0.2, -3.1). A cyclist with ID 18 is 4.1 meters away at (0.1, 4.1). A vehicle with ID 36 is 5.9 meters away at (0.7, 5.8). A vehicle with ID 58 is 13.1 meters away at (-13.0, 1.0). A vehicle with ID 14 is 14.2 meters away at (14.2, -1.3). A unknown object with ID 1 is 15.6 meters away at (9.2, -12.5). A vehicle with ID 7 is 16.3 meters away at (-15.6, 4.7). A unknown object with ID 2 is 16.4 meters away at (9.1, -13.6). A vehicle with ID 55 is 18.7 meters away at (-18.5, 2.7). A vehicle with ID 41 is 20.7 meters away at (20.7, -0.1).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [-6.003327   1.9435816] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.7485223  1.9244894] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 6.4147224 -2.2281907] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(55.564308166503906, 94.36571502685547)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.23775864 -3.0806103 ], 3.0897717475891113 meters away.)"}
{"file_name": "images/scenario_1045_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 4.5) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 15.3 meters away at (15.1, 2.2). A unknown object with ID 8 is 16.5 meters away at (7.0, -14.9). A vehicle with ID 11 is 62.8 meters away at (47.6, -41.0). A vehicle with ID 12 is 81.3 meters away at (66.6, -46.6).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.4400127 -1.4917473] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [15.109484   2.1939154], 15.267931938171387 meters away.)"}
{"file_name": "images/scenario_1045_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.3) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 19.5 meters away at (17.8, -8.1). A unknown object with ID 3 is 32.8 meters away at (30.3, 12.6). A vehicle with ID 11 is 76.7 meters away at (58.4, -49.8).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.238847   0.6214436] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [17.773695 -8.083974], 19.52574920654297 meters away.)"}
{"file_name": "images/scenario_1045_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 3.9) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A pedestrian with ID 4 is 20.0 meters away at (-18.9, 6.8). A vehicle with ID 1 is 20.2 meters away at (16.2, -12.0).", "velocity_description": "The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.76578236  0.44116005] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.212125   3.2524314] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-18.866905    6.7561455], 20.04010009765625 meters away.)"}
{"file_name": "images/scenario_1045_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 3.0) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 20.1 meters away at (15.8, -12.4). A vehicle with ID 5 is 68.1 meters away at (36.6, -57.4).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.5193772  2.847186 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 15.84844  -12.389057], 20.116207122802734 meters away.)"}
{"file_name": "images/scenario_1046_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 0.8) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 3.4 meters away at (-1.8, 2.8). A vehicle with ID 30 is 6.4 meters away at (-4.6, 4.5). A vehicle with ID 29 is 8.3 meters away at (-8.1, -1.6). A vehicle with ID 34 is 12.3 meters away at (-12.3, 0.0). A pedestrian with ID 40 is 13.3 meters away at (13.3, -0.8). A pedestrian with ID 37 is 13.9 meters away at (13.9, -1.2). A pedestrian with ID 43 is 14.5 meters away at (14.4, -2.0). A pedestrian with ID 45 is 15.0 meters away at (14.8, -2.5). A pedestrian with ID 47 is 15.3 meters away at (15.2, -2.0). A pedestrian with ID 50 is 16.2 meters away at (16.2, -0.1).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.5194523  0.67378867] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.5605136 0.6099244] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.08458512 0.04141035] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.00017484 -0.00183525] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.0192954  -0.01374499] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.01451382  0.01123618] m/s.", "light_description": "There are active red lights at the following coordinates: [[28.152891  12.804665 ]\n [17.004501   7.5533195]\n [13.105541  16.543951 ]\n [12.861946  16.885576 ]\n [31.127546  14.183229 ]\n [15.983895   9.998113 ]\n [28.044903  12.7291355]\n [15.476181  13.558152 ]\n [33.373615  17.087107 ]\n [14.7844095 14.348848 ]\n [28.392023  12.982981 ]\n [16.626911   8.723122 ]]", "nav_goal": "(238.78411865234375, -160.36077880859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.7971597  2.8287413], 3.3513519763946533 meters away.)"}
{"file_name": "images/scenario_1046_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 3.4 meters away at (-2.4, 2.4). A vehicle with ID 30 is 6.6 meters away at (-5.2, 4.1). A vehicle with ID 29 is 9.0 meters away at (-8.8, -2.0). A vehicle with ID 34 is 12.9 meters away at (-12.9, -0.4). A pedestrian with ID 40 is 13.2 meters away at (13.2, -0.3). A pedestrian with ID 37 is 13.8 meters away at (13.8, -0.6). A pedestrian with ID 43 is 13.9 meters away at (13.7, -2.5). A pedestrian with ID 45 is 14.4 meters away at (14.1, -2.9). A pedestrian with ID 47 is 14.8 meters away at (14.6, -2.3). A pedestrian with ID 50 is 15.6 meters away at (15.6, -0.5).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.00172038 0.0012635 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00446306  0.01166761] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.01281751 -0.00133944] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.01277271 -0.0038482 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.00710417 -0.00263223] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.02227132 -0.0283319 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.004501   7.5533195]\n [13.105541  16.543951 ]\n [12.861946  16.885576 ]\n [15.983895   9.998113 ]\n [15.476181  13.558152 ]\n [14.7844095 14.348848 ]\n [16.626911   8.723122 ]]", "nav_goal": "(238.78411865234375, -160.36077880859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.4050717  2.419233 ], 3.41131329536438 meters away.)"}
{"file_name": "images/scenario_1046_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 3.4 meters away at (-2.4, 2.4). A vehicle with ID 30 is 6.7 meters away at (-5.3, 4.1). A vehicle with ID 29 is 9.0 meters away at (-8.8, -2.0). A vehicle with ID 42 is 10.9 meters away at (-9.1, -6.0). A vehicle with ID 34 is 13.0 meters away at (-13.0, -0.4). A pedestrian with ID 40 is 13.2 meters away at (13.2, -0.4). A pedestrian with ID 37 is 13.8 meters away at (13.8, -0.6). A pedestrian with ID 43 is 13.9 meters away at (13.7, -2.5). A pedestrian with ID 45 is 14.4 meters away at (14.0, -2.9). A pedestrian with ID 47 is 14.7 meters away at (14.5, -2.4).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [1.4783322  0.89380866] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00204532 -0.01841983] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.00901896 0.00322817] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.00080918 0.00059886] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.00032944 -0.00451819] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.00326892 -0.0019395 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.004501   7.5533195]\n [13.105541  16.543951 ]\n [12.861946  16.885576 ]\n [15.983895   9.998113 ]\n [15.476181  13.558152 ]\n [13.19      27.160511 ]\n [14.7844095 14.348848 ]\n [16.626911   8.723122 ]\n [12.751977  26.25004  ]]", "nav_goal": "(238.78411865234375, -160.36077880859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.4236267  2.4037068], 3.4134693145751953 meters away.)"}
{"file_name": "images/scenario_1046_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 3.4 meters away at (-2.1, 2.6). A vehicle with ID 30 is 6.7 meters away at (-5.3, 4.1). A vehicle with ID 42 is 8.8 meters away at (-7.3, -4.9). A vehicle with ID 29 is 9.1 meters away at (-8.8, -2.0). A vehicle with ID 34 is 13.0 meters away at (-13.0, -0.5). A pedestrian with ID 40 is 13.2 meters away at (13.2, -0.4). A pedestrian with ID 37 is 13.8 meters away at (13.8, -0.6). A pedestrian with ID 43 is 13.9 meters away at (13.7, -2.5). A pedestrian with ID 45 is 14.4 meters away at (14.0, -3.0). A pedestrian with ID 47 is 14.7 meters away at (14.5, -2.4).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0.62069994 0.35862643] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.00584342 0.00508089] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.0146525  -0.00256687] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00263502  0.00270524] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.00351785 -0.00068977] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.00065186 0.00056993] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.004501   7.5533195]\n [13.105541  16.543951 ]\n [12.861946  16.885576 ]\n [15.983895   9.998113 ]\n [15.476181  13.558152 ]\n [14.7844095 14.348848 ]\n [16.626911   8.723122 ]]", "nav_goal": "(238.78411865234375, -160.36077880859375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.1184678  2.5956042], 3.3503830432891846 meters away.)"}
{"file_name": "images/scenario_1047_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 79 is 8.6 meters away at (-6.6, -5.6). A vehicle with ID 19 is 10.0 meters away at (8.8, -4.7). A vehicle with ID 78 is 11.5 meters away at (-0.8, 11.5). A pedestrian with ID 73 is 15.4 meters away at (12.7, 8.8). A pedestrian with ID 87 is 15.6 meters away at (14.4, 5.9). A pedestrian with ID 75 is 15.6 meters away at (13.7, 7.5). A unknown object with ID 74 is 16.0 meters away at (-10.9, -11.7). A pedestrian with ID 76 is 16.2 meters away at (13.7, 8.7). A pedestrian with ID 77 is 16.3 meters away at (14.7, 7.1). A pedestrian with ID 72 is 16.4 meters away at (12.4, 10.8).", "velocity_description": "The vehicle with ID 79 is traveling at a (x, y) velocity of [-10.383294    4.5040913] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 1.7574991 -1.5293621] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 3.1576352  -0.96867764] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.690569   1.3044655] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.8766091  1.0206954] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.7534864  1.1511011] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.7021046  1.255844 ] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.6698165   0.98429966] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.7665884  1.4158738] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.0287     -2.6466343]\n [ 23.248852   -2.757766 ]\n [ 23.145786   -2.4257479]\n [ 15.902879  -15.350374 ]\n [ 12.240908  -13.983002 ]\n [ 15.557183  -15.170274 ]\n [ 16.118645  -15.489041 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.5778685 -5.613206 ], 8.647336959838867 meters away.)"}
{"file_name": "images/scenario_1047_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -1.0) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 11.4 meters away at (0.7, 11.4). A pedestrian with ID 87 is 14.1 meters away at (10.7, 9.2). A vehicle with ID 19 is 14.2 meters away at (10.8, -9.3). A pedestrian with ID 88 is 14.4 meters away at (12.0, 8.1). A pedestrian with ID 75 is 14.7 meters away at (9.8, 10.9). A pedestrian with ID 73 is 15.1 meters away at (8.6, 12.3). A pedestrian with ID 77 is 15.4 meters away at (11.1, 10.7). A pedestrian with ID 83 is 15.6 meters away at (13.8, 7.2). A pedestrian with ID 76 is 15.8 meters away at (9.9, 12.3). A pedestrian with ID 72 is 16.7 meters away at (8.4, 14.5).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [ 1.147211  -0.3065961] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.65188134  1.028355  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 2.119268  -4.1455154] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.6335842  1.0915171] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.7410589  1.1484607] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.81418383  1.1514546 ] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.594594   1.2456048] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.00351233 -0.00543093] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.7530461  1.2279907] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.9444879  1.2027526] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.0287     -2.6466343]\n [ 23.248852   -2.757766 ]\n [ 23.145786   -2.4257479]\n [ 15.902879  -15.350374 ]\n [ 12.240908  -13.983002 ]\n [ 15.557183  -15.170274 ]\n [ 16.118645  -15.489041 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 0.7197919 11.407135 ], 11.429821968078613 meters away.)"}
{"file_name": "images/scenario_1047_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -1.6) m/s. Its current heading (yaw) is -0.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 83 is 12.5 meters away at (7.7, 9.8). A pedestrian with ID 88 is 13.9 meters away at (4.7, 13.1). A vehicle with ID 78 is 14.2 meters away at (-3.9, 13.6). A pedestrian with ID 87 is 14.5 meters away at (3.5, 14.0). A pedestrian with ID 75 is 15.9 meters away at (2.2, 15.8). A pedestrian with ID 77 is 16.1 meters away at (3.5, 15.8). A pedestrian with ID 82 is 16.2 meters away at (-5.9, -15.1). A pedestrian with ID 73 is 16.9 meters away at (1.0, 16.9). A pedestrian with ID 76 is 17.4 meters away at (2.1, 17.3). A vehicle with ID 19 is 18.6 meters away at (7.2, -17.1).", "velocity_description": "The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.01472917 -0.0055717 ] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.5133028  1.2552001] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 0.53857845 -0.10552242] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.6005966  1.1603465] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.8148292  1.0868577] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.82163936  1.145521  ] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.3565288   0.03948899] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.7000925   0.96942735] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.84434175  0.957552  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.15828153 -6.032597  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.0287     -2.6466343]\n [ 23.248852   -2.757766 ]\n [ 23.145786   -2.4257479]\n [ 15.902879  -15.350374 ]\n [ 12.240908  -13.983002 ]\n [ 15.557183  -15.170274 ]\n [ 16.118645  -15.489041 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [7.744665 9.845745], 12.526712417602539 meters away.)"}
{"file_name": "images/scenario_1047_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -3.6) m/s. Its current heading (yaw) is -0.96 ", "actor_description": " The most relevant actors are: A pedestrian with ID 83 is 14.5 meters away at (1.6, 14.5). A pedestrian with ID 82 is 18.2 meters away at (-15.0, -10.3). A vehicle with ID 78 is 19.5 meters away at (-7.7, 17.9). A vehicle with ID 64 is 20.0 meters away at (-3.9, -19.6). A pedestrian with ID 88 is 20.2 meters away at (-3.0, 19.9). A pedestrian with ID 87 is 21.2 meters away at (-4.2, 20.7). A vehicle with ID 70 is 21.9 meters away at (13.7, 17.0). A pedestrian with ID 77 is 22.8 meters away at (-4.3, 22.4). A pedestrian with ID 58 is 22.9 meters away at (-19.0, -12.8). A pedestrian with ID 32 is 23.0 meters away at (-18.5, -13.7).", "velocity_description": "The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.00206298  0.00594858] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.5609016   0.29004917] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 2.298057   -0.10668541] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.89052236  0.97155607] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.9376726  0.93556  ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.9321219   0.86934775] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.41637078  0.9943608 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.19767475  1.0248973 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.0287     -2.6466343]\n [ 23.248852   -2.757766 ]\n [ 23.145786   -2.4257479]\n [ 15.902879  -15.350374 ]\n [ 12.240908  -13.983002 ]\n [ 15.557183  -15.170274 ]\n [ 16.118645  -15.489041 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 1.6342325 14.452747 ], 14.544848442077637 meters away.)"}
{"file_name": "images/scenario_1048_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 0.2) m/s. Its current heading (yaw) is 0.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 5.1 meters away at (-2.6, -4.3). A vehicle with ID 49 is 11.5 meters away at (-5.1, -10.3). A vehicle with ID 45 is 13.1 meters away at (-13.1, -0.1). A vehicle with ID 48 is 19.5 meters away at (-19.3, 2.5). A vehicle with ID 59 is 20.2 meters away at (19.9, -3.6). A vehicle with ID 61 is 25.4 meters away at (24.5, 6.8). A unknown object with ID 57 is 28.3 meters away at (-18.5, -21.4). A unknown object with ID 56 is 30.4 meters away at (-26.8, -14.4). A unknown object with ID 12 is 31.5 meters away at (-28.0, -14.5). A unknown object with ID 58 is 32.8 meters away at (-30.3, -12.5).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.637703  -13.56847  ]\n [ 23.857853  -13.679602 ]\n [ 15.9133215  -9.942973 ]\n [ 23.754787  -13.347584 ]\n [ 14.874802  -13.42898  ]\n [ 14.989446  -13.197469 ]\n [ 28.9964    -32.020515 ]\n [ 25.292667  -26.674957 ]\n [ 13.081189  -16.394526 ]\n [ 28.783968  -31.880095 ]\n [ 28.38508   -33.518486 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.5702    -4.3471265], 5.050092697143555 meters away.)"}
{"file_name": "images/scenario_1048_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 0.7) m/s. Its current heading (yaw) is 0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 9.8 meters away at (-8.3, -5.2). A vehicle with ID 59 is 14.7 meters away at (13.1, -6.7). A vehicle with ID 49 is 15.5 meters away at (-10.7, -11.2). A vehicle with ID 45 is 18.8 meters away at (-18.8, -1.1). A vehicle with ID 61 is 19.5 meters away at (18.7, 5.7). A vehicle with ID 48 is 25.1 meters away at (-25.1, 1.6). A vehicle with ID 63 is 29.8 meters away at (24.2, 17.5). A pedestrian with ID 71 is 36.8 meters away at (12.8, -34.4). A pedestrian with ID 70 is 36.9 meters away at (14.3, -34.1). A vehicle with ID 60 is 37.3 meters away at (-22.2, -30.0).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.1838742 -2.3298984] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-0.16733417 -0.38954294] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.35606602 1.2225357 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.42442927 1.3680992 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.637703  -13.56847  ]\n [ 23.857853  -13.679602 ]\n [ 15.9133215  -9.942973 ]\n [ 23.754787  -13.347584 ]\n [ 14.874802  -13.42898  ]\n [ 14.989446  -13.197469 ]\n [ 28.9964    -32.020515 ]\n [ 25.292667  -26.674957 ]\n [ 13.081189  -16.394526 ]\n [ 28.783968  -31.880095 ]\n [ 28.38508   -33.518486 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-8.319296 -5.198147], 9.809761047363281 meters away.)"}
{"file_name": "images/scenario_1048_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 0.5) m/s. Its current heading (yaw) is 0.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 12.7 meters away at (-11.1, -6.2). A vehicle with ID 61 is 14.6 meters away at (14.5, 1.2). A vehicle with ID 14 is 14.7 meters away at (14.6, 1.3). A vehicle with ID 59 is 15.2 meters away at (6.3, -13.8). A vehicle with ID 49 is 18.2 meters away at (-13.4, -12.3). A vehicle with ID 45 is 21.7 meters away at (-21.6, -2.1). A vehicle with ID 63 is 25.5 meters away at (20.8, 14.8). A vehicle with ID 48 is 27.7 meters away at (-27.7, 0.5). A cyclist with ID 27 is 30.9 meters away at (-17.4, -25.5). A unknown object with ID 30 is 32.6 meters away at (32.1, 5.8).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-1.2480606 -2.9291263] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.1785197 -2.9310286] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-3.226942  -3.2736418] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-0.9814672 -2.1710553] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-3.21988    6.8717265] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.637703  -13.56847  ]\n [ 23.857853  -13.679602 ]\n [ 15.9133215  -9.942973 ]\n [ 23.754787  -13.347584 ]\n [ 14.874802  -13.42898  ]\n [ 14.989446  -13.197469 ]\n [ -7.1046767 -16.432362 ]\n [ 28.9964    -32.020515 ]\n [ 25.292667  -26.674957 ]\n [ 13.081189  -16.394526 ]\n [ 28.783968  -31.880095 ]\n [ 28.38508   -33.518486 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-11.050369  -6.234448], 12.687749862670898 meters away.)"}
{"file_name": "images/scenario_1048_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 1.8) m/s. Its current heading (yaw) is 0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 11.2 meters away at (7.6, -8.3). A vehicle with ID 63 is 15.9 meters away at (14.6, 6.4). A vehicle with ID 46 is 16.8 meters away at (-14.7, -8.3). A vehicle with ID 59 is 21.5 meters away at (-5.7, -20.8). A vehicle with ID 49 is 22.2 meters away at (-16.9, -14.4). A vehicle with ID 45 is 25.4 meters away at (-25.1, -4.1). A unknown object with ID 1 is 28.7 meters away at (9.9, 26.9). A pedestrian with ID 10 is 28.9 meters away at (28.7, 3.9). A vehicle with ID 48 is 31.3 meters away at (-31.2, -1.5). A pedestrian with ID 70 is 33.8 meters away at (9.8, -32.4).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [-2.4246392 -4.487077 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-1.6141307 -3.761318 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-5.235106  -1.3982803] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00269757 -0.01668089] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.55089945 1.2705944 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 23.637703  -13.56847  ]\n [ 23.857853  -13.679602 ]\n [ 15.9133215  -9.942973 ]\n [ 23.754787  -13.347584 ]\n [ 14.874802  -13.42898  ]\n [ 14.989446  -13.197469 ]\n [ 28.9964    -32.020515 ]\n [ 25.292667  -26.674957 ]\n [ 13.081189  -16.394526 ]\n [ 28.783968  -31.880095 ]\n [ 28.38508   -33.518486 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.6187344 -8.273517 ], 11.247052192687988 meters away.)"}
{"file_name": "images/scenario_1049_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -1.8) m/s. Its current heading (yaw) is -1.21 ", "actor_description": " The most relevant actors are: A cyclist with ID 27 is 14.1 meters away at (-13.6, 3.7). A pedestrian with ID 26 is 14.2 meters away at (-13.7, 3.9). A vehicle with ID 30 is 15.2 meters away at (-4.8, -14.4). A vehicle with ID 31 is 16.0 meters away at (-12.3, 10.2). A vehicle with ID 38 is 21.4 meters away at (-8.6, 19.6). A vehicle with ID 14 is 22.6 meters away at (-14.2, -17.6). A vehicle with ID 32 is 24.1 meters away at (-23.6, -4.7). A vehicle with ID 40 is 27.3 meters away at (-5.3, 26.8). A pedestrian with ID 20 is 30.3 meters away at (28.3, -10.9). A vehicle with ID 37 is 30.3 meters away at (-30.3, -1.4).", "velocity_description": "The cyclist with ID 27 is traveling at a (x, y) velocity of [ 1.334061   -0.79389364] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.3166971  -0.70628643] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.604983    0.76073515] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.4264145  2.8188813] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 0.96178734 -1.2179762 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.13143505 -0.31088793] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00371474  0.0114741 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 1.427778  -0.8170954] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.035646  -14.671868 ]\n [-16.708744   -4.7575374]\n [-16.591658   -4.536651 ]\n [-14.083301  -14.77197  ]\n [-16.488592   -4.868669 ]\n [-25.357      -4.386536 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-13.623991    3.6599052], 14.10702133178711 meters away.)"}
{"file_name": "images/scenario_1049_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.1) m/s. Its current heading (yaw) is -1.12 ", "actor_description": " The most relevant actors are: A cyclist with ID 27 is 12.8 meters away at (-12.0, 4.5). A pedestrian with ID 26 is 12.8 meters away at (-12.0, 4.5). A vehicle with ID 30 is 13.8 meters away at (-8.1, -11.2). A vehicle with ID 31 is 17.9 meters away at (-13.2, 12.2). A vehicle with ID 32 is 23.4 meters away at (-22.8, -5.0). A vehicle with ID 38 is 23.5 meters away at (-9.5, 21.5). A pedestrian with ID 20 is 28.8 meters away at (27.4, -8.8). A vehicle with ID 37 is 29.1 meters away at (-29.1, -0.8). A vehicle with ID 40 is 29.3 meters away at (-6.3, 28.6). A vehicle with ID 14 is 30.0 meters away at (-28.4, -9.8).", "velocity_description": "The cyclist with ID 27 is traveling at a (x, y) velocity of [ 1.3202475  -0.71243876] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.2013435 -0.7119727] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.2432016   0.66974187] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 0.94857544 -1.6531794 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.01047502 -0.00721577] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 0.4256165  -0.47316062] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-7.1123633  3.1986766] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.708744   -4.7575374]\n [-16.591658   -4.536651 ]\n [-16.488592   -4.868669 ]\n [-25.357      -4.386536 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-11.976598    4.5126705], 12.798558235168457 meters away.)"}
{"file_name": "images/scenario_1049_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.12 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 10.1 meters away at (-9.5, 3.4). A vehicle with ID 30 is 14.1 meters away at (-9.8, -10.1). A vehicle with ID 31 is 18.0 meters away at (-13.3, 12.2). A vehicle with ID 38 is 23.6 meters away at (-9.6, 21.6). A vehicle with ID 32 is 24.2 meters away at (-21.6, -11.0). A vehicle with ID 37 is 28.4 meters away at (-28.4, -1.3). A vehicle with ID 40 is 29.3 meters away at (-6.4, 28.6). A vehicle with ID 39 is 33.9 meters away at (-33.8, 1.1). A vehicle with ID 49 is 34.8 meters away at (-31.3, 15.1). A vehicle with ID 42 is 34.8 meters away at (-34.4, 5.0).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.3791716 -0.573662 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-0.61493856  0.36728603] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.01143076 -4.0118155 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 0.42438504 -0.33114398] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 0.47976092 -0.31347677] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [6.203137  1.0945808] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.708744   -4.7575374]\n [-16.591658   -4.536651 ]\n [-16.488592   -4.868669 ]\n [-25.357      -4.386536 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-9.495632   3.3544855], 10.070730209350586 meters away.)"}
{"file_name": "images/scenario_1049_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.12 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 7.3 meters away at (-6.9, 2.4). A vehicle with ID 30 is 14.2 meters away at (-10.2, -9.8). A vehicle with ID 31 is 18.1 meters away at (-13.3, 12.2). A vehicle with ID 38 is 23.6 meters away at (-9.6, 21.6). A vehicle with ID 37 is 26.9 meters away at (-26.8, -2.6). A vehicle with ID 40 is 28.3 meters away at (-7.0, 27.4). A vehicle with ID 49 is 28.4 meters away at (-19.2, 21.0). A vehicle with ID 39 is 32.3 meters away at (-32.3, 0.0). A vehicle with ID 42 is 34.3 meters away at (-34.0, 4.8). A vehicle with ID 25 is 35.0 meters away at (23.1, -26.3).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.2563522  -0.22040634] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 1.1618302 -1.1497321] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.22358994 -0.5136869 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [5.222895  5.0215416] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 1.1053666 -0.8202252] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 0.6169313  -0.31764868] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-7.9042563  4.1658864] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.708744   -4.7575374]\n [-16.591658   -4.536651 ]\n [-16.488592   -4.868669 ]\n [-25.357      -4.386536 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-6.929841   2.4214659], 7.340721607208252 meters away.)"}
{"file_name": "images/scenario_1050_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -5.1) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 34 is 3.9 meters away at (-2.3, -3.1). A vehicle with ID 47 is 5.8 meters away at (-5.8, 0.4). A vehicle with ID 42 is 6.3 meters away at (2.5, 5.8). A vehicle with ID 35 is 6.6 meters away at (1.0, -6.5). A vehicle with ID 33 is 11.1 meters away at (4.7, -10.1). A vehicle with ID 41 is 11.2 meters away at (-10.2, 4.6). A unknown object with ID 13 is 12.2 meters away at (11.8, 3.0). A vehicle with ID 16 is 13.1 meters away at (12.1, 5.1). A pedestrian with ID 46 is 15.2 meters away at (-2.9, 14.9). A vehicle with ID 14 is 15.5 meters away at (15.5, 1.7).", "velocity_description": "The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.2750524  1.1244059] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.3176813 -3.1396694], 3.9024569988250732 meters away.)"}
{"file_name": "images/scenario_1050_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -5.0) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 4.1 meters away at (-1.9, -3.6). A vehicle with ID 33 is 5.4 meters away at (-5.4, -0.1). A vehicle with ID 38 is 7.4 meters away at (7.3, 1.4). A vehicle with ID 29 is 7.5 meters away at (1.8, -7.3). A vehicle with ID 35 is 9.8 meters away at (-9.2, 3.5). A vehicle with ID 37 is 11.0 meters away at (10.8, -2.0). A vehicle with ID 27 is 12.6 meters away at (5.9, -11.2). A vehicle with ID 14 is 12.8 meters away at (5.2, 11.7). A unknown object with ID 13 is 13.1 meters away at (1.6, 13.0). A vehicle with ID 34 is 14.3 meters away at (-12.5, 6.9).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.8949699 -3.637041 ], 4.101094722747803 meters away.)"}
{"file_name": "images/scenario_1050_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -3.8) m/s. Its current heading (yaw) is -0.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 3.9 meters away at (-3.0, -2.5). A vehicle with ID 28 is 6.0 meters away at (0.7, -6.0). A vehicle with ID 37 is 6.9 meters away at (2.0, 6.6). A vehicle with ID 29 is 7.1 meters away at (-7.0, 1.4). A vehicle with ID 38 is 10.2 meters away at (-1.5, 10.0). A vehicle with ID 39 is 10.6 meters away at (10.5, -1.5). A vehicle with ID 32 is 10.7 meters away at (4.5, -9.7). A vehicle with ID 30 is 11.9 meters away at (-10.7, 5.1). A vehicle with ID 26 is 15.6 meters away at (8.3, -13.2). A vehicle with ID 40 is 16.0 meters away at (14.9, -5.8).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 55.464863 -56.923267]\n [ 57.951477 -53.80561 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.955017  -2.4835453], 3.860067844390869 meters away.)"}
{"file_name": "images/scenario_1050_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -2.9) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 3.8 meters away at (-2.3, -3.0). A vehicle with ID 28 is 6.1 meters away at (-6.1, 0.7). A vehicle with ID 39 is 6.4 meters away at (3.8, 5.2). A vehicle with ID 26 is 6.7 meters away at (1.4, -6.5). A vehicle with ID 40 is 8.2 meters away at (8.1, 0.9). A pedestrian with ID 12 is 9.5 meters away at (9.1, 2.7). A pedestrian with ID 49 is 10.0 meters away at (0.5, -10.0). A vehicle with ID 27 is 10.6 meters away at (-9.7, 4.2). A vehicle with ID 31 is 11.3 meters away at (5.2, -10.1). A vehicle with ID 37 is 14.2 meters away at (-4.8, 13.4).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.8150771   0.91427875] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.0327168  1.0022267] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.258751  -3.0405693], 3.787745714187622 meters away.)"}
{"file_name": "images/scenario_1051_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -3.1) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 7.9 meters away at (-3.0, 7.3). A vehicle with ID 1 is 11.1 meters away at (8.3, -7.3). A vehicle with ID 42 is 12.2 meters away at (11.1, -5.2). A vehicle with ID 39 is 20.9 meters away at (16.2, -13.2). A vehicle with ID 44 is 27.9 meters away at (25.4, -11.5). A vehicle with ID 37 is 37.6 meters away at (36.4, -9.6). A pedestrian with ID 43 is 40.8 meters away at (-22.3, 34.1). A vehicle with ID 40 is 46.0 meters away at (-34.8, 30.1). A vehicle with ID 47 is 51.2 meters away at (-33.4, 38.8). A vehicle with ID 45 is 52.7 meters away at (41.8, -32.2).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [-7.18149   6.393171] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 3.6317284 -3.0351071] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-5.472855  4.417664] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 4.4224625 -2.8348215] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-4.948709    0.33005175] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.8032946  -0.65034574] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 6.081352  -5.0643115] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 43.721066 -24.297695]\n [ 38.808834 -28.609875]\n [ 35.55496  -20.490974]\n [ 36.982574 -21.379925]\n [ 41.840042 -25.35253 ]]", "nav_goal": "(12.64617919921875, 161.68812561035156)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.989974  7.28458 ], 7.87432861328125 meters away.)"}
{"file_name": "images/scenario_1051_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -3.7) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 6.5 meters away at (6.5, 0.1). A vehicle with ID 1 is 10.8 meters away at (8.6, -6.6). A vehicle with ID 42 is 15.0 meters away at (-8.9, 12.1). A vehicle with ID 39 is 20.7 meters away at (18.5, -9.4). A vehicle with ID 37 is 28.4 meters away at (28.3, -2.4). A vehicle with ID 3 is 32.7 meters away at (32.7, 2.5). A vehicle with ID 38 is 38.1 meters away at (-26.2, 27.7). A vehicle with ID 40 is 41.2 meters away at (-31.1, 27.0). A vehicle with ID 45 is 41.8 meters away at (33.5, -25.0). A vehicle with ID 49 is 42.9 meters away at (36.3, -22.8).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [-5.9046383  3.76666  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.989571  -2.9102848] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-6.531195   5.7629695] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 5.882856   -0.06826165] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-7.7458153  6.839283 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 6.374342 -5.456156] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 43.721066 -24.297695]\n [ 38.808834 -28.609875]\n [ 35.55496  -20.490974]\n [ 36.982574 -21.379925]\n [ 41.840042 -25.35253 ]]", "nav_goal": "(12.64617919921875, 161.68812561035156)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [6.501506   0.10696793], 6.50238561630249 meters away.)"}
{"file_name": "images/scenario_1051_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -3.4) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 11.0 meters away at (10.7, -2.5). A vehicle with ID 37 is 19.9 meters away at (19.2, 4.9). A vehicle with ID 39 is 20.9 meters away at (20.8, 2.0). A vehicle with ID 44 is 23.0 meters away at (-14.9, 17.6). A vehicle with ID 3 is 25.6 meters away at (23.6, 9.9). A vehicle with ID 45 is 30.0 meters away at (24.3, -17.6). A vehicle with ID 15 is 30.2 meters away at (25.0, 17.1). A vehicle with ID 49 is 31.2 meters away at (27.1, -15.4). A vehicle with ID 40 is 34.9 meters away at (-26.4, 22.8). A vehicle with ID 53 is 39.4 meters away at (33.2, -21.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [6.167953   0.17087865] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [5.6658616 4.1779704] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-6.100702  5.584995] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.53114   -4.3128567] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 7.181816 -5.985518] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 43.721066 -24.297695]\n [ 38.808834 -28.609875]\n [ 35.55496  -20.490974]\n [ 36.982574 -21.379925]\n [ 41.840042 -25.35253 ]]", "nav_goal": "(12.64617919921875, 161.68812561035156)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [10.691759  -2.5172443], 10.984089851379395 meters away.)"}
{"file_name": "images/scenario_1051_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, 1.3) m/s. Its current heading (yaw) is 0.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 10.9 meters away at (7.5, 7.9). A vehicle with ID 15 is 11.3 meters away at (4.9, 10.2). A vehicle with ID 1 is 12.0 meters away at (10.4, 6.0). A vehicle with ID 3 is 17.5 meters away at (12.0, 12.7). A vehicle with ID 45 is 19.2 meters away at (12.5, -14.6). A vehicle with ID 49 is 19.8 meters away at (15.4, -12.5). A vehicle with ID 39 is 26.4 meters away at (20.5, 16.6). A vehicle with ID 53 is 28.1 meters away at (21.5, -18.2). A vehicle with ID 40 is 28.5 meters away at (-24.7, 14.2). A vehicle with ID 16 is 29.5 meters away at (17.2, 24.0).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.5192595 -4.5360937] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [5.3616657 5.3039336] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [6.169026 7.126774] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 6.1990356 -5.378232 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-3.0543804 -3.4488719] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 43.721066 -24.297695]\n [ 38.808834 -28.609875]\n [ 35.55496  -20.490974]\n [ 36.982574 -21.379925]\n [ 41.840042 -25.35253 ]]", "nav_goal": "(12.64617919921875, 161.68812561035156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [7.5468445 7.8692675], 10.903221130371094 meters away.)"}
{"file_name": "images/scenario_1052_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -4.9) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 92 is 3.1 meters away at (0.8, 3.0). A unknown object with ID 84 is 5.8 meters away at (3.8, 4.4). A unknown object with ID 86 is 6.5 meters away at (6.2, 2.1). A vehicle with ID 81 is 6.9 meters away at (1.2, 6.7). A unknown object with ID 89 is 9.3 meters away at (9.3, -0.2). A vehicle with ID 90 is 10.5 meters away at (5.9, -8.7). A vehicle with ID 80 is 11.0 meters away at (-3.5, 10.4). A vehicle with ID 78 is 11.7 meters away at (11.5, -2.0). A vehicle with ID 79 is 12.0 meters away at (-7.0, 9.7). A vehicle with ID 47 is 15.3 meters away at (9.5, -12.0).", "velocity_description": "The vehicle with ID 92 is traveling at a (x, y) velocity of [-2.815241   2.3375797] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-1.1490989  0.8227828] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.7717724 3.0213246], 3.1183385848999023 meters away.)"}
{"file_name": "images/scenario_1052_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -5.5) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 3.8 meters away at (-3.5, -1.5). A vehicle with ID 97 is 4.8 meters away at (0.4, -4.8). A vehicle with ID 76 is 5.6 meters away at (3.8, 4.1). A vehicle with ID 90 is 7.4 meters away at (-7.1, 1.9). A vehicle with ID 75 is 8.0 meters away at (8.0, 0.6). A vehicle with ID 78 is 8.6 meters away at (-1.5, 8.5). A vehicle with ID 44 is 10.0 meters away at (5.0, -8.6). A unknown object with ID 89 is 11.1 meters away at (-3.8, 10.4). A unknown object with ID 86 is 14.5 meters away at (-6.9, 12.7). A unknown object with ID 84 is 17.7 meters away at (-9.3, 15.0).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.5196495 -1.4512138], 3.8070926666259766 meters away.)"}
{"file_name": "images/scenario_1052_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -5.1) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 5.6 meters away at (4.5, 3.4). A vehicle with ID 45 is 6.6 meters away at (2.4, -6.2). A vehicle with ID 44 is 7.6 meters away at (-7.4, 1.8). A vehicle with ID 77 is 8.9 meters away at (8.9, -0.4). A vehicle with ID 19 is 11.5 meters away at (6.3, -9.7). A vehicle with ID 75 is 11.9 meters away at (-4.4, 11.1). A vehicle with ID 97 is 13.3 meters away at (-12.0, 5.7). A vehicle with ID 46 is 16.7 meters away at (10.4, -13.2). A vehicle with ID 76 is 16.8 meters away at (-8.5, 14.5). A vehicle with ID 47 is 18.5 meters away at (-16.0, 9.2).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.51371  3.365202], 5.630112171173096 meters away.)"}
{"file_name": "images/scenario_1052_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -4.9) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 3.5 meters away at (-1.3, -3.2). A vehicle with ID 19 is 5.3 meters away at (-5.3, 0.2). A vehicle with ID 11 is 7.2 meters away at (2.8, -6.6). A vehicle with ID 77 is 9.9 meters away at (-2.7, 9.5). A vehicle with ID 45 is 10.0 meters away at (-9.2, 3.7). A pedestrian with ID 53 is 14.1 meters away at (9.1, 10.8). A pedestrian with ID 57 is 14.8 meters away at (9.4, 11.5). A vehicle with ID 74 is 15.1 meters away at (-7.1, 13.3). A unknown object with ID 9 is 17.8 meters away at (17.8, -0.0). A unknown object with ID 8 is 18.0 meters away at (18.0, -0.4).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.00887745 -0.00099901] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.01877024  0.00405793] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.3298721 -3.2144432], 3.4786787033081055 meters away.)"}
{"file_name": "images/scenario_1053_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 4.5 meters away at (4.5, -0.0). A vehicle with ID 34 is 5.0 meters away at (-3.9, -3.1). A vehicle with ID 46 is 11.4 meters away at (-10.9, 3.5). A vehicle with ID 40 is 11.6 meters away at (10.3, -5.2). A vehicle with ID 41 is 11.6 meters away at (-8.6, 7.8). A pedestrian with ID 35 is 13.9 meters away at (9.4, 10.2). A pedestrian with ID 39 is 14.8 meters away at (7.5, 12.7). A pedestrian with ID 43 is 15.1 meters away at (5.6, 14.0). A pedestrian with ID 42 is 15.3 meters away at (7.7, 13.3). A pedestrian with ID 37 is 15.7 meters away at (4.9, 14.9).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.93581307 -2.9813852 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 1.7157619 -4.2970057] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 0.7127921 -1.3550845] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.26103598 0.1297749 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.9872793  -0.71370506] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.9819772 -0.7972973] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.8234992 -0.6883376] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.93235576 -0.78439474] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.407813   -2.743347 ]\n [-17.168793    2.804422 ]\n [-19.999708    6.3795877]\n [ -2.8738968  16.07336  ]\n [  1.9744192   9.124558 ]\n [  4.7894325   5.717436 ]\n [-14.454118   -2.9890213]\n [ -0.3745896  12.899105 ]\n [-10.662741   -3.627072 ]\n [ -6.454642   19.668537 ]]", "nav_goal": "(127.24446868896484, 254.3043975830078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 4.5224795  -0.04501713], 4.522703647613525 meters away.)"}
{"file_name": "images/scenario_1053_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.6) m/s. Its current heading (yaw) is 2.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 4.2 meters away at (4.2, 0.3). A vehicle with ID 41 is 5.4 meters away at (-5.3, 0.9). A vehicle with ID 40 is 11.4 meters away at (10.2, -5.2). A vehicle with ID 34 is 11.9 meters away at (-2.2, -11.7). A vehicle with ID 46 is 12.8 meters away at (-7.8, -10.1). A pedestrian with ID 35 is 13.9 meters away at (9.9, 9.7). A pedestrian with ID 37 is 14.7 meters away at (7.0, 12.9). A pedestrian with ID 39 is 14.9 meters away at (9.9, 11.1). A pedestrian with ID 43 is 15.0 meters away at (8.3, 12.5). A pedestrian with ID 38 is 15.0 meters away at (7.1, 13.2).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.9113778  1.0977606] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 1.5901964 -4.3523574] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.6841128  0.5244123] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.09193842 -4.9818788 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 0.24391331 -8.828699  ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.00471338 0.00170474] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.9592705  -0.68770486] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.1328849 -0.3590853] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 1.1137402  -0.46094814] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.9850889 -0.7744761] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.407813   -2.743347 ]\n [-17.168793    2.804422 ]\n [-19.999708    6.3795877]\n [ -2.8738968  16.07336  ]\n [  1.9744192   9.124558 ]\n [-19.945244   18.36532  ]\n [  4.7894325   5.717436 ]\n [-14.454118   -2.9890213]\n [ -0.3745896  12.899105 ]\n [-10.662741   -3.627072 ]\n [ -6.454642   19.668537 ]\n [-19.033257   21.13186  ]]", "nav_goal": "(127.24446868896484, 254.3043975830078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.202881   0.30283448], 4.2137770652771 meters away.)"}
{"file_name": "images/scenario_1053_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 2.7) m/s. Its current heading (yaw) is 2.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 4.0 meters away at (3.6, 1.7). A vehicle with ID 52 is 4.4 meters away at (-4.3, 1.2). A vehicle with ID 17 is 9.8 meters away at (-6.7, -7.2). A vehicle with ID 40 is 12.6 meters away at (10.8, -6.4). A vehicle with ID 41 is 13.4 meters away at (-0.8, -13.4). A pedestrian with ID 37 is 13.5 meters away at (10.9, 8.0). A pedestrian with ID 35 is 13.9 meters away at (12.3, 6.4). A pedestrian with ID 38 is 14.3 meters away at (11.3, 8.8). A pedestrian with ID 43 is 15.2 meters away at (12.5, 8.6). A pedestrian with ID 39 is 16.5 meters away at (14.6, 7.7).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.8148986  3.557416 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 2.2066867 -4.8595195] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 1.0651987 -8.878457 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.73714435  1.7886033 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 0.3319852 -6.4452314] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.66539747 -0.612097  ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.02056759 -0.0195149 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.6437868  -0.58419895] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.6063671 -0.6345502] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [1.0794237  0.04498592] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.407813   -2.743347 ]\n [-17.168793    2.804422 ]\n [-19.999708    6.3795877]\n [ -2.8738968  16.07336  ]\n [  1.9744192   9.124558 ]\n [-19.945244   18.36532  ]\n [  4.7894325   5.717436 ]\n [-14.454118   -2.9890213]\n [ -0.3745896  12.899105 ]\n [-10.662741   -3.627072 ]\n [ -6.454642   19.668537 ]\n [-19.033257   21.13186  ]]", "nav_goal": "(127.24446868896484, 254.3043975830078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.6206095 1.7047992], 4.001893997192383 meters away.)"}
{"file_name": "images/scenario_1053_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 4.2) m/s. Its current heading (yaw) is 1.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 4.2 meters away at (-4.1, -0.9). A vehicle with ID 4 is 5.0 meters away at (4.1, 2.9). A pedestrian with ID 37 is 15.2 meters away at (15.2, 0.3). A pedestrian with ID 38 is 15.9 meters away at (15.9, 1.0). A pedestrian with ID 11 is 16.0 meters away at (16.0, 0.3). A pedestrian with ID 35 is 16.6 meters away at (16.6, -0.8). A pedestrian with ID 12 is 17.1 meters away at (17.1, 0.2). A cyclist with ID 30 is 18.1 meters away at (11.4, 14.0). A vehicle with ID 40 is 18.1 meters away at (15.7, -9.1). A vehicle with ID 67 is 18.7 meters away at (-13.9, 12.5).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [ 2.5297275 -5.6889377] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.7645139  4.763724 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01754805 -0.02373265] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.19895525 -0.03516721] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.06448606 -0.04097527] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00615964  0.02446962] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.01121798 -0.18112406] m/s.The cyclist with ID 30 is traveling at a (x, y) velocity of [-0.0110166   0.04137193] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [2.0157924 2.253149 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 1.6239103 -1.4774815] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.407813   -2.743347 ]\n [-17.168793    2.804422 ]\n [-19.999708    6.3795877]\n [ -2.8738968  16.07336  ]\n [  1.9744192   9.124558 ]\n [  4.7894325   5.717436 ]\n [-14.454118   -2.9890213]\n [ -0.3745896  12.899105 ]\n [-10.662741   -3.627072 ]\n [ -6.454642   19.668537 ]]", "nav_goal": "(127.24446868896484, 254.3043975830078)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.108491   -0.93261623], 4.213012218475342 meters away.)"}
{"file_name": "images/scenario_1054_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 4.4 meters away at (4.4, 0.2). A unknown object with ID 17 is 5.1 meters away at (-2.2, -4.6). A unknown object with ID 15 is 5.8 meters away at (-3.4, 4.7). A pedestrian with ID 35 is 6.4 meters away at (1.1, 6.3). A vehicle with ID 24 is 7.2 meters away at (6.3, -3.5). A pedestrian with ID 25 is 7.4 meters away at (5.3, 5.1). A vehicle with ID 28 is 8.1 meters away at (-6.8, 4.5). A unknown object with ID 19 is 10.0 meters away at (-10.0, -0.1). A pedestrian with ID 33 is 10.2 meters away at (-7.4, -7.0). A unknown object with ID 21 is 10.7 meters away at (5.6, -9.2).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.3254336 -0.8155353] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.110573   0.6851608] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.4001067   0.78911924] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.519714   16.164053 ]\n [-25.685194   15.4441595]\n [-48.656025   23.755424 ]\n [-25.767712   15.792809 ]\n [-42.64338    25.28311  ]\n [-46.167927   25.270588 ]]", "nav_goal": "(-215.82412719726562, 15.483924865722656)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [4.422321   0.19917795], 4.4268035888671875 meters away.)"}
{"file_name": "images/scenario_1054_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.3) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 5.0 meters away at (-2.6, 4.3). A unknown object with ID 18 is 5.2 meters away at (5.2, -0.3). A unknown object with ID 17 is 5.3 meters away at (-1.4, -5.1). A pedestrian with ID 35 is 6.3 meters away at (4.6, 4.3). A pedestrian with ID 25 is 7.0 meters away at (3.6, 6.0). A vehicle with ID 28 is 7.3 meters away at (-6.1, 4.1). A vehicle with ID 24 is 8.1 meters away at (7.0, -3.9). A unknown object with ID 19 is 9.2 meters away at (-9.2, -0.6). A pedestrian with ID 33 is 11.2 meters away at (-9.7, -5.7). A pedestrian with ID 20 is 11.7 meters away at (11.7, -0.3).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2579807 -0.6620573] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2247013  0.7464533] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.560933   0.7012835] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.0134082  -0.00399662] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.519714   16.164053 ]\n [-25.685194   15.4441595]\n [-48.656025   23.755424 ]\n [-25.767712   15.792809 ]\n [-42.64338    25.28311  ]\n [-46.167927   25.270588 ]]", "nav_goal": "(-215.82412719726562, 15.483924865722656)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.550651   4.2501955], 4.956811904907227 meters away.)"}
{"file_name": "images/scenario_1054_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.1) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 4.4 meters away at (-2.0, 3.9). A unknown object with ID 17 is 5.5 meters away at (-0.8, -5.4). A unknown object with ID 18 is 5.9 meters away at (5.8, -0.6). A vehicle with ID 28 is 6.6 meters away at (-5.5, 3.7). A pedestrian with ID 25 is 7.2 meters away at (1.7, 7.0). A pedestrian with ID 35 is 8.4 meters away at (8.0, 2.5). A unknown object with ID 19 is 8.6 meters away at (-8.6, -0.9). A vehicle with ID 24 is 8.8 meters away at (7.7, -4.3). A unknown object with ID 8 is 12.2 meters away at (7.0, -10.0). A pedestrian with ID 20 is 12.3 meters away at (12.3, -0.6).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2800688  0.7280999] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2528398 -0.6506854] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00984783  0.02104557] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.519714   16.164053 ]\n [-25.685194   15.4441595]\n [-48.656025   23.755424 ]\n [-25.767712   15.792809 ]\n [-42.64338    25.28311  ]\n [-46.167927   25.270588 ]]", "nav_goal": "(-215.82412719726562, 15.483924865722656)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.9539343  3.9045196], 4.3661346435546875 meters away.)"}
{"file_name": "images/scenario_1054_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 4.3 meters away at (-1.9, 3.9). A unknown object with ID 17 is 5.5 meters away at (-0.7, -5.4). A unknown object with ID 18 is 5.9 meters away at (5.9, -0.6). A vehicle with ID 28 is 7.0 meters away at (-5.8, 3.9). A pedestrian with ID 25 is 8.4 meters away at (-0.8, 8.3). A unknown object with ID 19 is 8.6 meters away at (-8.5, -0.9). A vehicle with ID 24 is 8.8 meters away at (7.7, -4.3). A pedestrian with ID 35 is 10.9 meters away at (10.9, 1.0). A unknown object with ID 8 is 12.3 meters away at (7.1, -10.1). A pedestrian with ID 20 is 12.4 meters away at (12.4, -0.6).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.57768846  0.3628191 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2881967   0.70827734] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.3875682  -0.66765004] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00160737 0.03881528] m/s.", "light_description": "There are active red lights at the following coordinates: [[-25.519714   16.164053 ]\n [-25.685194   15.4441595]\n [-25.767712   15.792809 ]\n [-42.64338    25.28311  ]\n [-46.167927   25.270588 ]]", "nav_goal": "(-215.82412719726562, 15.483924865722656)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.912654   3.8994694], 4.343283176422119 meters away.)"}
{"file_name": "images/scenario_1055_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.3, 6.6) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 5.4 meters away at (-5.3, 1.2). A vehicle with ID 50 is 14.3 meters away at (3.9, -13.8). A pedestrian with ID 34 is 15.6 meters away at (-14.3, 6.1). A vehicle with ID 1 is 17.7 meters away at (-15.3, -8.8). A unknown object with ID 30 is 27.8 meters away at (-14.5, 23.7). A vehicle with ID 36 is 30.4 meters away at (21.3, 21.6). A pedestrian with ID 29 is 31.3 meters away at (-16.4, 26.7). A vehicle with ID 35 is 31.3 meters away at (-21.7, -22.6). A unknown object with ID 21 is 31.4 meters away at (-17.1, 26.3). A unknown object with ID 26 is 33.3 meters away at (-18.3, 27.8).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [12.375033   7.9035654] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-12.605191  -8.176027] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.0395294  0.02856574] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [11.056391   7.1927724] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [12.983877  8.145057] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01507926 -0.00158495] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-10.651675  -6.949056] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.263568   1.1915054], 5.396742820739746 meters away.)"}
{"file_name": "images/scenario_1055_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, 6.6) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 3.9 meters away at (-1.6, 3.6). A vehicle with ID 1 is 15.9 meters away at (-14.2, -7.2). A cyclist with ID 28 is 16.5 meters away at (4.0, -16.1). A vehicle with ID 19 is 17.4 meters away at (-4.1, -16.9). A pedestrian with ID 20 is 21.6 meters away at (13.6, -16.8). A vehicle with ID 36 is 35.2 meters away at (25.5, 24.2). A unknown object with ID 30 is 36.5 meters away at (-34.8, 10.9). A pedestrian with ID 29 is 39.3 meters away at (-36.7, 14.0). A unknown object with ID 15 is 39.3 meters away at (-37.5, 11.8). A unknown object with ID 21 is 39.8 meters away at (-37.5, 13.4).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [11.976469   7.5770154] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [10.804532  7.684299] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-5.130922  -3.2148283] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-9.998384 -6.313838] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.00032621 -0.00069964] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [11.775513   7.6174326] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.07011397 -0.0438824 ] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-1.5751114  3.5979366], 3.9276106357574463 meters away.)"}
{"file_name": "images/scenario_1055_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.3, 6.5) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 6.0 meters away at (2.3, 5.6). A vehicle with ID 1 is 13.8 meters away at (-13.0, -4.8). A pedestrian with ID 20 is 30.4 meters away at (-7.0, -29.6). A vehicle with ID 36 is 37.8 meters away at (27.5, 26.0). A cyclist with ID 28 is 44.2 meters away at (-26.5, -35.3). A cyclist with ID 12 is 48.1 meters away at (39.3, 27.8). A vehicle with ID 19 is 61.5 meters away at (-44.2, -42.7). A vehicle with ID 53 is 71.5 meters away at (54.7, 46.1). A vehicle with ID 22 is 73.8 meters away at (-65.9, -33.3).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [12.2713995  7.5250454] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [10.903106   7.6659775] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.34303164  0.45045716] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [10.588316   7.3932977] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-4.947424 -3.243458] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [10.794634   7.0623755] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-9.541888  -6.3632836] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [8.182732 6.229349] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [5.2935967 3.1838436] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [2.2897491 5.5503197], 6.004081726074219 meters away.)"}
{"file_name": "images/scenario_1055_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.0, 6.1) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 10.6 meters away at (6.8, 8.1). A vehicle with ID 1 is 11.7 meters away at (-11.3, -2.8). A vehicle with ID 14 is 23.1 meters away at (23.1, 1.1). A vehicle with ID 36 is 38.4 meters away at (26.7, 27.5). A pedestrian with ID 20 is 49.5 meters away at (-27.5, -41.2). A cyclist with ID 12 is 49.9 meters away at (40.4, 29.3). A vehicle with ID 53 is 65.7 meters away at (47.6, 45.3). A cyclist with ID 28 is 78.5 meters away at (-56.5, -54.5).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [12.444448   7.7255597] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [11.421924  7.309675] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-13.363235  -8.352817] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [8.958782  6.6553774] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.01028276  0.06966417] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [10.7932825  6.9965534] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [5.1710515 6.2918973] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-4.37958  -3.516717] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [6.8499146 8.130199 ], 10.631155967712402 meters away.)"}
{"file_name": "images/scenario_1056_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 2.9) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A cyclist with ID 11 is 24.8 meters away at (19.4, -15.4). A vehicle with ID 10 is 44.1 meters away at (-44.1, 1.3).", "velocity_description": "The cyclist with ID 11 is traveling at a (x, y) velocity of [-5.948784  4.40099 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.8475783 4.0735264] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.345654  24.448696]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 19.408688  -15.3724785], 24.759044647216797 meters away.)"}
{"file_name": "images/scenario_1056_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 2.2) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A cyclist with ID 11 is 18.1 meters away at (14.1, -11.3). A vehicle with ID 10 is 32.2 meters away at (-32.0, 3.6). A unknown object with ID 12 is 71.1 meters away at (-58.8, 39.9).", "velocity_description": "The cyclist with ID 11 is traveling at a (x, y) velocity of [-6.0891757  4.67048  ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [1.9855919 2.6715806] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.345654  24.448696]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 14.107365 -11.26497 ], 18.053178787231445 meters away.)"}
{"file_name": "images/scenario_1056_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 0.5) m/s. Its current heading (yaw) is 3.03 ", "actor_description": " The most relevant actors are: A cyclist with ID 11 is 11.3 meters away at (10.2, -4.9). A vehicle with ID 10 is 22.1 meters away at (-21.7, 4.2).", "velocity_description": "The cyclist with ID 11 is traveling at a (x, y) velocity of [-5.32905    4.1039047] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.50042224 0.63483316] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.345654  24.448696]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [10.193869 -4.879648], 11.301589012145996 meters away.)"}
{"file_name": "images/scenario_1056_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -1.9) m/s. Its current heading (yaw) is -2.66 ", "actor_description": " The most relevant actors are: A cyclist with ID 11 is 8.4 meters away at (8.3, 1.3). A vehicle with ID 10 is 13.9 meters away at (-12.4, 6.3). A unknown object with ID 7 is 54.0 meters away at (-32.0, -43.4). A unknown object with ID 8 is 55.7 meters away at (-33.6, -44.5).", "velocity_description": "The cyclist with ID 11 is traveling at a (x, y) velocity of [-5.331951   0.6024895] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-37.345654  24.448696]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [8.258829  1.3234882], 8.364202499389648 meters away.)"}
{"file_name": "images/scenario_1057_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.1) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 9.4 meters away at (2.9, 9.0). A vehicle with ID 16 is 17.9 meters away at (-14.1, -11.0). A vehicle with ID 17 is 19.3 meters away at (-12.1, 15.1). A vehicle with ID 3 is 19.5 meters away at (6.4, 18.4). A vehicle with ID 18 is 21.8 meters away at (-14.4, 16.3). A vehicle with ID 19 is 24.0 meters away at (-16.4, -17.5). A vehicle with ID 20 is 24.2 meters away at (-16.9, 17.3). A vehicle with ID 11 is 26.5 meters away at (-19.5, 17.9). A vehicle with ID 12 is 29.0 meters away at (-22.0, 18.8). A vehicle with ID 24 is 34.6 meters away at (-11.2, -32.8).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(216.3976287841797, -41.848819732666016)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.9066062 8.982826 ], 9.441372871398926 meters away.)"}
{"file_name": "images/scenario_1057_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 8.9 meters away at (2.7, 8.4). A vehicle with ID 16 is 18.3 meters away at (-14.3, -11.5). A vehicle with ID 17 is 19.1 meters away at (-12.3, 14.6). A vehicle with ID 18 is 21.5 meters away at (-14.6, 15.8). A vehicle with ID 20 is 23.9 meters away at (-17.1, 16.8). A vehicle with ID 19 is 24.5 meters away at (-16.5, -18.0). A vehicle with ID 11 is 26.2 meters away at (-19.7, 17.3). A vehicle with ID 12 is 28.7 meters away at (-22.2, 18.3). A unknown object with ID 8 is 34.1 meters away at (-2.9, -33.9). A vehicle with ID 24 is 35.2 meters away at (-11.4, -33.3).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(216.3976287841797, -41.848819732666016)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.7354217 8.434441 ], 8.866922378540039 meters away.)"}
{"file_name": "images/scenario_1057_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 8.8 meters away at (2.7, 8.4). A vehicle with ID 16 is 18.4 meters away at (-14.3, -11.5). A vehicle with ID 17 is 19.0 meters away at (-12.3, 14.5). A vehicle with ID 18 is 21.5 meters away at (-14.6, 15.8). A vehicle with ID 20 is 23.9 meters away at (-17.1, 16.7). A vehicle with ID 19 is 24.5 meters away at (-16.6, -18.1). A vehicle with ID 11 is 26.2 meters away at (-19.8, 17.2). A vehicle with ID 12 is 28.7 meters away at (-22.2, 18.2). A unknown object with ID 8 is 34.1 meters away at (-2.9, -34.0). A vehicle with ID 24 is 35.3 meters away at (-11.4, -33.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(216.3976287841797, -41.848819732666016)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.7102206 8.384484 ], 8.811633110046387 meters away.)"}
{"file_name": "images/scenario_1057_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 8.8 meters away at (2.7, 8.4). A vehicle with ID 16 is 18.4 meters away at (-14.3, -11.5). A vehicle with ID 17 is 19.0 meters away at (-12.3, 14.5). A vehicle with ID 18 is 21.6 meters away at (-14.5, 15.9). A vehicle with ID 20 is 23.9 meters away at (-17.1, 16.7). A vehicle with ID 19 is 24.5 meters away at (-16.5, -18.1). A vehicle with ID 11 is 26.2 meters away at (-19.8, 17.2). A vehicle with ID 12 is 28.7 meters away at (-22.2, 18.2). A unknown object with ID 8 is 34.1 meters away at (-2.9, -34.0). A vehicle with ID 24 is 35.3 meters away at (-11.4, -33.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(216.3976287841797, -41.848819732666016)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.70435 8.36182], 8.788261413574219 meters away.)"}
{"file_name": "images/scenario_1058_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.2) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A unknown object with ID 27 is 32.7 meters away at (1.7, -32.7). A vehicle with ID 26 is 32.8 meters away at (11.2, -30.8). A unknown object with ID 25 is 33.5 meters away at (-2.0, 33.4). A vehicle with ID 28 is 33.6 meters away at (-3.3, -33.4). A unknown object with ID 21 is 37.4 meters away at (36.7, 7.2). A vehicle with ID 4 is 41.6 meters away at (40.7, 8.5). A vehicle with ID 23 is 42.3 meters away at (-41.6, 7.7). A vehicle with ID 30 is 63.5 meters away at (62.8, -9.7). A unknown object with ID 18 is 73.0 meters away at (-66.9, 29.1). A vehicle with ID 31 is 74.2 meters away at (72.5, -16.0).", "velocity_description": "The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 2.8112037 -1.517494 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-200.7074737548828, -72.43836975097656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  1.6997899 -32.680935 ], 32.7251091003418 meters away.)"}
{"file_name": "images/scenario_1058_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -2.2) m/s. Its current heading (yaw) is -2.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 29.5 meters away at (-0.4, -29.5). A vehicle with ID 26 is 30.3 meters away at (14.2, -26.8). A vehicle with ID 23 is 36.0 meters away at (-34.8, 9.1). A unknown object with ID 25 is 37.4 meters away at (0.5, 37.4). A vehicle with ID 30 is 65.9 meters away at (65.6, -5.3). A vehicle with ID 31 is 76.1 meters away at (75.2, -11.6).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 1.0179647 -0.6423391] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-200.7074737548828, -72.43836975097656)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -0.38694954 -29.478003  ], 29.480541229248047 meters away.)"}
{"file_name": "images/scenario_1058_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 1.0) m/s. Its current heading (yaw) is 2.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 28.4 meters away at (6.4, -27.7). A vehicle with ID 23 is 29.3 meters away at (-27.4, 10.3). A vehicle with ID 26 is 32.6 meters away at (21.0, -25.0). A unknown object with ID 25 is 39.8 meters away at (7.1, 39.2). A pedestrian with ID 17 is 40.6 meters away at (-38.2, 13.9). A pedestrian with ID 14 is 41.3 meters away at (-38.7, 14.3). A pedestrian with ID 1 is 42.2 meters away at (-40.7, 11.2). A unknown object with ID 16 is 43.0 meters away at (1.5, -43.0). A vehicle with ID 30 is 72.5 meters away at (72.4, -3.5).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00013362  0.0006282 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.36701787 0.79205126] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-200.7074737548828, -72.43836975097656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  6.4175887 -27.67154  ], 28.405977249145508 meters away.)"}
{"file_name": "images/scenario_1058_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 3.1) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 18.9 meters away at (-18.0, 5.7). A pedestrian with ID 17 is 30.2 meters away at (-28.6, 9.6). A pedestrian with ID 14 is 30.9 meters away at (-29.1, 10.4). A pedestrian with ID 1 is 31.9 meters away at (-30.8, 8.3). A vehicle with ID 28 is 36.0 meters away at (15.5, -32.5). A unknown object with ID 25 is 38.1 meters away at (16.7, 34.3). A vehicle with ID 26 is 42.5 meters away at (30.1, -29.9). A unknown object with ID 20 is 57.4 meters away at (57.0, 6.8). A vehicle with ID 19 is 60.1 meters away at (59.4, 9.4).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.11054026 0.17660733] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.1784656 0.4879482] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.21562126 0.66334254] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-200.7074737548828, -72.43836975097656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-18.03154     5.7447453], 18.924549102783203 meters away.)"}
{"file_name": "images/scenario_1059_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 4.1) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 11.0 meters away at (10.8, -1.7). A unknown object with ID 21 is 12.5 meters away at (12.1, -3.1). A vehicle with ID 20 is 30.1 meters away at (23.5, -18.8). A vehicle with ID 26 is 42.2 meters away at (-14.2, -39.7). A vehicle with ID 28 is 46.6 meters away at (-28.2, -37.1). A vehicle with ID 24 is 47.6 meters away at (42.0, -22.3). A vehicle with ID 25 is 52.8 meters away at (46.4, -25.1).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 6.203607 -3.87169 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-60.66542434692383, 36.76001739501953)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [10.822362  -1.7256098], 10.959071159362793 meters away.)"}
{"file_name": "images/scenario_1059_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 4.1) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 25.9 meters away at (23.8, -10.1). A unknown object with ID 21 is 27.6 meters away at (25.1, -11.4). A vehicle with ID 28 is 47.9 meters away at (-15.2, -45.4). A vehicle with ID 26 is 48.0 meters away at (-1.3, -48.0). A vehicle with ID 20 is 59.9 meters away at (48.9, -34.6). A vehicle with ID 6 is 61.5 meters away at (-18.1, -58.8). A vehicle with ID 12 is 66.9 meters away at (-18.2, -64.4). A unknown object with ID 15 is 68.5 meters away at (-63.4, 26.1).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 6.058707  -3.9222496] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-60.66542434692383, 36.76001739501953)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 23.834417 -10.058491], 25.869918823242188 meters away.)"}
{"file_name": "images/scenario_1059_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 4.0) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 8.3 meters away at (-1.4, 8.2). A unknown object with ID 4 is 10.9 meters away at (-4.0, -10.2). A unknown object with ID 22 is 41.5 meters away at (37.3, -18.1). A vehicle with ID 28 is 53.5 meters away at (-1.9, -53.4). A unknown object with ID 15 is 53.7 meters away at (-50.4, 18.5). A vehicle with ID 26 is 57.4 meters away at (12.1, -56.1). A vehicle with ID 6 is 67.0 meters away at (-4.8, -66.9).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-60.66542434692383, 36.76001739501953)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.3560143  8.171436 ], 8.283184051513672 meters away.)"}
{"file_name": "images/scenario_1059_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 3.7) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 6.7 meters away at (2.1, 6.4). A unknown object with ID 13 is 11.9 meters away at (11.9, 0.4). A vehicle with ID 28 is 62.3 meters away at (11.6, -61.2). A vehicle with ID 26 is 68.9 meters away at (25.6, -64.0). A pedestrian with ID 3 is 72.5 meters away at (-72.3, -5.5). A vehicle with ID 6 is 75.1 meters away at (8.7, -74.6). A vehicle with ID 16 is 80.7 meters away at (8.2, -80.3).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.5369594  0.3377854] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-60.66542434692383, 36.76001739501953)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.1114235 6.3525925], 6.694291591644287 meters away.)"}
{"file_name": "images/scenario_1060_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.7 meters away at (-3.7, -0.2). A vehicle with ID 20 is 6.5 meters away at (6.4, -1.3). A vehicle with ID 22 is 7.6 meters away at (-2.5, -7.1). A pedestrian with ID 21 is 8.1 meters away at (-7.4, -3.3). A vehicle with ID 27 is 15.5 meters away at (-5.9, -14.4). A vehicle with ID 38 is 27.0 meters away at (-9.3, -25.4). A vehicle with ID 41 is 29.2 meters away at (2.9, -29.1). A vehicle with ID 26 is 30.0 meters away at (-20.8, -21.6). A vehicle with ID 34 is 33.6 meters away at (-8.6, -32.5). A vehicle with ID 31 is 35.3 meters away at (23.8, 26.1).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.1897411  -0.47831202] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.8126295   0.66390246] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.6674532  1.6194952] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 8.214966  -2.7991407] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.311259  -34.466446 ]\n [ -5.352219  -36.620903 ]\n [ -9.69578   -34.222237 ]\n [ -7.44925   -22.483513 ]\n [ -7.6462393 -22.44199  ]]", "nav_goal": "(201.57191467285156, 43.85496139526367)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.6843698  -0.21892619], 3.690868377685547 meters away.)"}
{"file_name": "images/scenario_1060_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.6 meters away at (-3.6, -0.1). A vehicle with ID 20 is 6.5 meters away at (6.4, -1.2). A vehicle with ID 22 is 7.3 meters away at (-2.5, -6.9). A pedestrian with ID 21 is 8.1 meters away at (-7.2, -3.7). A vehicle with ID 27 is 15.3 meters away at (-5.8, -14.2). A vehicle with ID 41 is 22.9 meters away at (-0.1, -22.8). A vehicle with ID 38 is 27.0 meters away at (-12.2, -24.1). A vehicle with ID 26 is 29.8 meters away at (-20.7, -21.4). A vehicle with ID 4 is 33.4 meters away at (-12.6, -30.9). A vehicle with ID 25 is 33.7 meters away at (9.9, -32.2).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.22830743 0.10753103] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.7515352  4.387663 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.7793278  0.2575675] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 8.211368  -2.7633405] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.94322366  0.17507325] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.311259  -34.466446 ]\n [ -5.352219  -36.620903 ]\n [ -9.69578   -34.222237 ]\n [ -7.44925   -22.483513 ]\n [ -2.0612605 -25.605352 ]\n [ -7.6462393 -22.44199  ]]", "nav_goal": "(201.57191467285156, 43.85496139526367)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.6358378  -0.05011308], 3.636183023452759 meters away.)"}
{"file_name": "images/scenario_1060_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.6 meters away at (-3.6, -0.1). A vehicle with ID 20 is 6.5 meters away at (6.4, -1.2). A pedestrian with ID 21 is 7.3 meters away at (-6.7, -2.9). A vehicle with ID 22 is 7.3 meters away at (-2.5, -6.9). A vehicle with ID 41 is 11.0 meters away at (0.6, -11.0). A vehicle with ID 27 is 15.3 meters away at (-5.8, -14.2). A vehicle with ID 38 is 27.1 meters away at (-12.7, -23.9). A vehicle with ID 16 is 29.6 meters away at (-20.2, -21.6). A vehicle with ID 26 is 29.8 meters away at (-20.7, -21.4). A vehicle with ID 25 is 33.2 meters away at (9.0, -31.9).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.23804905 0.5260272 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [1.5062287 7.5401573] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.311259  -34.466446 ]\n [ -5.352219  -36.620903 ]\n [ -9.69578   -34.222237 ]\n [ -7.44925   -22.483513 ]\n [ -2.0612605 -25.605352 ]\n [ -7.6462393 -22.44199  ]]", "nav_goal": "(201.57191467285156, 43.85496139526367)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.6343057  -0.05238962], 3.634683132171631 meters away.)"}
{"file_name": "images/scenario_1060_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.6 meters away at (-3.6, -0.0). A pedestrian with ID 21 is 6.4 meters away at (-6.2, -1.7). A vehicle with ID 20 is 6.5 meters away at (6.4, -1.1). A vehicle with ID 22 is 7.4 meters away at (-2.5, -6.9). A vehicle with ID 41 is 8.3 meters away at (5.6, 6.2). A vehicle with ID 27 is 15.3 meters away at (-5.8, -14.1). A vehicle with ID 38 is 27.1 meters away at (-12.7, -23.9). A vehicle with ID 16 is 29.6 meters away at (-20.2, -21.6). A vehicle with ID 26 is 29.8 meters away at (-20.7, -21.4). A vehicle with ID 25 is 32.8 meters away at (8.4, -31.8).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.2741096  0.77350813] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [3.1770236 9.394772 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -8.311259  -34.466446 ]\n [ -5.352219  -36.620903 ]\n [ -9.69578   -34.222237 ]\n [ -7.44925   -22.483513 ]\n [ -2.0612605 -25.605352 ]\n [ -7.6462393 -22.44199  ]]", "nav_goal": "(201.57191467285156, 43.85496139526367)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.6295543  -0.03352797], 3.629709243774414 meters away.)"}
{"file_name": "images/scenario_1061_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.4) m/s. Its current heading (yaw) is -2.21 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 3.4 meters away at (2.9, -1.8). A vehicle with ID 13 is 5.6 meters away at (4.6, -3.3). A vehicle with ID 14 is 5.6 meters away at (-1.9, 5.3). A unknown object with ID 20 is 9.0 meters away at (7.9, 4.2). A pedestrian with ID 12 is 10.5 meters away at (-10.1, -3.1). A vehicle with ID 17 is 10.8 meters away at (8.7, -6.4). A unknown object with ID 18 is 13.6 meters away at (11.0, 8.1). A vehicle with ID 25 is 13.7 meters away at (4.0, 13.1). A vehicle with ID 28 is 14.6 meters away at (13.0, 6.6). A unknown object with ID 21 is 15.7 meters away at (15.7, 1.2).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.7947335  0.6681296] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 2.895985  -1.7562919], 3.3869292736053467 meters away.)"}
{"file_name": "images/scenario_1061_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.7) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 5.5 meters away at (5.3, 1.4). A vehicle with ID 13 is 7.0 meters away at (7.0, -0.1). A vehicle with ID 14 is 8.5 meters away at (0.5, 8.5). A pedestrian with ID 12 is 9.5 meters away at (-9.4, 1.8). A vehicle with ID 17 is 11.6 meters away at (11.1, -3.3). A unknown object with ID 20 is 12.7 meters away at (10.4, 7.3). A vehicle with ID 25 is 17.5 meters away at (6.5, 16.2). A unknown object with ID 18 is 17.5 meters away at (13.4, 11.2). A vehicle with ID 28 is 18.2 meters away at (15.4, 9.8). A vehicle with ID 10 is 18.3 meters away at (-6.7, -17.0).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.8255815  0.7341981] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [5.338333  1.3750181], 5.512574195861816 meters away.)"}
{"file_name": "images/scenario_1061_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.4) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 9.8 meters away at (8.3, 5.2). A pedestrian with ID 12 is 10.3 meters away at (-7.3, 7.3). A vehicle with ID 13 is 10.6 meters away at (9.9, 3.7). A pedestrian with ID 1 is 11.1 meters away at (9.4, 5.8). A unknown object with ID 8 is 12.2 meters away at (1.0, -12.1). A vehicle with ID 14 is 12.8 meters away at (3.4, 12.3). A unknown object with ID 9 is 13.5 meters away at (13.0, -3.6). A vehicle with ID 10 is 13.7 meters away at (-3.7, -13.2). A vehicle with ID 17 is 14.1 meters away at (14.0, 0.6). A unknown object with ID 20 is 17.4 meters away at (13.3, 11.2).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.25929672  0.6816383 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00268415  0.00599751] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [8.279177  5.1882234], 9.770487785339355 meters away.)"}
{"file_name": "images/scenario_1061_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -2.8) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 8.2 meters away at (0.2, -8.2). A unknown object with ID 8 is 8.6 meters away at (4.9, -7.2). A pedestrian with ID 12 is 12.9 meters away at (-3.4, 12.5). A unknown object with ID 11 is 15.8 meters away at (12.1, 10.2). A vehicle with ID 13 is 16.3 meters away at (13.8, 8.6). A unknown object with ID 9 is 17.0 meters away at (16.9, 1.4). A vehicle with ID 17 is 18.7 meters away at (17.9, 5.5). A vehicle with ID 14 is 18.7 meters away at (7.2, 17.3). A unknown object with ID 20 is 23.5 meters away at (17.1, 16.2). A vehicle with ID 25 is 28.3 meters away at (13.2, 25.0).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.04356785 -0.03640678] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.15026474 -8.225595  ], 8.226967811584473 meters away.)"}
{"file_name": "images/scenario_1062_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.3) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 3.8 meters away at (3.0, 2.4). A vehicle with ID 10 is 8.2 meters away at (7.0, -4.3). A vehicle with ID 7 is 10.2 meters away at (9.9, -2.4). A vehicle with ID 91 is 10.6 meters away at (10.5, 1.6). A vehicle with ID 19 is 11.0 meters away at (-7.0, 8.5). A vehicle with ID 12 is 12.4 meters away at (-10.4, 6.9). A unknown object with ID 71 is 14.7 meters away at (14.7, -0.4). A vehicle with ID 22 is 15.9 meters away at (13.1, -9.0). A vehicle with ID 101 is 17.5 meters away at (-16.8, -4.7). A vehicle with ID 21 is 19.3 meters away at (17.5, -8.1).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.2680237  1.4332917] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.82707447  0.54712975] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.5512376   0.36490256] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.4681413  2.2290113] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.7726998  2.5102513] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [ 3.747428  -2.4147782] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.9610229 2.3966432], 3.809403419494629 meters away.)"}
{"file_name": "images/scenario_1062_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 2.4) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 3.5 meters away at (1.7, 3.1). A vehicle with ID 10 is 10.6 meters away at (8.9, -5.7). A vehicle with ID 7 is 12.7 meters away at (12.1, -3.9). A vehicle with ID 19 is 13.8 meters away at (-9.6, 9.9). A vehicle with ID 101 is 14.7 meters away at (-1.5, -14.6). A vehicle with ID 91 is 16.2 meters away at (16.1, -2.1). A vehicle with ID 12 is 17.5 meters away at (-14.7, 9.5). A vehicle with ID 107 is 17.7 meters away at (-17.1, -4.6). A pedestrian with ID 88 is 18.4 meters away at (-4.1, 18.0). A pedestrian with ID 89 is 18.6 meters away at (-3.1, 18.3).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.5640326  2.9787152] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.8010423  1.8333756] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-3.0980635  2.001141 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.42702    2.6932683] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [ 5.649275  -3.4827852] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-5.90174    3.7687309] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [ 3.1542456 -2.171875 ] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.02397869  0.02058231] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.03822326 -0.01243507] m/s.", "light_description": "There are active red lights at the following coordinates: [[-24.679037  16.240835]\n [-23.668903  19.41813 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.7116103 3.0954895], 3.5371832847595215 meters away.)"}
{"file_name": "images/scenario_1062_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 3.3) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 3.6 meters away at (1.1, 3.4). A unknown object with ID 108 is 12.2 meters away at (-6.9, 10.1). A vehicle with ID 10 is 13.0 meters away at (11.0, -6.9). A pedestrian with ID 88 is 13.0 meters away at (4.6, 12.2). A vehicle with ID 19 is 13.3 meters away at (-9.4, 9.4). A pedestrian with ID 89 is 13.8 meters away at (5.7, 12.5). A vehicle with ID 7 is 13.8 meters away at (13.1, -4.5). A vehicle with ID 114 is 14.8 meters away at (-13.2, -6.7). A unknown object with ID 16 is 15.2 meters away at (-9.6, 11.8). A vehicle with ID 107 is 15.7 meters away at (-0.4, -15.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7919674  2.9741635] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.0355315  2.700242 ] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.03919298  0.00090436] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.3785715  2.7061543] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.00646259 -0.0359608 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.3656993  2.8353593] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [ 2.8270743 -1.9178315] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [ 4.642403  -3.1518402] m/s.", "light_description": "There are active red lights at the following coordinates: [[-24.679037  16.240835]\n [-23.668903  19.41813 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.0531559 3.437334 ], 3.595052480697632 meters away.)"}
{"file_name": "images/scenario_1062_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 3.2) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 3.6 meters away at (2.8, 2.2). A unknown object with ID 108 is 5.2 meters away at (3.9, 3.4). A unknown object with ID 16 is 5.3 meters away at (1.2, 5.2). A unknown object with ID 82 is 6.5 meters away at (-1.0, 6.4). A unknown object with ID 14 is 9.2 meters away at (-3.8, 8.3). A unknown object with ID 80 is 10.9 meters away at (2.4, 10.7). A unknown object with ID 51 is 11.0 meters away at (3.1, 10.5). A vehicle with ID 19 is 11.1 meters away at (-7.3, 8.3). A vehicle with ID 116 is 12.5 meters away at (-7.9, -9.7). A vehicle with ID 10 is 14.9 meters away at (12.8, -7.6).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.345883   2.4374118] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.871386  3.093347] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [ 2.9822178 -2.204655 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.079747  3.154549] m/s.", "light_description": "There are active red lights at the following coordinates: [[-78.76469   64.58416 ]\n [-24.679037  16.240835]\n [-78.75019   64.57551 ]\n [-23.668903  19.41813 ]\n [-81.96795   66.422134]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.8344002 2.17807  ], 3.5746066570281982 meters away.)"}
{"file_name": "images/scenario_1063_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 5.9) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A pedestrian with ID 51 is 18.5 meters away at (-6.5, -17.3). A vehicle with ID 25 is 42.1 meters away at (27.2, 32.1). A unknown object with ID 35 is 43.4 meters away at (21.3, 37.9). A unknown object with ID 52 is 44.5 meters away at (-18.2, -40.6). A pedestrian with ID 47 is 44.6 meters away at (-19.3, -40.2). A unknown object with ID 38 is 46.3 meters away at (23.2, 40.1). A unknown object with ID 54 is 46.6 meters away at (-16.5, -43.5). A vehicle with ID 53 is 47.1 meters away at (-27.8, -38.0). A vehicle with ID 55 is 54.7 meters away at (-34.4, -42.5). A vehicle with ID 57 is 63.0 meters away at (-44.7, -44.3).", "velocity_description": "The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.7423261  -0.01366459] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [8.193979 9.729463] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.00743453 0.01853484] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-53.04694747924805, 215.97647094726562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ -6.4760327 -17.293175 ], 18.465991973876953 meters away.)"}
{"file_name": "images/scenario_1063_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.5) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 29.6 meters away at (-0.5, 29.6). A unknown object with ID 38 is 31.0 meters away at (12.8, 28.3). A pedestrian with ID 51 is 34.1 meters away at (-16.6, -29.7). A vehicle with ID 25 is 49.9 meters away at (32.3, 38.0). A unknown object with ID 43 is 54.4 meters away at (30.4, 45.2). A pedestrian with ID 47 is 60.4 meters away at (-30.0, -52.5). A unknown object with ID 54 is 62.1 meters away at (-27.2, -55.9). A vehicle with ID 53 is 63.3 meters away at (-38.4, -50.4). A vehicle with ID 55 is 71.0 meters away at (-45.0, -54.9). A vehicle with ID 57 is 79.2 meters away at (-55.2, -56.7).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00245028  0.00467186] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [6.9804516 8.078526 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.01093711 -0.00500378] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [ 0.7515741  -0.08736579] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-53.04694747924805, 215.97647094726562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.54400826 29.60005   ], 29.60504913330078 meters away.)"}
{"file_name": "images/scenario_1063_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 6.4) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 20.2 meters away at (-11.3, 16.8). A unknown object with ID 40 is 34.8 meters away at (17.7, 30.0). A unknown object with ID 43 is 38.3 meters away at (20.0, 32.7). A unknown object with ID 49 is 39.6 meters away at (20.8, 33.7). A unknown object with ID 30 is 41.6 meters away at (21.9, 35.4). A unknown object with ID 39 is 43.0 meters away at (22.8, 36.5). A unknown object with ID 34 is 44.8 meters away at (23.9, 37.9). A unknown object with ID 7 is 47.8 meters away at (25.9, 40.1). A vehicle with ID 25 is 50.0 meters away at (32.8, 37.8). A pedestrian with ID 51 is 50.9 meters away at (-27.6, -42.8).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [3.8995912 4.350068 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.13262866 -0.05335656] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-53.04694747924805, 215.97647094726562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-11.257397  16.761486], 20.190998077392578 meters away.)"}
{"file_name": "images/scenario_1063_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 5.9) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 43 is 22.3 meters away at (9.2, 20.3). A unknown object with ID 49 is 23.7 meters away at (10.0, 21.5). A unknown object with ID 30 is 26.0 meters away at (11.3, 23.4). A unknown object with ID 39 is 26.9 meters away at (11.9, 24.2). A unknown object with ID 13 is 28.6 meters away at (13.0, 25.5). A vehicle with ID 26 is 29.3 meters away at (15.9, 24.6). A unknown object with ID 34 is 29.4 meters away at (13.5, 26.2). A unknown object with ID 7 is 31.5 meters away at (14.9, 27.7). A unknown object with ID 6 is 33.2 meters away at (16.1, 29.1). A unknown object with ID 29 is 33.3 meters away at (-33.2, -2.5).", "velocity_description": "The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-5.060323  -6.0754724] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-53.04694747924805, 215.97647094726562)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 9.150967 20.347198], 22.31028175354004 meters away.)"}
{"file_name": "images/scenario_1064_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.3) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 17.1 meters away at (-12.8, 11.3). A unknown object with ID 25 is 18.5 meters away at (-14.7, 11.3). A unknown object with ID 9 is 19.9 meters away at (-14.3, 13.7). A unknown object with ID 11 is 20.2 meters away at (-16.6, 11.6). A unknown object with ID 13 is 22.2 meters away at (-18.5, 12.2). A unknown object with ID 15 is 24.0 meters away at (-20.2, 13.1). A unknown object with ID 16 is 25.8 meters away at (-21.7, 13.9). A unknown object with ID 17 is 27.5 meters away at (-23.3, 14.6). A unknown object with ID 18 is 29.4 meters away at (-25.0, 15.5). A unknown object with ID 20 is 31.4 meters away at (-26.7, 16.4).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[13.476154 -6.758474]\n [11.751741 -1.655068]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-12.796694  11.308477], 17.077383041381836 meters away.)"}
{"file_name": "images/scenario_1064_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 17.3 meters away at (-13.1, 11.3). A unknown object with ID 25 is 18.8 meters away at (-15.1, 11.2). A unknown object with ID 11 is 20.7 meters away at (-17.1, 11.6). A unknown object with ID 13 is 22.5 meters away at (-18.8, 12.2). A unknown object with ID 15 is 24.3 meters away at (-20.5, 13.0). A unknown object with ID 16 is 26.3 meters away at (-22.3, 14.0). A vehicle with ID 8 is 26.5 meters away at (-23.6, 12.1). A unknown object with ID 17 is 27.7 meters away at (-23.6, 14.7). A unknown object with ID 18 is 30.0 meters away at (-25.5, 15.7). A unknown object with ID 5 is 31.7 meters away at (-23.0, 21.9).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 6.296256 -2.725815] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[13.476154 -6.758474]\n [11.751741 -1.655068]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-13.0933275  11.270508 ], 17.275981903076172 meters away.)"}
{"file_name": "images/scenario_1064_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 13.9 meters away at (-11.6, 7.6). A unknown object with ID 19 is 17.3 meters away at (-13.2, 11.3). A vehicle with ID 2 is 17.9 meters away at (15.7, -8.5). A unknown object with ID 25 is 18.9 meters away at (-15.2, 11.2). A unknown object with ID 5 is 31.8 meters away at (-23.0, 21.9). A unknown object with ID 37 is 50.7 meters away at (-47.4, 18.0). A unknown object with ID 36 is 50.7 meters away at (-46.3, 20.9). A unknown object with ID 29 is 52.1 meters away at (-46.6, 23.1). A unknown object with ID 1 is 54.5 meters away at (-48.4, 25.0).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 5.1864657 -1.7783989] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0.15129173 8.564193  ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[13.476154  -6.758474 ]\n [11.751741  -1.655068 ]\n [12.545688   1.6378201]\n [12.3175335  2.7027056]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-11.553177    7.6471415], 13.85477066040039 meters away.)"}
{"file_name": "images/scenario_1064_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 5.8 meters away at (-3.2, 4.8). A unknown object with ID 19 is 17.2 meters away at (-13.0, 11.3). A unknown object with ID 25 is 18.8 meters away at (-15.1, 11.2). A vehicle with ID 2 is 19.1 meters away at (15.7, 10.8). A unknown object with ID 10 is 20.5 meters away at (-16.9, 11.6). A unknown object with ID 12 is 22.4 meters away at (-18.8, 12.2). A unknown object with ID 14 is 24.3 meters away at (-20.5, 13.1). A unknown object with ID 36 is 50.7 meters away at (-46.3, 20.8). A unknown object with ID 37 is 50.8 meters away at (-47.4, 18.0). A unknown object with ID 29 is 52.1 meters away at (-46.7, 23.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.6071594 -0.8316966] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.06546441 10.877349  ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[13.476154  -6.758474 ]\n [11.751741  -1.655068 ]\n [12.545688   1.6378201]\n [12.3175335  2.7027056]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.2337475  4.8457265], 5.825649261474609 meters away.)"}
{"file_name": "images/scenario_1065_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.6) m/s. Its current heading (yaw) is -2.16 ", "actor_description": " The most relevant actors are: A unknown object with ID 89 is 8.9 meters away at (-1.3, 8.9). A unknown object with ID 100 is 12.1 meters away at (-12.0, -1.9). A unknown object with ID 81 is 12.9 meters away at (-12.5, -2.8). A unknown object with ID 95 is 16.2 meters away at (15.7, 4.1). A unknown object with ID 103 is 18.2 meters away at (5.8, -17.2). A unknown object with ID 94 is 19.0 meters away at (5.0, 18.3). A unknown object with ID 104 is 29.7 meters away at (12.3, -27.1). A unknown object with ID 105 is 31.9 meters away at (16.8, -27.2). A vehicle with ID 8 is 33.7 meters away at (-33.1, -6.4). A unknown object with ID 106 is 34.0 meters away at (20.5, -27.1).", "velocity_description": "The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 4.1871653 -2.802866 ] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-43.39153289794922, -3.231323719024658)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.3092499  8.850652 ], 8.946964263916016 meters away.)"}
{"file_name": "images/scenario_1065_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 89 is 9.8 meters away at (-0.7, 9.8). A unknown object with ID 100 is 11.5 meters away at (-11.4, -1.0). A unknown object with ID 81 is 12.0 meters away at (-11.9, -1.9). A unknown object with ID 95 is 17.1 meters away at (16.3, 5.1). A unknown object with ID 103 is 17.5 meters away at (6.4, -16.3). A unknown object with ID 94 is 20.1 meters away at (5.6, 19.3). A vehicle with ID 8 is 27.7 meters away at (-26.0, -9.6). A unknown object with ID 104 is 29.1 meters away at (12.9, -26.1). A unknown object with ID 105 is 31.5 meters away at (17.4, -26.3). A unknown object with ID 106 is 33.6 meters away at (21.1, -26.2).", "velocity_description": "The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.3523896 -1.3693224] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-43.39153289794922, -3.231323719024658)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.72429657  9.78034   ], 9.807123184204102 meters away.)"}
{"file_name": "images/scenario_1065_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -3.7) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A unknown object with ID 81 is 9.8 meters away at (-9.6, 1.8). A unknown object with ID 89 is 13.6 meters away at (1.7, 13.5). A unknown object with ID 103 is 15.4 meters away at (8.7, -12.6). A unknown object with ID 95 is 20.7 meters away at (18.7, 8.7). A vehicle with ID 8 is 22.6 meters away at (-21.4, -7.5). A unknown object with ID 94 is 24.3 meters away at (8.0, 22.9). A unknown object with ID 104 is 27.2 meters away at (15.3, -22.5). A unknown object with ID 105 is 30.0 meters away at (19.8, -22.6). A pedestrian with ID 91 is 30.9 meters away at (-29.2, -10.1). A unknown object with ID 106 is 32.5 meters away at (23.4, -22.5).", "velocity_description": "The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.5047491  -0.19290593] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 1.1216649  -0.74210215] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-43.39153289794922, -3.231323719024658)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.611849   1.7679672], 9.773093223571777 meters away.)"}
{"file_name": "images/scenario_1065_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -6.9) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 81 is 13.2 meters away at (-2.8, 12.9). A vehicle with ID 8 is 14.5 meters away at (-14.1, 3.2). A unknown object with ID 103 is 15.6 meters away at (15.5, -1.7). A pedestrian with ID 91 is 19.9 meters away at (-19.9, -0.3). A unknown object with ID 104 is 24.9 meters away at (22.1, -11.4). A unknown object with ID 89 is 25.9 meters away at (8.5, 24.5). A vehicle with ID 64 is 25.9 meters away at (-21.5, -14.5). A unknown object with ID 105 is 29.0 meters away at (26.5, -11.6). A unknown object with ID 95 is 32.3 meters away at (25.5, 19.8). A unknown object with ID 106 is 32.3 meters away at (30.2, -11.5).", "velocity_description": "The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.2629408  -0.28705853] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 1.0456244 -0.7631131] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-43.39153289794922, -3.231323719024658)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.7727032 12.892644 ], 13.187423706054688 meters away.)"}
{"file_name": "images/scenario_1066_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -3.0) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 14.3 meters away at (1.7, -14.2). A vehicle with ID 30 is 19.7 meters away at (-11.2, 16.2). A unknown object with ID 32 is 29.0 meters away at (-18.5, -22.4). A vehicle with ID 33 is 35.9 meters away at (-34.6, -9.5). A vehicle with ID 35 is 38.6 meters away at (-11.7, -36.7). A vehicle with ID 34 is 39.1 meters away at (-38.1, -8.9). A pedestrian with ID 9 is 43.5 meters away at (-42.3, -10.0). A pedestrian with ID 8 is 44.3 meters away at (-42.9, -11.0). A vehicle with ID 38 is 53.1 meters away at (-22.9, -48.0). A vehicle with ID 39 is 53.9 meters away at (-26.3, -47.0).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0.23539037 0.38679847] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.76236075 -0.7329895 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.73352367 -0.6315989 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0.44976088 0.6612855 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  1.6904635 -14.198176 ], 14.298457145690918 meters away.)"}
{"file_name": "images/scenario_1066_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -4.8) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 9.4 meters away at (-7.5, -5.6). A unknown object with ID 32 is 31.5 meters away at (-28.2, -14.0). A vehicle with ID 30 is 32.2 meters away at (-20.9, 24.5). A vehicle with ID 35 is 35.6 meters away at (-21.4, -28.5). A unknown object with ID 22 is 35.8 meters away at (-30.7, -18.4). A vehicle with ID 17 is 39.7 meters away at (-27.4, -28.7). A vehicle with ID 39 is 50.9 meters away at (-34.6, -37.3). A pedestrian with ID 8 is 51.1 meters away at (-51.0, -4.0). A vehicle with ID 44 is 58.6 meters away at (58.3, -5.7). A unknown object with ID 29 is 71.4 meters away at (-40.8, 58.5).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0.68341285 0.49311832] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0.3145752  0.36767095] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.87489563 -0.7229232 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.466326  -5.6357584], 9.354559898376465 meters away.)"}
{"file_name": "images/scenario_1066_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -6.1) m/s. Its current heading (yaw) is -0.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 19.3 meters away at (-17.6, 7.8). A vehicle with ID 35 is 38.3 meters away at (-34.4, -16.9). A unknown object with ID 20 is 45.1 meters away at (43.2, -13.2). A vehicle with ID 44 is 46.0 meters away at (45.6, 6.0). A vehicle with ID 30 is 49.2 meters away at (-33.7, 35.9). A vehicle with ID 14 is 56.6 meters away at (-37.9, 42.0). A pedestrian with ID 3 is 58.7 meters away at (49.4, -31.6). A pedestrian with ID 8 is 62.2 meters away at (-61.9, 6.6).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [2.6799304 1.5483176] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-2.1743975  1.2480736] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 1.0445757 -0.5089784] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-17.64888     7.7945614], 19.293474197387695 meters away.)"}
{"file_name": "images/scenario_1066_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -6.2) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 32.2 meters away at (-24.6, 20.8). A pedestrian with ID 3 is 34.7 meters away at (30.6, -16.3). A vehicle with ID 44 is 36.9 meters away at (31.7, 18.8). A vehicle with ID 35 is 48.8 meters away at (-48.6, -4.3). A vehicle with ID 30 is 68.3 meters away at (-48.1, 48.5). A vehicle with ID 1 is 74.1 meters away at (61.7, -41.1). A vehicle with ID 14 is 75.7 meters away at (-52.3, 54.6). A pedestrian with ID 8 is 76.6 meters away at (-74.2, 19.0). A pedestrian with ID 28 is 76.8 meters away at (-74.0, 20.3).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.5476665 -2.009964 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-2.20068    1.3890989] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.835055   -0.22897781] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.75930905 -0.6442739 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[116.52438  -84.94699 ]\n [116.26286  -84.890564]\n [116.4477   -84.87578 ]\n [114.88325  -86.60319 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-24.581726  20.841757], 32.22793960571289 meters away.)"}
{"file_name": "images/scenario_1067_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -9.8) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 8.3 meters away at (0.2, 8.3). A vehicle with ID 43 is 11.3 meters away at (1.0, -11.2). A vehicle with ID 7 is 15.5 meters away at (-9.9, -12.0). A vehicle with ID 53 is 16.6 meters away at (-15.8, 5.2). A vehicle with ID 41 is 18.0 meters away at (-5.3, 17.2). A vehicle with ID 52 is 20.1 meters away at (-16.7, 11.1). A vehicle with ID 8 is 27.2 meters away at (-15.9, -22.1). A vehicle with ID 5 is 34.9 meters away at (11.0, 33.2). A vehicle with ID 17 is 39.4 meters away at (-33.7, -20.4). A unknown object with ID 44 is 41.3 meters away at (41.3, -0.3).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ -6.680627 -13.832245] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-0.80938953 -0.3680221 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -7.29348  -13.157554] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 7.215504 15.01988 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.562568 13.985287] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ -7.7266803 -13.121499 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -5.31619 -14.59505] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.519478 13.6985  ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.4029708  3.1513731]]", "nav_goal": "(-130.61512756347656, -255.72703552246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.24471092 8.313944  ], 8.317544937133789 meters away.)"}
{"file_name": "images/scenario_1067_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -10.0) m/s. Its current heading (yaw) is -2.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 3.9 meters away at (-3.7, 1.1). A vehicle with ID 43 is 13.9 meters away at (11.1, 8.4). A vehicle with ID 7 is 23.1 meters away at (-14.9, -17.7). A vehicle with ID 5 is 26.3 meters away at (9.5, 24.6). A vehicle with ID 17 is 28.5 meters away at (-7.4, 27.5). A vehicle with ID 8 is 35.2 meters away at (-21.9, -27.6). A vehicle with ID 41 is 37.4 meters away at (5.3, 37.0). A vehicle with ID 20 is 39.9 meters away at (-35.7, -17.7). A unknown object with ID 13 is 42.0 meters away at (40.1, -12.6). A vehicle with ID 9 is 47.9 meters away at (20.7, 43.2).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ -7.856951 -13.324237] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -8.351086 -12.374106] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -6.9658785 -13.951216 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.138038 14.640168] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ -8.704112 -12.430261] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [10.959199 16.500149] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -5.6481776 -12.970111 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.4029708  3.1513731]]", "nav_goal": "(-130.61512756347656, -255.72703552246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6972866  1.1055222], 3.8590292930603027 meters away.)"}
{"file_name": "images/scenario_1067_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, -9.8) m/s. Its current heading (yaw) is -2.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 9.9 meters away at (-8.3, -5.4). A vehicle with ID 5 is 18.9 meters away at (6.9, 17.6). A vehicle with ID 7 is 29.7 meters away at (-19.8, -22.2). A vehicle with ID 20 is 35.6 meters away at (-2.7, 35.5). A vehicle with ID 37 is 36.2 meters away at (-34.6, -10.7). A vehicle with ID 43 is 36.4 meters away at (23.2, 28.0). A vehicle with ID 8 is 41.9 meters away at (-26.9, -32.1). A vehicle with ID 9 is 42.6 meters away at (20.9, 37.2). A unknown object with ID 13 is 52.7 meters away at (52.2, 7.0). A vehicle with ID 14 is 55.5 meters away at (-46.4, -30.5).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [ -9.137308 -13.305595] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -8.061628 -12.939114] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -8.946822 -12.050507] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 9.55347  17.480427] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 8.570382 12.509869] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ -8.64969 -11.97866] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -6.6447234 -12.925728 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.987718 11.958156] m/s.", "light_description": "There are active red lights at the following coordinates: [[-2.4029708  3.1513731]]", "nav_goal": "(-130.61512756347656, -255.72703552246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.2863655 -5.3553963], 9.866312980651855 meters away.)"}
{"file_name": "images/scenario_1067_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, -9.2) m/s. Its current heading (yaw) is -2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 12.1 meters away at (3.7, 11.5). A vehicle with ID 16 is 16.2 meters away at (-11.4, 11.5). A vehicle with ID 6 is 18.2 meters away at (-12.9, -12.8). A vehicle with ID 14 is 19.8 meters away at (-14.7, 13.3). A vehicle with ID 25 is 25.8 meters away at (-25.0, -6.3). A vehicle with ID 40 is 33.2 meters away at (-31.6, -10.0). A vehicle with ID 37 is 33.6 meters away at (-4.5, 33.3). A vehicle with ID 7 is 36.6 meters away at (-24.6, -27.1). A vehicle with ID 9 is 37.2 meters away at (20.4, 31.1). A vehicle with ID 8 is 47.4 meters away at (-30.4, -36.3).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ -8.9372  -12.45548] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [11.042134 15.415285] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ -8.98292  -13.325622] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.769666 12.382508] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [11.031827 15.154185] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 8.64128  11.470812] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 7.984945 12.593078] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -9.299196 -12.249844] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -7.410334 -12.266739] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ -8.313953 -11.272634] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-130.61512756347656, -255.72703552246094)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.7065926 11.48304  ], 12.066442489624023 meters away.)"}
{"file_name": "images/scenario_1068_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -0.0) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A unknown object with ID 100 is 7.6 meters away at (3.4, -6.8). A unknown object with ID 97 is 8.6 meters away at (1.6, -8.4). A unknown object with ID 95 is 8.7 meters away at (-2.1, -8.4). A unknown object with ID 105 is 9.8 meters away at (6.2, -7.6). A unknown object with ID 103 is 9.8 meters away at (5.1, -8.4). A pedestrian with ID 78 is 10.0 meters away at (-5.1, -8.6). A vehicle with ID 99 is 10.2 meters away at (1.8, 10.0). A unknown object with ID 107 is 10.2 meters away at (6.9, -7.5). A vehicle with ID 96 is 11.9 meters away at (-1.8, 11.7). A unknown object with ID 75 is 12.0 meters away at (8.6, -8.4).", "velocity_description": "The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(150.84051513671875, 89.21580505371094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 3.3601542 -6.7814527], 7.568272113800049 meters away.)"}
{"file_name": "images/scenario_1068_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -0.1) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A unknown object with ID 112 is 8.3 meters away at (-4.3, -7.1). A unknown object with ID 59 is 8.4 meters away at (-0.2, -8.4). A unknown object with ID 44 is 8.5 meters away at (1.5, -8.4). A unknown object with ID 111 is 8.8 meters away at (-5.0, -7.2). A unknown object with ID 45 is 8.8 meters away at (-2.6, -8.4). A unknown object with ID 49 is 8.8 meters away at (-5.2, -7.1). A unknown object with ID 42 is 8.8 meters away at (-3.0, -8.3). A unknown object with ID 43 is 9.0 meters away at (3.3, -8.4). A unknown object with ID 110 is 9.3 meters away at (-5.7, -7.3). A unknown object with ID 109 is 9.5 meters away at (-6.0, -7.3).", "velocity_description": "The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(150.84051513671875, 89.21580505371094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-4.2697754 -7.1402125], 8.319472312927246 meters away.)"}
{"file_name": "images/scenario_1068_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.8, -0.2) m/s. Its current heading (yaw) is -0.02 ", "actor_description": " The most relevant actors are: A unknown object with ID 70 is 8.8 meters away at (-3.6, -8.1). A unknown object with ID 120 is 9.6 meters away at (-6.0, -7.5). A vehicle with ID 87 is 10.1 meters away at (3.4, 9.5). A vehicle with ID 122 is 11.0 meters away at (-2.1, 10.8). A unknown object with ID 54 is 11.1 meters away at (-7.3, -8.4). A vehicle with ID 37 is 11.8 meters away at (5.8, 10.2). A vehicle with ID 125 is 12.0 meters away at (0.6, 12.0). A unknown object with ID 52 is 12.2 meters away at (-8.7, -8.5). A unknown object with ID 48 is 12.8 meters away at (-9.6, -8.4). A unknown object with ID 64 is 12.9 meters away at (2.4, 12.7).", "velocity_description": "The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(150.84051513671875, 89.21580505371094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.6229134 -8.058137 ], 8.835104942321777 meters away.)"}
{"file_name": "images/scenario_1068_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -0.1) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A unknown object with ID 88 is 10.7 meters away at (3.9, -9.9). A unknown object with ID 76 is 11.2 meters away at (-4.3, -10.4). A unknown object with ID 80 is 11.2 meters away at (9.2, -6.5). A vehicle with ID 37 is 14.2 meters away at (-9.7, 10.4). A unknown object with ID 83 is 15.4 meters away at (11.5, -10.2). A vehicle with ID 87 is 15.5 meters away at (-12.1, 9.7). A vehicle with ID 125 is 19.3 meters away at (-15.0, 12.1). A unknown object with ID 70 is 20.7 meters away at (-19.1, -7.9). A vehicle with ID 122 is 20.8 meters away at (-17.7, 11.0). A vehicle with ID 77 is 24.3 meters away at (-17.6, 16.7).", "velocity_description": "The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(150.84051513671875, 89.21580505371094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 3.9323883 -9.911932 ], 10.663492202758789 meters away.)"}
{"file_name": "images/scenario_1069_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -5.7) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 30.9 meters away at (14.9, 27.1). A vehicle with ID 40 is 31.7 meters away at (-18.0, -26.1). A vehicle with ID 41 is 32.2 meters away at (-20.5, -24.8). A vehicle with ID 23 is 33.4 meters away at (-23.2, -24.0). A vehicle with ID 42 is 33.8 meters away at (-13.1, -31.2). A vehicle with ID 37 is 35.4 meters away at (-4.1, -35.1). A vehicle with ID 11 is 40.9 meters away at (-15.2, -38.0). A pedestrian with ID 39 is 49.9 meters away at (-5.3, -49.6). A pedestrian with ID 44 is 50.0 meters away at (-6.1, -49.7). A vehicle with ID 1 is 63.2 meters away at (-22.2, -59.2).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.8474402 -2.981262 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.23973782 1.0772142 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.27267128 1.1424533 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(6.65534782409668, -233.2603759765625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [14.933315 27.090626], 30.933895111083984 meters away.)"}
{"file_name": "images/scenario_1069_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.4) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 19.4 meters away at (-14.0, -13.4). A vehicle with ID 41 is 20.5 meters away at (-16.5, -12.1). A vehicle with ID 42 is 20.6 meters away at (-9.1, -18.5). A vehicle with ID 23 is 22.2 meters away at (-19.2, -11.2). A vehicle with ID 37 is 22.5 meters away at (-0.1, -22.5). A vehicle with ID 18 is 24.3 meters away at (-21.8, -10.9). A vehicle with ID 28 is 26.3 meters away at (-24.4, -9.9). A vehicle with ID 11 is 27.6 meters away at (-11.2, -25.3). A vehicle with ID 22 is 28.8 meters away at (-27.3, -9.2). A vehicle with ID 8 is 31.0 meters away at (9.4, 29.5).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.4865706 -6.7417154] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(6.65534782409668, -233.2603759765625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-13.991141 -13.399155], 19.372386932373047 meters away.)"}
{"file_name": "images/scenario_1069_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -6.0) m/s. Its current heading (yaw) is -1.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 7.9 meters away at (-5.2, -5.9). A vehicle with ID 40 is 10.2 meters away at (-10.2, -0.9). A vehicle with ID 37 is 10.6 meters away at (3.7, -10.0). A vehicle with ID 41 is 12.7 meters away at (-12.7, 0.4). A vehicle with ID 11 is 14.7 meters away at (-7.4, -12.6). A vehicle with ID 23 is 15.3 meters away at (-15.2, 1.1). A vehicle with ID 18 is 17.9 meters away at (-17.9, 1.6). A unknown object with ID 20 is 20.6 meters away at (12.6, 16.3). A vehicle with ID 28 is 20.6 meters away at (-20.5, 2.5). A pedestrian with ID 3 is 20.8 meters away at (3.8, -20.5).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.27020895 0.9850551 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(6.65534782409668, -233.2603759765625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.2434626 -5.944168 ], 7.9263505935668945 meters away.)"}
{"file_name": "images/scenario_1069_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -4.8) m/s. Its current heading (yaw) is -1.95 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 4.2 meters away at (-3.9, -1.7). A vehicle with ID 42 is 5.2 meters away at (-1.8, 4.9). A vehicle with ID 37 is 7.2 meters away at (7.2, 1.0). A pedestrian with ID 44 is 10.9 meters away at (7.0, -8.3). A pedestrian with ID 3 is 11.0 meters away at (7.9, -7.6). A pedestrian with ID 39 is 11.4 meters away at (7.6, -8.5). A vehicle with ID 40 is 12.1 meters away at (-6.7, 10.0). A vehicle with ID 41 is 14.5 meters away at (-9.2, 11.3). A vehicle with ID 23 is 17.0 meters away at (-11.9, 12.1). A vehicle with ID 18 is 19.1 meters away at (-14.3, 12.6).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.3334936 0.9406858] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.31782234 0.96423465] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.29655826 0.9628301 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(6.65534782409668, -233.2603759765625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.9010487 -1.6761818], 4.245911598205566 meters away.)"}
{"file_name": "images/scenario_1070_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.8, -0.6) m/s. Its current heading (yaw) is -0.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 14.3 meters away at (-11.4, -8.6). A vehicle with ID 35 is 16.0 meters away at (-14.1, -7.4). A vehicle with ID 33 is 17.7 meters away at (-16.4, -6.6). A vehicle with ID 43 is 19.1 meters away at (12.7, -14.2). A vehicle with ID 34 is 20.3 meters away at (-19.3, -6.3). A vehicle with ID 46 is 25.0 meters away at (12.7, -21.6). A pedestrian with ID 37 is 28.1 meters away at (-24.8, 13.3). A vehicle with ID 42 is 30.1 meters away at (-6.6, -29.4). A vehicle with ID 45 is 30.3 meters away at (-3.6, -30.0). A unknown object with ID 38 is 37.7 meters away at (-37.7, 0.5).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.4568545  -0.32477105] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-11.441505  -8.58733 ], 14.30560302734375 meters away.)"}
{"file_name": "images/scenario_1070_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 14.0 meters away at (-3.4, -13.6). A vehicle with ID 46 is 21.3 meters away at (-3.4, -21.0). A vehicle with ID 36 is 28.7 meters away at (-27.6, -7.9). A vehicle with ID 35 is 31.1 meters away at (-30.3, -6.9). A vehicle with ID 33 is 33.0 meters away at (-32.5, -6.0). A vehicle with ID 45 is 35.5 meters away at (-19.8, -29.5). A vehicle with ID 34 is 35.9 meters away at (-35.4, -5.7). A vehicle with ID 42 is 36.7 meters away at (-22.7, -28.8). A pedestrian with ID 37 is 40.3 meters away at (-38.1, 13.0). A vehicle with ID 27 is 41.6 meters away at (-15.9, -38.5).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.4761987  -0.30371347] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -3.3784943 -13.621524 ], 14.034249305725098 meters away.)"}
{"file_name": "images/scenario_1070_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, 0.2) m/s. Its current heading (yaw) is 0.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 24.4 meters away at (-20.2, -13.7). A unknown object with ID 29 is 44.6 meters away at (41.9, 15.4). A vehicle with ID 36 is 45.2 meters away at (-44.5, -7.9). A vehicle with ID 45 is 47.1 meters away at (-36.7, -29.5). A vehicle with ID 35 is 47.8 meters away at (-47.2, -7.0). A vehicle with ID 42 is 49.1 meters away at (-39.7, -28.9). A vehicle with ID 33 is 49.9 meters away at (-49.5, -6.2). A vehicle with ID 34 is 52.7 meters away at (-52.4, -5.8). A pedestrian with ID 37 is 53.5 meters away at (-52.1, 12.4). A unknown object with ID 38 is 70.9 meters away at (-70.9, 1.0).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.4528083  -0.22479306] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-20.2495   -13.695408], 24.44598960876465 meters away.)"}
{"file_name": "images/scenario_1070_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, 0.5) m/s. Its current heading (yaw) is 0.05 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 28.5 meters away at (24.4, 14.7). A vehicle with ID 43 is 40.3 meters away at (-37.7, -14.3). A vehicle with ID 28 is 41.1 meters away at (-7.7, -40.4). A vehicle with ID 22 is 49.7 meters away at (-6.7, -49.2). A vehicle with ID 45 is 62.0 meters away at (-54.2, -30.1). A vehicle with ID 36 is 62.5 meters away at (-61.9, -8.5). A vehicle with ID 42 is 64.3 meters away at (-57.2, -29.4). A vehicle with ID 35 is 65.2 meters away at (-64.8, -7.6). A pedestrian with ID 37 is 67.5 meters away at (-66.5, 11.3).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.3778564  -0.20807251] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [24.426361 14.700675], 28.508892059326172 meters away.)"}
{"file_name": "images/scenario_1071_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -5.1) m/s. Its current heading (yaw) is -1.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 3.3 meters away at (-3.0, 1.2). A pedestrian with ID 44 is 18.0 meters away at (13.6, 11.7). A pedestrian with ID 8 is 18.7 meters away at (13.9, 12.6). A vehicle with ID 48 is 23.9 meters away at (23.9, -0.5). A vehicle with ID 12 is 28.9 meters away at (28.9, -1.4). A vehicle with ID 46 is 29.2 meters away at (5.5, 28.7). A vehicle with ID 47 is 29.7 meters away at (14.9, 25.7). A vehicle with ID 29 is 31.4 meters away at (31.3, -2.0). A vehicle with ID 24 is 34.0 meters away at (33.9, -2.9). A vehicle with ID 49 is 34.7 meters away at (7.4, 33.9).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.00686295 0.06870392] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.03404998 0.38021922] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.09867095947266, -153.69248962402344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.034261   1.2294888], 3.2738940715789795 meters away.)"}
{"file_name": "images/scenario_1071_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -5.2) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 11.7 meters away at (0.2, 11.7). A vehicle with ID 32 is 23.6 meters away at (0.4, -23.6). A pedestrian with ID 44 is 28.3 meters away at (17.0, 22.6). A vehicle with ID 48 is 29.1 meters away at (27.3, 10.0). A vehicle with ID 2 is 30.7 meters away at (-18.4, -24.6). A vehicle with ID 12 is 33.5 meters away at (32.3, 9.1). A unknown object with ID 33 is 37.2 meters away at (4.2, 36.9). A vehicle with ID 46 is 40.2 meters away at (8.8, 39.2). A vehicle with ID 47 is 40.6 meters away at (18.3, 36.2). A vehicle with ID 49 is 45.8 meters away at (10.7, 44.5).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.509473   1.5377034] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.1481936  0.75979006] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.09867095947266, -153.69248962402344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.21633577 11.661753  ], 11.663759231567383 meters away.)"}
{"file_name": "images/scenario_1071_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -2.6) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 14.3 meters away at (-7.9, -11.9). A vehicle with ID 15 is 18.5 meters away at (-18.3, -2.3). A vehicle with ID 7 is 19.9 meters away at (2.9, 19.7). A vehicle with ID 4 is 22.3 meters away at (-22.3, -0.9). A vehicle with ID 2 is 22.9 meters away at (-15.7, -16.6). A vehicle with ID 3 is 25.0 meters away at (-19.6, -15.5). A vehicle with ID 17 is 27.6 meters away at (-22.9, -15.3). A vehicle with ID 18 is 29.8 meters away at (-26.9, -12.8). A vehicle with ID 23 is 31.7 meters away at (29.6, 11.3). A pedestrian with ID 44 is 38.8 meters away at (20.2, 33.2).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [-6.4855666  2.127805 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.4242003 1.0933504] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.09867095947266, -153.69248962402344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -7.852766 -11.909971], 14.2658109664917 meters away.)"}
{"file_name": "images/scenario_1071_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.3) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A cyclist with ID 39 is 11.3 meters away at (-5.0, -10.2). A vehicle with ID 15 is 17.7 meters away at (-17.7, -0.1). A vehicle with ID 2 is 20.8 meters away at (-15.0, -14.4). A vehicle with ID 4 is 21.8 meters away at (-21.7, 1.3). A vehicle with ID 7 is 22.2 meters away at (3.6, 21.9). A vehicle with ID 3 is 23.1 meters away at (-18.8, -13.4). A vehicle with ID 17 is 25.8 meters away at (-22.2, -13.1). A vehicle with ID 18 is 28.4 meters away at (-26.3, -10.7). A vehicle with ID 23 is 33.1 meters away at (30.3, 13.5). A vehicle with ID 45 is 43.4 meters away at (-6.7, -42.8).", "velocity_description": "The cyclist with ID 39 is traveling at a (x, y) velocity of [-0.15144873  0.14169276] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.09867095947266, -153.69248962402344)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ -4.978076 -10.182184], 11.33393669128418 meters away.)"}
{"file_name": "images/scenario_1072_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 1.3) m/s. Its current heading (yaw) is 1.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 14.5 meters away at (-1.7, -14.4). A pedestrian with ID 9 is 18.4 meters away at (3.6, -18.0). A unknown object with ID 4 is 29.1 meters away at (5.1, -28.6). A vehicle with ID 10 is 38.5 meters away at (19.5, -33.2). A vehicle with ID 11 is 65.5 meters away at (-6.5, 65.2).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.42136547 -0.8933869 ] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0.3315148 3.4774535] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ -1.6770194 -14.414933 ], 14.51215648651123 meters away.)"}
{"file_name": "images/scenario_1072_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.0) m/s. Its current heading (yaw) is 1.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 17.8 meters away at (-2.8, -17.6). A pedestrian with ID 9 is 23.4 meters away at (3.4, -23.2). A vehicle with ID 10 is 40.8 meters away at (18.3, -36.4). A vehicle with ID 11 is 69.2 meters away at (-6.9, 68.8). A pedestrian with ID 5 is 70.9 meters away at (22.4, -67.3).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.5366297 -1.1027157] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0.30973524 3.4840991 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.01215325  0.01387407] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -2.8024776 -17.58746  ], 17.80933952331543 meters away.)"}
{"file_name": "images/scenario_1072_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 2.5) m/s. Its current heading (yaw) is 1.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 22.2 meters away at (-2.8, -22.1). A pedestrian with ID 9 is 29.9 meters away at (4.3, -29.6). A vehicle with ID 10 is 44.9 meters away at (18.4, -41.0). A vehicle with ID 11 is 71.1 meters away at (-6.1, 70.9). A pedestrian with ID 5 is 75.9 meters away at (22.3, -72.5).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.40049073 -0.94009906] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0.32137018 3.2403078 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.1663124  -0.10456329] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -2.7533169 -22.06031  ], 22.231464385986328 meters away.)"}
{"file_name": "images/scenario_1072_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 2.8) m/s. Its current heading (yaw) is 1.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 27.3 meters away at (-1.4, -27.2). A pedestrian with ID 3 is 27.6 meters away at (-3.9, -27.3). A pedestrian with ID 9 is 37.0 meters away at (6.6, -36.4). A vehicle with ID 10 is 50.2 meters away at (19.8, -46.1). A vehicle with ID 11 is 72.5 meters away at (-4.1, 72.4).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9058194   0.44743145] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.5833884  -0.85307497] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0.46507576 3.5870948 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -1.3904208 -27.23751  ], 27.27297592163086 meters away.)"}
{"file_name": "images/scenario_1073_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.5) m/s. Its current heading (yaw) is -1.78 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 4.0 meters away at (3.8, 1.4). A pedestrian with ID 12 is 4.5 meters away at (4.0, 2.0). A pedestrian with ID 14 is 9.0 meters away at (5.6, 7.0). A cyclist with ID 24 is 30.8 meters away at (-10.4, -29.0). A vehicle with ID 25 is 61.4 meters away at (-5.0, -61.2). A vehicle with ID 26 is 72.8 meters away at (-4.4, -72.7).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00864557 0.0015355 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0149481   0.01028152] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.01877576 -0.02426681] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.4809929 10.145058 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.00850116 -0.48558474] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [3.7847652 1.3922386], 4.032712936401367 meters away.)"}
{"file_name": "images/scenario_1073_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -0.9) m/s. Its current heading (yaw) is -2.21 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 5.7 meters away at (4.5, 3.5). A pedestrian with ID 12 is 6.3 meters away at (4.8, 4.0). A unknown object with ID 2 is 7.3 meters away at (7.0, 2.1). A pedestrian with ID 14 is 11.2 meters away at (6.4, 9.2). A cyclist with ID 24 is 12.6 meters away at (-10.2, -7.4). A vehicle with ID 25 is 62.6 meters away at (-4.8, -62.4). A vehicle with ID 26 is 70.7 meters away at (-3.8, -70.6).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00405608 -0.00093558] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.09138893 -0.07775532] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00454866 -0.00702063] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.33373517  9.544003  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.6785033 -2.379697 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [4.5425673 3.5110128], 5.741265296936035 meters away.)"}
{"file_name": "images/scenario_1073_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.4) m/s. Its current heading (yaw) is -2.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 7.5 meters away at (5.7, 4.9). A pedestrian with ID 12 is 8.0 meters away at (5.9, 5.4). A unknown object with ID 2 is 8.9 meters away at (8.1, 3.5). A cyclist with ID 24 is 16.4 meters away at (-10.0, 13.0). A vehicle with ID 25 is 67.7 meters away at (-5.5, -67.5). A vehicle with ID 26 is 69.3 meters away at (-2.9, -69.3).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02493649  0.00651166] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.02806189  0.02709376] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.5064258  9.838202 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.8675443 -4.211754 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [5.7259283 4.8870554], 7.527918815612793 meters away.)"}
{"file_name": "images/scenario_1073_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -0.7) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 8.7 meters away at (6.6, 5.7). A pedestrian with ID 12 is 9.3 meters away at (6.8, 6.2). A unknown object with ID 2 is 10.0 meters away at (9.0, 4.3). A pedestrian with ID 11 is 14.2 meters away at (8.6, 11.3). A cyclist with ID 24 is 34.5 meters away at (-9.6, 33.1). A unknown object with ID 1 is 44.0 meters away at (17.3, -40.4). A vehicle with ID 26 is 68.5 meters away at (-1.9, -68.5). A vehicle with ID 25 is 76.9 meters away at (-5.0, -76.7).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.02490349 0.02018401] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.02853562 -0.00112927] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.04812529 -0.00140986] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.267155  9.737664] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.02865727 -5.81723   ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [6.6011133 5.702648 ], 8.723238945007324 meters away.)"}
{"file_name": "images/scenario_1074_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.2) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.0 meters away at (-0.2, -7.0). A vehicle with ID 17 is 11.5 meters away at (10.4, -5.0). A vehicle with ID 18 is 13.6 meters away at (8.0, -11.0). A pedestrian with ID 12 is 13.9 meters away at (10.4, 9.3). A cyclist with ID 21 is 14.2 meters away at (13.5, -4.5). A unknown object with ID 14 is 18.6 meters away at (-13.5, -12.8). A vehicle with ID 13 is 18.6 meters away at (-16.5, -8.7). A unknown object with ID 23 is 19.3 meters away at (-15.1, -12.1). A unknown object with ID 24 is 20.3 meters away at (-16.7, -11.4). A unknown object with ID 27 is 21.5 meters away at (-18.7, -10.5).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1934208 -1.0068665] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.01812353 -0.03733704] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.298517  3.814525] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 20.021317 -16.262474]\n [ 21.814928 -13.296929]\n [ 22.853449  -9.810922]\n [ 32.232796 -26.542906]\n [ 35.724094 -31.748043]\n [ 21.929573 -13.065417]\n [ 35.936527 -31.888464]\n [ 35.325207 -33.386436]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.23361087 -7.005378  ], 7.009271621704102 meters away.)"}
{"file_name": "images/scenario_1074_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.0 meters away at (-0.6, -6.9). A vehicle with ID 17 is 11.3 meters away at (10.2, -5.0). A vehicle with ID 18 is 13.3 meters away at (7.7, -10.9). A pedestrian with ID 12 is 13.9 meters away at (11.9, 7.2). A cyclist with ID 21 is 14.2 meters away at (13.5, -4.6). A unknown object with ID 23 is 19.5 meters away at (-15.3, -12.0). A unknown object with ID 24 is 20.6 meters away at (-17.2, -11.3). A unknown object with ID 27 is 21.7 meters away at (-19.0, -10.5). A unknown object with ID 31 is 23.3 meters away at (-21.3, -9.5). A unknown object with ID 32 is 25.4 meters away at (-24.0, -8.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.9618691 -1.1013893] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.04444488 -0.01390618] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 20.021317 -16.262474]\n [ 21.814928 -13.296929]\n [ 22.853449  -9.810922]\n [ 32.232796 -26.542906]\n [ 35.724094 -31.748043]\n [ 21.929573 -13.065417]\n [ 35.936527 -31.888464]\n [ 35.325207 -33.386436]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.574358 -6.939873], 6.963600158691406 meters away.)"}
{"file_name": "images/scenario_1074_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 7.0 meters away at (-0.6, -6.9). A vehicle with ID 17 is 11.2 meters away at (10.1, -5.0). A vehicle with ID 18 is 13.3 meters away at (7.6, -10.8). A cyclist with ID 21 is 14.3 meters away at (13.5, -4.6). A pedestrian with ID 12 is 14.6 meters away at (13.7, 5.0). A unknown object with ID 23 is 19.5 meters away at (-15.4, -12.0). A unknown object with ID 24 is 20.6 meters away at (-17.3, -11.3). A unknown object with ID 27 is 21.8 meters away at (-19.1, -10.5). A unknown object with ID 31 is 23.4 meters away at (-21.3, -9.5). A unknown object with ID 32 is 25.5 meters away at (-24.1, -8.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00227848  0.0113368 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.90882576 -1.0497974 ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 20.021317 -16.262474]\n [ 21.814928 -13.296929]\n [ 22.853449  -9.810922]\n [ 32.232796 -26.542906]\n [ 35.724094 -31.748043]\n [ 21.929573 -13.065417]\n [ 35.936527 -31.888464]\n [ 35.325207 -33.386436]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.64411616 -6.929033  ], 6.958906650543213 meters away.)"}
{"file_name": "images/scenario_1074_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 6.9 meters away at (-0.7, -6.9). A vehicle with ID 17 is 11.2 meters away at (10.0, -5.0). A vehicle with ID 18 is 13.2 meters away at (7.6, -10.8). A cyclist with ID 21 is 14.2 meters away at (13.5, -4.5). A pedestrian with ID 12 is 15.8 meters away at (15.6, 2.9). A unknown object with ID 23 is 19.5 meters away at (-15.4, -12.0). A unknown object with ID 24 is 20.6 meters away at (-17.3, -11.2). A unknown object with ID 27 is 21.8 meters away at (-19.1, -10.5). A unknown object with ID 31 is 23.4 meters away at (-21.4, -9.5). A unknown object with ID 32 is 25.5 meters away at (-24.1, -8.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.00406197 -0.00445266] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.9640787 -1.1508414] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 20.021317 -16.262474]\n [ 21.814928 -13.296929]\n [ 22.853449  -9.810922]\n [ 32.232796 -26.542906]\n [ 19.790037 -24.772785]\n [ 23.106314 -25.960058]\n [ 35.724094 -31.748043]\n [ 21.929573 -13.065417]\n [ 35.936527 -31.888464]\n [ 23.667774 -26.278826]\n [ 35.325207 -33.386436]\n [ 23.45201  -26.140158]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.6617818 -6.9066796], 6.938312530517578 meters away.)"}
{"file_name": "images/scenario_1075_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -1.9) m/s. Its current heading (yaw) is -0.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 15.8 meters away at (-0.7, -15.8). A vehicle with ID 17 is 24.5 meters away at (-19.3, 15.2). A vehicle with ID 18 is 45.8 meters away at (39.2, -23.7). A vehicle with ID 20 is 47.0 meters away at (37.4, -28.3). A vehicle with ID 19 is 68.6 meters away at (-64.9, 22.3).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(198.6494903564453, -148.9437713623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -0.6926584 -15.805225 ], 15.820395469665527 meters away.)"}
{"file_name": "images/scenario_1075_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -2.3) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A unknown object with ID 14 is 18.0 meters away at (-13.9, -11.4). A vehicle with ID 18 is 32.3 meters away at (26.0, -19.2). A vehicle with ID 20 is 34.0 meters away at (24.1, -24.0). A vehicle with ID 11 is 37.0 meters away at (22.3, -29.5). A vehicle with ID 17 is 38.0 meters away at (-32.6, 19.6).", "velocity_description": "The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(198.6494903564453, -148.9437713623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-13.924577 -11.440418], 18.021570205688477 meters away.)"}
{"file_name": "images/scenario_1075_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.2) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 19.3 meters away at (12.5, -14.7). A vehicle with ID 20 is 22.1 meters away at (10.8, -19.3). A vehicle with ID 12 is 25.8 meters away at (15.3, 20.7). A vehicle with ID 11 is 26.5 meters away at (8.8, -25.0). A unknown object with ID 14 is 28.1 meters away at (-27.3, -6.9). A vehicle with ID 15 is 32.7 meters away at (18.0, 27.3). A vehicle with ID 17 is 52.0 meters away at (-46.1, 24.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(198.6494903564453, -148.9437713623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 12.520786 -14.686903], 19.299617767333984 meters away.)"}
{"file_name": "images/scenario_1075_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.1) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 10.3 meters away at (-0.6, -10.3). A vehicle with ID 20 is 15.1 meters away at (-2.4, -14.9). A vehicle with ID 11 is 20.9 meters away at (-4.3, -20.5). A pedestrian with ID 9 is 23.5 meters away at (-9.9, -21.3). A vehicle with ID 12 is 25.2 meters away at (2.3, 25.1). A vehicle with ID 15 is 32.1 meters away at (4.8, 31.7). A vehicle with ID 17 is 65.9 meters away at (-59.3, 28.7). A pedestrian with ID 3 is 75.0 meters away at (74.2, -10.8). A pedestrian with ID 4 is 75.2 meters away at (74.3, -11.6). A cyclist with ID 16 is 76.2 meters away at (70.7, -28.5).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00575066  0.00494605] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.9751666  0.37630776] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.92683464 0.42076382] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.00279372  0.03694043] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(198.6494903564453, -148.9437713623047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -0.6007538 -10.303333 ], 10.320832252502441 meters away.)"}
{"file_name": "images/scenario_1076_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.7) m/s. Its current heading (yaw) is -1.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 3.5 meters away at (-3.4, -1.1). A vehicle with ID 3 is 6.9 meters away at (-1.8, -6.7). A pedestrian with ID 7 is 8.9 meters away at (-7.4, -5.0). A vehicle with ID 8 is 12.7 meters away at (4.5, 11.8). A vehicle with ID 43 is 15.2 meters away at (2.1, -15.0). A vehicle with ID 44 is 17.8 meters away at (-6.0, -16.8). A vehicle with ID 45 is 21.7 meters away at (4.3, 21.3). A vehicle with ID 46 is 27.0 meters away at (6.0, 26.3). A vehicle with ID 48 is 28.5 meters away at (-4.2, -28.1). A vehicle with ID 47 is 28.7 meters away at (27.5, 8.1).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.40210596 -1.0140202 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.39210978 -1.1703798 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.8331966 -2.2821543] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-1.5266205 -1.8560767] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 6.8967443 -2.6777775] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(105.87879180908203, -125.71504211425781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.352052  -1.1330643], 3.5383734703063965 meters away.)"}
{"file_name": "images/scenario_1076_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.2) m/s. Its current heading (yaw) is -1.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 3.1 meters away at (-3.0, 0.9). A vehicle with ID 3 is 7.9 meters away at (-2.6, -7.5). A pedestrian with ID 7 is 9.5 meters away at (-7.8, -5.5). A vehicle with ID 8 is 10.9 meters away at (3.6, 10.3). A vehicle with ID 43 is 13.2 meters away at (2.5, -13.0). A vehicle with ID 44 is 20.6 meters away at (-10.1, -18.0). A vehicle with ID 45 is 23.9 meters away at (4.6, 23.4). A vehicle with ID 46 is 29.1 meters away at (6.3, 28.4). A vehicle with ID 47 is 29.6 meters away at (27.8, 10.1). A vehicle with ID 25 is 30.4 meters away at (-19.0, -23.7).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.80064213 -2.1175978 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.40095922 -1.3028357 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.67327124 -1.7596191 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-2.8420138 -0.7450824] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(105.87879180908203, -125.71504211425781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.0097086  0.8620994], 3.130744457244873 meters away.)"}
{"file_name": "images/scenario_1076_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.7) m/s. Its current heading (yaw) is -1.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 4.2 meters away at (-2.2, 3.6). A pedestrian with ID 7 is 9.3 meters away at (-7.8, -5.1). A vehicle with ID 8 is 9.6 meters away at (3.0, 9.2). A vehicle with ID 3 is 10.2 meters away at (-3.4, -9.6). A vehicle with ID 43 is 10.7 meters away at (3.3, -10.2). A vehicle with ID 34 is 21.7 meters away at (-14.9, -15.7). A vehicle with ID 44 is 22.2 meters away at (-15.9, -15.5). A vehicle with ID 45 is 26.7 meters away at (5.4, 26.2). A vehicle with ID 25 is 27.7 meters away at (-18.3, -20.9). A pedestrian with ID 4 is 31.0 meters away at (-14.8, -27.2).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.41470662 -1.1146656 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.647592  -1.8887031] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.0221926 -3.1503105] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-3.8817322   0.82057756] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-3.9312718  0.8991766] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.35508037 1.0898635 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(105.87879180908203, -125.71504211425781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.2243943  3.5694335], 4.205803871154785 meters away.)"}
{"file_name": "images/scenario_1076_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.2) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 42 is 7.6 meters away at (-0.9, 7.5). A vehicle with ID 43 is 7.8 meters away at (4.6, -6.3). A pedestrian with ID 7 is 8.1 meters away at (-7.2, -3.5). A vehicle with ID 8 is 9.8 meters away at (3.0, 9.3). A vehicle with ID 3 is 16.3 meters away at (-5.3, -15.4). A vehicle with ID 31 is 22.1 meters away at (-22.0, -2.0). A vehicle with ID 25 is 23.9 meters away at (-17.0, -16.8). A pedestrian with ID 4 is 24.8 meters away at (-12.9, -21.2). A vehicle with ID 44 is 26.1 meters away at (-25.0, -7.2). A vehicle with ID 45 is 30.9 meters away at (6.8, 30.1).", "velocity_description": "The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.39301902 -1.2723857 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.6332785 -1.9398603] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.183068  -6.5408044] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.23703107 1.035285  ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-5.452377   2.1781576] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(105.87879180908203, -125.71504211425781)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.9219599  7.5414896], 7.5976362228393555 meters away.)"}
{"file_name": "images/scenario_1077_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 5.9 meters away at (1.9, 5.6). A vehicle with ID 64 is 8.1 meters away at (-7.8, 2.2). A vehicle with ID 62 is 8.1 meters away at (-3.4, 7.4). A vehicle with ID 65 is 14.2 meters away at (-14.1, 1.6). A vehicle with ID 67 is 17.4 meters away at (5.4, -16.5). A vehicle with ID 66 is 18.1 meters away at (-14.2, 11.1). A vehicle with ID 69 is 19.3 meters away at (-3.8, -18.9). A vehicle with ID 68 is 19.5 meters away at (-19.1, 3.6). A vehicle with ID 70 is 19.8 meters away at (-7.5, -18.4). A vehicle with ID 71 is 21.4 meters away at (15.8, 14.4).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 1.0853262 -0.4012495] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.09664916992188, -67.73902893066406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.9275486 5.557576 ], 5.882354736328125 meters away.)"}
{"file_name": "images/scenario_1077_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -0.9) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 6.3 meters away at (-0.2, 6.3). A vehicle with ID 64 is 9.3 meters away at (-8.9, 2.6). A vehicle with ID 62 is 9.8 meters away at (-5.5, 8.2). A vehicle with ID 67 is 16.1 meters away at (3.2, -15.8). A vehicle with ID 65 is 16.4 meters away at (-16.3, 2.4). A vehicle with ID 69 is 19.2 meters away at (-5.9, -18.3). A pedestrian with ID 73 is 19.8 meters away at (19.5, -3.8). A vehicle with ID 70 is 20.1 meters away at (-9.6, -17.7). A vehicle with ID 66 is 20.2 meters away at (-16.3, 11.8). A vehicle with ID 72 is 20.4 meters away at (1.7, -20.3).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 0.48257956 -0.16283534] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.4600305 1.1922172] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.09664916992188, -67.73902893066406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.21011877  6.298785  ], 6.302289009094238 meters away.)"}
{"file_name": "images/scenario_1077_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -2.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A pedestrian with ID 73 is 11.8 meters away at (11.7, 1.2). A vehicle with ID 61 is 12.7 meters away at (-8.7, 9.3). A pedestrian with ID 43 is 12.7 meters away at (6.1, -11.1). A vehicle with ID 67 is 13.9 meters away at (-5.3, -12.8). A vehicle with ID 83 is 13.9 meters away at (0.7, -13.9). A vehicle with ID 64 is 14.5 meters away at (-13.9, 4.4). A pedestrian with ID 54 is 15.3 meters away at (7.8, -13.1). A vehicle with ID 62 is 18.0 meters away at (-14.1, 11.2). A vehicle with ID 77 is 18.6 meters away at (9.0, -16.2). A vehicle with ID 72 is 18.6 meters away at (-6.7, -17.4).", "velocity_description": "The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.30982652 1.0207757 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0.23017064 0.7115355 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 2.487621  -0.8503052] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.00676461 -0.01028119] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.09664916992188, -67.73902893066406)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [11.688775   1.2340975], 11.753742218017578 meters away.)"}
{"file_name": "images/scenario_1077_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -2.6) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 3.8 meters away at (2.7, 2.7). A pedestrian with ID 73 is 8.2 meters away at (-1.3, 8.0). A pedestrian with ID 43 is 9.7 meters away at (-7.2, -6.6). A pedestrian with ID 54 is 10.2 meters away at (-5.5, -8.6). A vehicle with ID 58 is 11.4 meters away at (9.3, -6.5). A vehicle with ID 83 is 12.2 meters away at (-11.2, -4.8). A vehicle with ID 77 is 12.5 meters away at (-4.3, -11.8). A vehicle with ID 59 is 16.3 meters away at (16.3, 0.5). A unknown object with ID 60 is 19.4 meters away at (14.5, -12.9). A vehicle with ID 67 is 20.3 meters away at (-18.6, -8.2).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.44198823  0.15495446] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.32938784 1.0895466 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.01682548 -0.00749965] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.03424307 0.0075912 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [1.4341464 4.6259384] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.09664916992188, -67.73902893066406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.6632118 2.6675653], 3.769429922103882 meters away.)"}
{"file_name": "images/scenario_1078_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -8.3) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A pedestrian with ID 113 is 5.8 meters away at (-5.8, 0.6). A vehicle with ID 109 is 6.3 meters away at (6.2, -1.3). A vehicle with ID 111 is 6.6 meters away at (3.6, -5.5). A vehicle with ID 104 is 8.9 meters away at (8.5, 2.7). A vehicle with ID 103 is 12.8 meters away at (11.0, 6.6). A vehicle with ID 101 is 17.3 meters away at (13.6, 10.7). A vehicle with ID 100 is 22.4 meters away at (16.4, 15.3). A vehicle with ID 106 is 22.5 meters away at (14.2, 17.5). A vehicle with ID 102 is 27.7 meters away at (19.2, 20.0). A vehicle with ID 105 is 33.0 meters away at (21.9, 24.6).", "velocity_description": "The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.0268387 1.4102175] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [4.8959475 7.9806232] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.68040466308594, -252.1483612060547)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-5.809083   0.6423273], 5.844487190246582 meters away.)"}
{"file_name": "images/scenario_1078_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -8.4) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 111 is 17.7 meters away at (13.8, 11.1). A pedestrian with ID 113 is 21.1 meters away at (6.1, 20.2). A vehicle with ID 109 is 22.4 meters away at (16.3, 15.4). A vehicle with ID 123 is 25.9 meters away at (-8.3, -24.6). A vehicle with ID 104 is 26.9 meters away at (18.6, 19.4). A vehicle with ID 103 is 31.5 meters away at (21.1, 23.3). A vehicle with ID 126 is 31.5 meters away at (-11.4, -29.4). A vehicle with ID 101 is 36.2 meters away at (23.7, 27.4). A vehicle with ID 127 is 36.9 meters away at (-14.2, -34.1). A vehicle with ID 100 is 41.6 meters away at (26.5, 32.0).", "velocity_description": "The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [0.88154495 1.4537238 ] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.68040466308594, -252.1483612060547)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [13.76104  11.130289], 17.698856353759766 meters away.)"}
{"file_name": "images/scenario_1078_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -8.5) m/s. Its current heading (yaw) is -2.12 ", "actor_description": " The most relevant actors are: A pedestrian with ID 72 is 6.5 meters away at (-6.0, 2.3). A vehicle with ID 123 is 7.9 meters away at (2.2, -7.6). A vehicle with ID 126 is 12.4 meters away at (-0.9, -12.4). A vehicle with ID 127 is 17.4 meters away at (-3.6, -17.1). A vehicle with ID 66 is 22.6 meters away at (-6.4, -21.7). A vehicle with ID 45 is 28.1 meters away at (-9.4, -26.5). A vehicle with ID 47 is 32.9 meters away at (-12.2, -30.5). A vehicle with ID 111 is 37.1 meters away at (24.2, 28.1). A vehicle with ID 60 is 39.2 meters away at (-15.3, -36.1). A pedestrian with ID 43 is 41.7 meters away at (-24.8, -33.6).", "velocity_description": "The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.6742773  -0.98321265] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.01394602 -0.01395334] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.68040466308594, -252.1483612060547)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-6.0166454  2.326477 ], 6.45077657699585 meters away.)"}
{"file_name": "images/scenario_1078_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -8.2) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 6.4 meters away at (3.8, -5.1). A vehicle with ID 127 is 6.6 meters away at (6.6, -0.5). A vehicle with ID 45 is 10.0 meters away at (0.9, -9.9). A vehicle with ID 126 is 10.1 meters away at (9.2, 4.1). A vehicle with ID 47 is 14.1 meters away at (-1.9, -13.9). A vehicle with ID 123 is 15.2 meters away at (12.3, 8.9). A vehicle with ID 60 is 20.1 meters away at (-5.1, -19.4). A pedestrian with ID 43 is 22.4 meters away at (-14.6, -16.9). A vehicle with ID 70 is 34.2 meters away at (-29.6, -17.0). A vehicle with ID 68 is 41.1 meters away at (-39.6, -10.8).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.01689168 -0.00586905] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.68040466308594, -252.1483612060547)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.8254738 -5.0978394], 6.373556137084961 meters away.)"}
{"file_name": "images/scenario_1079_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, -4.7) m/s. Its current heading (yaw) is -2.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 9.4 meters away at (9.4, -0.6). A vehicle with ID 33 is 22.8 meters away at (-11.9, -19.5). A vehicle with ID 31 is 28.5 meters away at (1.4, -28.4). A cyclist with ID 32 is 31.6 meters away at (4.4, -31.3). A vehicle with ID 30 is 43.8 meters away at (-30.2, -31.7). A pedestrian with ID 29 is 44.0 meters away at (-33.3, -28.7). A pedestrian with ID 35 is 45.8 meters away at (-34.8, -29.7). A vehicle with ID 22 is 46.5 meters away at (-28.1, -37.1). A vehicle with ID 16 is 65.0 meters away at (-40.0, -51.2).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [9.734052 8.112157] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.057095 7.163551] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-0.01260365 -0.01140098] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-7.2019176 -7.752205 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.03607666  0.02635966] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.02866017 -0.00026682] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [4.1440215 4.799869 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [2.5736103 2.9348893] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.427531 -37.498745]\n [-26.96058  -20.051912]\n [-13.43159  -37.50475 ]\n [-26.590452 -20.900434]\n [-12.470704 -36.43819 ]\n [-13.220483 -37.638855]]", "nav_goal": "(-90.79407501220703, -36.89542007446289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 9.391306   -0.63658714], 9.412856101989746 meters away.)"}
{"file_name": "images/scenario_1079_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -3.6) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 16.1 meters away at (15.3, 5.1). A unknown object with ID 13 is 17.9 meters away at (8.8, 15.6). A vehicle with ID 22 is 18.7 meters away at (-7.7, -17.1). A unknown object with ID 19 is 21.6 meters away at (14.8, 15.8). A vehicle with ID 31 is 22.8 meters away at (11.6, -19.7). A cyclist with ID 32 is 26.9 meters away at (14.8, -22.5). A vehicle with ID 6 is 29.2 meters away at (-29.1, 2.4). A pedestrian with ID 29 is 30.8 meters away at (-23.6, -19.8). A pedestrian with ID 35 is 32.3 meters away at (-24.4, -21.2). A vehicle with ID 16 is 41.5 meters away at (-22.8, -34.7).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [9.816608 8.585709] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [5.994139 6.428642] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [0.02379231 0.01762759] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.068854  -2.8011992] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.49706858 -0.1780895 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.01305206 0.03989734] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [4.5910926 5.148329 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.615425 -25.97312 ]\n [-39.050964 -24.245712]\n [-13.427531 -37.498745]\n [-38.97429  -24.31692 ]\n [-13.43159  -37.50475 ]\n [-12.470704 -36.43819 ]\n [-39.23581  -24.260496]\n [-13.220483 -37.638855]]", "nav_goal": "(-90.79407501220703, -36.89542007446289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [15.285265  5.111602], 16.117313385009766 meters away.)"}
{"file_name": "images/scenario_1079_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -0.1) m/s. Its current heading (yaw) is -3.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 14.8 meters away at (14.8, 1.1). A vehicle with ID 6 is 15.3 meters away at (-15.1, 2.6). A vehicle with ID 16 is 18.6 meters away at (-3.4, -18.3). A pedestrian with ID 26 is 21.8 meters away at (-14.1, -16.6). A pedestrian with ID 29 is 22.2 meters away at (-15.5, -15.9). A pedestrian with ID 35 is 23.3 meters away at (-15.8, -17.2). A vehicle with ID 31 is 25.4 meters away at (20.1, -15.5). A unknown object with ID 13 is 26.3 meters away at (17.2, 19.8). A unknown object with ID 19 is 30.7 meters away at (23.1, 20.2). A vehicle with ID 33 is 52.9 meters away at (45.4, 27.1).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [7.9740334 7.305416 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 1.3650625 -0.9016799] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [6.3932076 7.1608562] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.01684633 -0.00106759] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01715422 -0.14068864] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.0166264  -0.00591628] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [11.545962  9.354418] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.615425 -25.97312 ]\n [-39.050964 -24.245712]\n [-38.97429  -24.31692 ]\n [-39.23581  -24.260496]]", "nav_goal": "(-90.79407501220703, -36.89542007446289)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [14.811613   1.0518017], 14.84891128540039 meters away.)"}
{"file_name": "images/scenario_1079_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.9) m/s. Its current heading (yaw) is 2.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 5.5 meters away at (-5.3, -1.1). A pedestrian with ID 29 is 19.9 meters away at (-6.4, -18.8). A vehicle with ID 16 is 20.8 meters away at (19.7, -6.8). A pedestrian with ID 35 is 21.4 meters away at (-7.0, -20.2). A vehicle with ID 31 is 34.6 meters away at (29.0, -18.9). A unknown object with ID 19 is 36.2 meters away at (32.0, 17.0). A vehicle with ID 7 is 42.1 meters away at (38.6, 17.0). A vehicle with ID 22 is 42.9 meters away at (41.0, 12.5). A vehicle with ID 4 is 56.0 meters away at (-53.7, -16.0). A vehicle with ID 11 is 60.6 meters away at (54.0, 27.4).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.1424007  0.01662572] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [7.9137526 7.6538653] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.01360283 0.06172764] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-8.650464  -6.0195026] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [9.191415 7.553999] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.970194 -7.410177] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.615425 -25.97312 ]\n [-39.050964 -24.245712]\n [-13.427531 -37.498745]\n [-26.96058  -20.051912]\n [-38.97429  -24.31692 ]\n [-13.43159  -37.50475 ]\n [-26.590452 -20.900434]\n [-12.470704 -36.43819 ]\n [-39.23581  -24.260496]\n [-13.220483 -37.638855]]", "nav_goal": "(-90.79407501220703, -36.89542007446289)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.3419876 -1.0906143], 5.4521803855896 meters away.)"}
{"file_name": "images/scenario_1080_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 0.5) m/s. Its current heading (yaw) is 2.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 10.0 meters away at (-7.5, -6.6). A unknown object with ID 51 is 20.7 meters away at (-11.7, -17.0). A unknown object with ID 12 is 26.1 meters away at (-11.8, -23.3). A unknown object with ID 9 is 26.3 meters away at (-14.9, -21.6). A unknown object with ID 17 is 27.5 meters away at (-14.0, -23.6). A unknown object with ID 41 is 27.7 meters away at (21.9, -17.0). A pedestrian with ID 40 is 28.2 meters away at (28.1, -2.1). A unknown object with ID 42 is 28.3 meters away at (22.5, -17.1). A unknown object with ID 44 is 28.9 meters away at (23.8, -16.4). A unknown object with ID 46 is 31.0 meters away at (25.8, -17.1).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.9149668 -1.7213359] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.2398396 -0.4591447] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.5112753 -6.647034 ], 10.030071258544922 meters away.)"}
{"file_name": "images/scenario_1080_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.3) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 16.4 meters away at (-9.4, -13.5). A unknown object with ID 51 is 20.4 meters away at (-8.1, -18.7). A unknown object with ID 39 is 21.8 meters away at (-9.7, -19.5). A unknown object with ID 23 is 22.1 meters away at (-6.8, -21.0). A unknown object with ID 21 is 23.9 meters away at (-10.6, -21.4). A unknown object with ID 9 is 26.1 meters away at (-11.4, -23.5). A unknown object with ID 17 is 27.4 meters away at (-10.3, -25.4). A unknown object with ID 41 is 31.5 meters away at (25.5, -18.6). A unknown object with ID 42 is 31.9 meters away at (26.0, -18.4). A unknown object with ID 44 is 32.8 meters away at (27.4, -18.0).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.6108575 -3.7063801] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -9.387358 -13.45425 ], 16.405466079711914 meters away.)"}
{"file_name": "images/scenario_1080_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 3.0) m/s. Its current heading (yaw) is 2.05 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 21.2 meters away at (-0.5, -21.2). A unknown object with ID 51 is 23.5 meters away at (-3.9, -23.2). A unknown object with ID 39 is 24.7 meters away at (-5.6, -24.0). A unknown object with ID 23 is 25.5 meters away at (-2.7, -25.4). A unknown object with ID 21 is 26.7 meters away at (-6.5, -25.9). A unknown object with ID 29 is 27.6 meters away at (-3.3, -27.4). A unknown object with ID 9 is 28.7 meters away at (-7.2, -27.7). A vehicle with ID 36 is 28.9 meters away at (-9.7, -27.3). A vehicle with ID 58 is 29.3 meters away at (25.9, -13.8). A unknown object with ID 14 is 29.5 meters away at (-4.0, -29.2).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.243018  -5.4575157] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.6678157  2.8315299] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -0.4952507 -21.164408 ], 21.170202255249023 meters away.)"}
{"file_name": "images/scenario_1080_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 5.4) m/s. Its current heading (yaw) is 1.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 23.8 meters away at (16.1, -17.5). A pedestrian with ID 20 is 29.5 meters away at (0.9, -29.5). A unknown object with ID 18 is 30.2 meters away at (21.4, 21.4). A unknown object with ID 51 is 31.6 meters away at (-2.5, -31.5). A pedestrian with ID 3 is 32.6 meters away at (8.9, 31.3). A unknown object with ID 39 is 32.7 meters away at (-4.3, -32.4). A unknown object with ID 23 is 33.8 meters away at (-1.4, -33.8). A unknown object with ID 21 is 34.7 meters away at (-5.1, -34.3). A unknown object with ID 29 is 35.8 meters away at (-1.9, -35.7). A unknown object with ID 9 is 36.9 meters away at (-6.0, -36.4).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [-4.2675705  1.8354424] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00379706 0.01766285] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.39217055 1.0569948 ] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 16.087086 -17.5194  ], 23.78494644165039 meters away.)"}
{"file_name": "images/scenario_1081_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 1.0) m/s. Its current heading (yaw) is 0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 5.2 meters away at (-4.8, 2.1). A pedestrian with ID 33 is 5.5 meters away at (4.2, -3.6). A pedestrian with ID 34 is 5.7 meters away at (3.9, -4.2). A vehicle with ID 21 is 6.9 meters away at (-1.1, 6.8). A pedestrian with ID 13 is 9.1 meters away at (7.3, -5.4). A pedestrian with ID 28 is 10.8 meters away at (-3.7, -10.1). A pedestrian with ID 29 is 12.6 meters away at (-7.8, 9.9). A pedestrian with ID 36 is 14.2 meters away at (14.2, 1.1). A vehicle with ID 26 is 15.9 meters away at (-14.3, -6.9). A pedestrian with ID 47 is 17.9 meters away at (17.4, 4.3).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [4.462854  1.5145053] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.6993219 -0.5901805] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.9403239 -0.5180983] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00428395 0.05496815] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.02038747 0.03517288] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.3680912 0.6232759] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.04005742 0.02212555] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [4.500696 3.452108] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [1.4147335 0.8562318] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.492004 -31.052654]\n [-48.92407  -32.372932]\n [-51.395256 -28.550667]\n [ 12.071576  14.831908]\n [ 18.083221  10.906181]\n [-51.480022 -24.66437 ]\n [ 11.273904  15.770123]\n [ 11.828663  14.75007 ]\n [ 11.828661  14.750072]\n [ 16.29838   13.419938]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.784754   2.1423411], 5.2424702644348145 meters away.)"}
{"file_name": "images/scenario_1081_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.1) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 4.4 meters away at (0.8, 4.3). A pedestrian with ID 33 is 5.3 meters away at (0.6, -5.3). A pedestrian with ID 34 is 6.0 meters away at (0.6, -5.9). A vehicle with ID 21 is 6.4 meters away at (-2.4, 6.0). A pedestrian with ID 11 is 8.5 meters away at (-0.8, -8.5). A vehicle with ID 26 is 8.6 meters away at (-8.4, -2.0). A pedestrian with ID 29 is 11.8 meters away at (-6.4, 10.0). A pedestrian with ID 28 is 12.0 meters away at (-5.0, -10.9). A vehicle with ID 31 is 13.2 meters away at (-13.2, -0.5). A pedestrian with ID 42 is 17.8 meters away at (16.8, 5.8).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [1.9860535 1.0722617] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.1704673  -0.50042135] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.1175951 -0.567098 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00798093 -0.00723868] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [2.7883885 2.1575856] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.1977967 0.6581266] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00190558  0.00156198] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [2.5630968 1.576642 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.4002396 -1.0771129] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.492004 -31.052654]\n [-48.92407  -32.372932]\n [-51.395256 -28.550667]\n [ 12.071576  14.831908]\n [ 18.083221  10.906181]\n [-51.480022 -24.66437 ]\n [ 11.273904  15.770123]\n [ 11.828663  14.75007 ]\n [ 11.828661  14.750072]\n [ 16.29838   13.419938]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [0.8221197 4.317619 ], 4.3951921463012695 meters away.)"}
{"file_name": "images/scenario_1081_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 4.6 meters away at (-4.5, 0.7). A vehicle with ID 22 is 5.4 meters away at (2.0, 5.0). A vehicle with ID 21 is 6.4 meters away at (-2.6, 5.8). A pedestrian with ID 33 is 6.7 meters away at (-1.8, -6.4). A pedestrian with ID 34 is 7.4 meters away at (-1.7, -7.2). A pedestrian with ID 9 is 8.6 meters away at (5.8, -6.3). A vehicle with ID 31 is 9.8 meters away at (-9.6, 1.7). A pedestrian with ID 29 is 11.3 meters away at (-3.7, 10.7). A pedestrian with ID 28 is 12.2 meters away at (-5.2, -11.1). A vehicle with ID 45 is 14.0 meters away at (-13.4, -4.0).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0.8860937 0.6202538] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.1122975 -0.6520273] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0985048  -0.67511904] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00810958 -0.01076997] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.99438125 0.6390839 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.2495838  0.61745805] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.03232946  0.00561291] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [1.871887   0.93689245] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.492004 -31.052654]\n [-48.92407  -32.372932]\n [-51.395256 -28.550667]\n [ 12.071576  14.831908]\n [ 18.083221  10.906181]\n [-40.710163 -14.294088]\n [-51.480022 -24.66437 ]\n [ 11.273904  15.770123]\n [ 11.828663  14.75007 ]\n [ 11.828661  14.750072]\n [ 16.29838   13.419938]\n [-43.82438  -15.954507]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.517073   0.7106633], 4.572635173797607 meters away.)"}
{"file_name": "images/scenario_1081_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 3.9 meters away at (-3.7, 1.2). A vehicle with ID 22 is 5.4 meters away at (2.0, 5.0). A vehicle with ID 21 is 6.4 meters away at (-2.6, 5.8). A pedestrian with ID 33 is 8.5 meters away at (-3.9, -7.6). A vehicle with ID 31 is 9.0 meters away at (-8.7, 2.2). A pedestrian with ID 34 is 9.2 meters away at (-3.7, -8.4). A pedestrian with ID 42 is 11.2 meters away at (11.1, 1.3). A vehicle with ID 45 is 11.6 meters away at (-11.3, -2.8). A pedestrian with ID 28 is 12.3 meters away at (-5.3, -11.0). A pedestrian with ID 29 is 12.5 meters away at (-1.5, 12.4).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.98276705 -0.6216055 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.96354336 -0.5974401 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.2929338 -1.0396433] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.5021247  0.28648084] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.01334117 -0.01128804] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.7627417 1.2067571] m/s.", "light_description": "There are active red lights at the following coordinates: [[-49.492004 -31.052654]\n [-48.92407  -32.372932]\n [-51.395256 -28.550667]\n [ 12.071576  14.831908]\n [ 18.083221  10.906181]\n [-51.480022 -24.66437 ]\n [ 11.273904  15.770123]\n [ 11.828663  14.75007 ]\n [ 11.828661  14.750072]\n [ 16.29838   13.419938]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.7335954  1.2318363], 3.931558847427368 meters away.)"}
{"file_name": "images/scenario_1082_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.3) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 9.3 meters away at (8.8, -3.0). A vehicle with ID 14 is 12.2 meters away at (2.4, 12.0). A vehicle with ID 17 is 19.1 meters away at (-17.1, 8.6). A vehicle with ID 20 is 20.9 meters away at (11.8, 17.2). A vehicle with ID 24 is 21.7 meters away at (20.7, -6.7). A vehicle with ID 25 is 22.3 meters away at (22.2, 2.2). A vehicle with ID 26 is 25.8 meters away at (12.8, 22.4). A vehicle with ID 35 is 27.7 meters away at (26.4, -8.4). A vehicle with ID 30 is 27.9 meters away at (1.5, 27.9). A vehicle with ID 29 is 29.6 meters away at (-28.2, 9.0).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.89305  -2.632877] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(182.7289581298828, 14.562779426574707)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.768288  -2.9719265], 9.258251190185547 meters away.)"}
{"file_name": "images/scenario_1082_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 3.3 meters away at (0.5, 3.3). A vehicle with ID 16 is 8.6 meters away at (8.1, -2.8). A vehicle with ID 14 is 12.2 meters away at (1.8, 12.1). A vehicle with ID 20 is 20.8 meters away at (11.3, 17.5). A vehicle with ID 24 is 21.2 meters away at (20.1, -6.5). A vehicle with ID 25 is 21.8 meters away at (21.6, 2.4). A vehicle with ID 26 is 25.7 meters away at (12.3, 22.6). A vehicle with ID 35 is 27.2 meters away at (25.9, -8.2). A vehicle with ID 30 is 28.1 meters away at (1.1, 28.1). A vehicle with ID 29 is 30.2 meters away at (-28.8, 9.3).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.859696  -2.8223128] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(182.7289581298828, 14.562779426574707)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.46113253 3.3137445 ], 3.3456757068634033 meters away.)"}
{"file_name": "images/scenario_1082_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 8.5 meters away at (8.1, -2.7). A vehicle with ID 14 is 12.2 meters away at (1.7, 12.1). A vehicle with ID 17 is 18.5 meters away at (18.4, -2.6). A vehicle with ID 20 is 20.8 meters away at (11.2, 17.5). A vehicle with ID 24 is 21.1 meters away at (20.0, -6.5). A vehicle with ID 25 is 21.7 meters away at (21.6, 2.4). A vehicle with ID 45 is 24.7 meters away at (24.6, -1.6). A vehicle with ID 44 is 25.0 meters away at (-22.5, 10.8). A vehicle with ID 26 is 25.7 meters away at (12.1, 22.6). A vehicle with ID 35 is 27.0 meters away at (25.8, -8.2).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.611817  -2.9068258] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-9.618472   2.9657135] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 9.474773 -2.899316] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(182.7289581298828, 14.562779426574707)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.083307  -2.7265975], 8.530778884887695 meters away.)"}
{"file_name": "images/scenario_1082_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 6.7 meters away at (-4.5, 5.0). A vehicle with ID 45 is 7.0 meters away at (5.0, 4.8). A vehicle with ID 16 is 8.5 meters away at (8.1, -2.7). A vehicle with ID 14 is 12.1 meters away at (1.6, 12.0). A vehicle with ID 20 is 20.8 meters away at (11.2, 17.5). A vehicle with ID 24 is 21.0 meters away at (20.0, -6.5). A vehicle with ID 25 is 21.7 meters away at (21.5, 2.4). A vehicle with ID 26 is 25.7 meters away at (12.1, 22.7). A vehicle with ID 35 is 27.0 meters away at (25.8, -8.2). A vehicle with ID 30 is 28.2 meters away at (1.1, 28.1).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [ 8.531378  -2.8058863] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-9.702418   3.3332627] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(182.7289581298828, 14.562779426574707)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.5103407  4.956253 ], 6.701314449310303 meters away.)"}
{"file_name": "images/scenario_1083_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -4.0) m/s. Its current heading (yaw) is -0.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 5.7 meters away at (1.2, -5.6). A unknown object with ID 63 is 6.7 meters away at (4.8, 4.6). A unknown object with ID 62 is 6.9 meters away at (3.6, 5.9). A pedestrian with ID 18 is 13.2 meters away at (7.9, -10.6). A pedestrian with ID 59 is 15.8 meters away at (-14.9, 5.2). A pedestrian with ID 60 is 15.9 meters away at (-15.2, 4.6). A vehicle with ID 56 is 31.2 meters away at (29.2, -11.1). A vehicle with ID 13 is 35.2 meters away at (-6.6, -34.6). A vehicle with ID 58 is 37.5 meters away at (34.5, -14.5). A vehicle with ID 65 is 39.0 meters away at (-21.9, -32.3).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.1758782 -0.6349925] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.8659883  -0.66454196] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.93882066  0.49841994] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.9297133   0.49376547] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 7.021095  -4.9371867] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ 1.1794147 -5.583099 ], 5.706313133239746 meters away.)"}
{"file_name": "images/scenario_1083_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -4.3) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 4.7 meters away at (-3.4, -3.3). A pedestrian with ID 19 is 10.0 meters away at (-9.8, 1.8). A vehicle with ID 22 is 11.6 meters away at (-0.9, 11.5). A vehicle with ID 40 is 13.0 meters away at (-3.7, 12.5). A vehicle with ID 56 is 16.4 meters away at (16.2, -2.7). A unknown object with ID 62 is 17.2 meters away at (-9.4, 14.4). A vehicle with ID 58 is 22.4 meters away at (21.5, -6.1). A vehicle with ID 57 is 27.4 meters away at (25.9, -8.9). A pedestrian with ID 60 is 33.6 meters away at (-30.5, 14.1). A pedestrian with ID 59 is 33.6 meters away at (-30.1, 15.0).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 1.0809898 -0.5893011] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.1273826  -0.60975635] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.9998425   0.50562286] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.94627917  0.5782117 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-3.3636875 -3.3453627], 4.744032382965088 meters away.)"}
{"file_name": "images/scenario_1083_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -4.3) m/s. Its current heading (yaw) is -0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 6.7 meters away at (2.9, 6.0). A vehicle with ID 58 is 8.6 meters away at (8.2, 2.6). A vehicle with ID 57 is 12.6 meters away at (12.6, -0.1). A pedestrian with ID 18 is 15.4 meters away at (-14.8, 4.2). A pedestrian with ID 42 is 22.3 meters away at (-20.6, 8.5). A pedestrian with ID 19 is 23.1 meters away at (-21.2, 9.3). A vehicle with ID 22 is 24.7 meters away at (-14.2, 20.2). A vehicle with ID 13 is 35.3 meters away at (-8.7, -34.2). A unknown object with ID 53 is 42.0 meters away at (-30.3, 29.1). A unknown object with ID 41 is 47.5 meters away at (45.8, -12.8).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.9408387 -0.5769129] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.1110286 -0.7515424] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.96312356 -0.6626797 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 4.281603 -2.899453] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.9291344 5.9987373], 6.67567777633667 meters away.)"}
{"file_name": "images/scenario_1083_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -4.8) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 8.5 meters away at (-0.3, 8.5). A vehicle with ID 58 is 12.2 meters away at (-4.8, 11.2). A vehicle with ID 56 is 17.8 meters away at (-10.1, 14.6). A pedestrian with ID 52 is 18.1 meters away at (17.7, 3.7). A pedestrian with ID 18 is 28.3 meters away at (-25.8, 11.6). A unknown object with ID 41 is 33.0 meters away at (32.8, -4.0). A vehicle with ID 13 is 33.6 meters away at (-15.6, -29.7). A unknown object with ID 54 is 35.4 meters away at (34.6, -7.4). A pedestrian with ID 42 is 35.5 meters away at (-31.7, 16.1). A pedestrian with ID 19 is 36.4 meters away at (-32.3, 16.7).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.45352474  0.300163  ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 1.0438715 -0.710507 ] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 2.2733874 -1.4890219] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.9191414  -0.66379815] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.8853849 -0.6072195] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.34794617  8.480465  ], 8.487600326538086 meters away.)"}
{"file_name": "images/scenario_1084_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 10.9) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 10.4 meters away at (3.7, -9.8). A vehicle with ID 2 is 13.9 meters away at (10.9, -8.7). A vehicle with ID 24 is 30.5 meters away at (16.2, -25.8). A vehicle with ID 25 is 49.4 meters away at (28.3, -40.5). A vehicle with ID 27 is 59.2 meters away at (34.5, -48.1). A vehicle with ID 26 is 66.3 meters away at (36.1, -55.6). A unknown object with ID 15 is 67.4 meters away at (-49.9, 45.3).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [ 6.3899345 -8.00992  ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.548103 12.10868 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 4.1043053 -5.2309303] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.416482  -1.8436372] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 0.21438292 -0.23599358] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.9628816 -6.2910814] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-204.298583984375, 142.03395080566406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 3.723401 -9.75903 ], 10.445208549499512 meters away.)"}
{"file_name": "images/scenario_1084_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, 11.2) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 11.8 meters away at (9.7, -6.8). A vehicle with ID 23 is 33.7 meters away at (-32.6, 8.5). A unknown object with ID 15 is 39.7 meters away at (-32.2, 23.1). A vehicle with ID 29 is 55.0 meters away at (31.8, -44.8). A vehicle with ID 25 is 80.1 meters away at (47.5, -64.5).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.659209 12.096096] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 3.7218149 -4.886806 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.2567765 -0.3238255] m/s.", "light_description": "There are active red lights at the following coordinates: [[-53.121574  62.480865]\n [-51.546764  64.407394]\n [-59.60626   62.30096 ]\n [-57.115482  58.43115 ]\n [-57.65261   59.852905]\n [-59.070602  61.914913]]", "nav_goal": "(-204.298583984375, 142.03395080566406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 9.668119 -6.843418], 11.845036506652832 meters away.)"}
{"file_name": "images/scenario_1084_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, 10.9) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 9.3 meters away at (8.0, -4.7). A unknown object with ID 15 is 14.6 meters away at (-14.6, 0.8). A vehicle with ID 23 is 20.2 meters away at (-14.9, -13.7). A unknown object with ID 20 is 54.4 meters away at (-29.7, 45.6).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-10.008925  12.363053] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-59.60626   62.30096 ]\n [-57.115482  58.43115 ]\n [-57.65261   59.852905]\n [-59.070602  61.914913]]", "nav_goal": "(-204.298583984375, 142.03395080566406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.026245 -4.665756], 9.28385066986084 meters away.)"}
{"file_name": "images/scenario_1084_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, 11.0) m/s. Its current heading (yaw) is 2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 6.0 meters away at (5.8, -1.8). A unknown object with ID 15 is 21.3 meters away at (3.0, -21.1). A vehicle with ID 23 is 35.8 meters away at (2.7, -35.7).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [-10.336099  12.653047] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-59.60626   62.30096 ]\n [-57.115482  58.43115 ]\n [-57.65261   59.852905]\n [-59.070602  61.914913]]", "nav_goal": "(-204.298583984375, 142.03395080566406)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.7726135 -1.7709274], 6.038149833679199 meters away.)"}
{"file_name": "images/scenario_1085_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 48 is 13.0 meters away at (-12.8, -2.7). A vehicle with ID 50 is 17.7 meters away at (12.0, -13.0). A pedestrian with ID 52 is 19.3 meters away at (18.1, 6.7). A vehicle with ID 47 is 23.7 meters away at (-23.2, -4.4). A unknown object with ID 54 is 27.4 meters away at (-0.2, 27.4). A vehicle with ID 62 is 28.7 meters away at (9.7, -27.0). A cyclist with ID 61 is 30.2 meters away at (6.4, -29.5). A vehicle with ID 66 is 33.5 meters away at (6.6, -32.8). A pedestrian with ID 60 is 33.8 meters away at (-1.3, -33.8). A unknown object with ID 56 is 33.9 meters away at (25.2, 22.7).", "velocity_description": "The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 6.6743705e-05 -2.3837136e-03] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 1.2456206 -2.7717118] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00105063  0.0005079 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [-1.5853677e-02  7.3782852e-05] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.00133026  0.5377556 ] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -2.911586   -21.425272  ]\n [ -5.5846834  -11.510941  ]\n [ -5.364532   -11.622072  ]\n [-13.309064    -7.8854437 ]\n [ -5.467597   -11.290054  ]\n [-14.23294    -11.139939  ]\n [ -2.9592407  -21.525373  ]\n [ -0.22598541 -29.962988  ]\n [ -3.9297187  -24.617428  ]\n [ -0.4384182  -29.822565  ]\n [ -0.8373042  -31.460958  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-12.76685    -2.6611712], 13.041254043579102 meters away.)"}
{"file_name": "images/scenario_1085_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.7) m/s. Its current heading (yaw) is -1.95 ", "actor_description": " The most relevant actors are: A pedestrian with ID 48 is 12.1 meters away at (-12.1, -1.2). A pedestrian with ID 52 is 20.4 meters away at (18.7, 8.1). A vehicle with ID 47 is 22.9 meters away at (-22.7, -3.1). A vehicle with ID 50 is 24.4 meters away at (16.6, -17.9). A vehicle with ID 68 is 25.9 meters away at (-25.7, 3.1). A vehicle with ID 62 is 27.7 meters away at (10.3, -25.7). A unknown object with ID 54 is 28.8 meters away at (0.4, 28.8). A cyclist with ID 61 is 28.9 meters away at (6.8, -28.1). A vehicle with ID 51 is 29.1 meters away at (-28.1, -7.7). A pedestrian with ID 60 is 29.8 meters away at (-0.2, -29.8).", "velocity_description": "The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.26398596 0.07468554] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.00922414 0.00666041] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 3.0885255 -3.1226315] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 4.738057   -0.82014024] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [0.02369965 0.0365187 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 2.3820095 -1.0740898] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.61170673 1.351928  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -2.911586   -21.425272  ]\n [-13.309064    -7.8854437 ]\n [-14.347584   -11.371451  ]\n [-14.23294    -11.139939  ]\n [ -2.9592407  -21.525373  ]\n [ -0.22598541 -29.962988  ]\n [ -3.9297187  -24.617428  ]\n [-16.141197   -14.336997  ]\n [ -0.4384182  -29.822565  ]\n [ -0.8373042  -31.460958  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-12.058762   -1.2388822], 12.122234344482422 meters away.)"}
{"file_name": "images/scenario_1085_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.5) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A pedestrian with ID 48 is 10.2 meters away at (-9.3, 4.2). A vehicle with ID 68 is 16.6 meters away at (-14.4, 8.1). A vehicle with ID 47 is 20.4 meters away at (-20.3, 2.2). A pedestrian with ID 60 is 22.2 meters away at (3.7, -21.9). A vehicle with ID 51 is 22.9 meters away at (-22.6, -3.8). A pedestrian with ID 59 is 23.5 meters away at (1.5, -23.4). A vehicle with ID 62 is 24.1 meters away at (12.8, -20.3). A vehicle with ID 58 is 24.5 meters away at (-24.5, 0.7). A cyclist with ID 61 is 24.6 meters away at (9.3, -22.7). A pedestrian with ID 52 is 25.1 meters away at (21.1, 13.5).", "velocity_description": "The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.01643664 0.00045185] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [4.200053  0.6336162] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.6317726 1.3288021] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 0.74868524 -0.3671305 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.36442795 1.45887   ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 1.8850253 -0.8892648] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [ 0.03987571 -0.00323591] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.01445763  0.00701027] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -2.911586   -21.425272  ]\n [-13.309064    -7.8854437 ]\n [-14.347584   -11.371451  ]\n [-14.23294    -11.139939  ]\n [ -2.9592407  -21.525373  ]\n [ -0.22598541 -29.962988  ]\n [ -3.9297187  -24.617428  ]\n [-16.141197   -14.336997  ]\n [ -0.4384182  -29.822565  ]\n [ -0.8373042  -31.460958  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-9.265343  4.223736], 10.182657241821289 meters away.)"}
{"file_name": "images/scenario_1085_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -2.9) m/s. Its current heading (yaw) is -2.50 ", "actor_description": " The most relevant actors are: A pedestrian with ID 48 is 11.6 meters away at (-3.6, 11.0). A pedestrian with ID 59 is 15.6 meters away at (7.8, -13.5). A pedestrian with ID 60 is 16.0 meters away at (10.3, -12.3). A vehicle with ID 51 is 16.6 meters away at (-16.3, 2.7). A vehicle with ID 47 is 17.1 meters away at (-14.6, 8.9). A vehicle with ID 68 is 18.0 meters away at (-0.6, 18.0). A vehicle with ID 58 is 18.3 meters away at (-17.1, 6.7). A pedestrian with ID 65 is 19.7 meters away at (5.9, -18.8). A pedestrian with ID 67 is 20.5 meters away at (6.7, -19.4). A cyclist with ID 61 is 21.9 meters away at (15.1, -15.8).", "velocity_description": "The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 0.00843917 -0.01087375] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.3885457 1.4927378] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.47174883 1.5100082 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [3.86242   2.6553042] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.4848274 1.3028044] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.48277318 1.2797381 ] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [ 0.00066896 -0.00181949] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -2.911586   -21.425272  ]\n [-13.309064    -7.8854437 ]\n [-14.347584   -11.371451  ]\n [-14.23294    -11.139939  ]\n [ -2.9592407  -21.525373  ]\n [ -0.22598541 -29.962988  ]\n [ -3.9297187  -24.617428  ]\n [-16.141197   -14.336997  ]\n [ -0.4384182  -29.822565  ]\n [ -0.8373042  -31.460958  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-3.617279 10.988307], 11.568387985229492 meters away.)"}
{"file_name": "images/scenario_1086_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, -2.0) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 5.4 meters away at (1.3, 5.3). A unknown object with ID 17 is 11.4 meters away at (4.9, 10.3). A vehicle with ID 38 is 14.5 meters away at (3.0, 14.1). A unknown object with ID 28 is 14.8 meters away at (6.3, 13.4). A unknown object with ID 27 is 18.0 meters away at (7.7, 16.3). A vehicle with ID 46 is 20.4 meters away at (5.1, 19.8). A pedestrian with ID 45 is 27.3 meters away at (-24.3, 12.5). A vehicle with ID 54 is 28.4 meters away at (-21.7, 18.4). A vehicle with ID 55 is 28.9 meters away at (-27.3, 9.4). A vehicle with ID 47 is 30.1 meters away at (-30.1, 0.9).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.2592546  0.7918774] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [1.3868815 0.6059399] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [1.3415184 5.273355 ], 5.441318035125732 meters away.)"}
{"file_name": "images/scenario_1086_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -2.4) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A pedestrian with ID 42 is 14.3 meters away at (-9.0, 11.1). A unknown object with ID 17 is 15.2 meters away at (-3.0, 14.9). A unknown object with ID 28 is 17.9 meters away at (-1.6, 17.8). A vehicle with ID 38 is 19.4 meters away at (-4.9, 18.8). A unknown object with ID 27 is 20.8 meters away at (-0.2, 20.8). A unknown object with ID 22 is 23.2 meters away at (2.9, 23.0). A unknown object with ID 21 is 23.7 meters away at (1.7, 23.7). A vehicle with ID 46 is 24.5 meters away at (-2.7, 24.4). A unknown object with ID 14 is 26.9 meters away at (3.4, 26.7). A vehicle with ID 58 is 34.3 meters away at (24.7, -23.8).", "velocity_description": "The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.2638198  0.4136039] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-9.020156 11.063647], 14.274715423583984 meters away.)"}
{"file_name": "images/scenario_1086_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -2.3) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 25.3 meters away at (16.6, -19.1). A pedestrian with ID 42 is 25.7 meters away at (-19.5, 16.7). A unknown object with ID 27 is 26.8 meters away at (-8.2, 25.5). A vehicle with ID 38 is 27.0 meters away at (-13.1, 23.6). A unknown object with ID 21 is 29.1 meters away at (-6.2, 28.5). A vehicle with ID 46 is 31.0 meters away at (-10.8, 29.1). A unknown object with ID 14 is 31.8 meters away at (-4.5, 31.5). A vehicle with ID 15 is 33.0 meters away at (23.6, -23.0). A pedestrian with ID 39 is 41.1 meters away at (38.9, -13.3). A vehicle with ID 43 is 42.3 meters away at (38.8, -16.9).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.2182931   0.43202284] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.02815089 0.00500813] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 16.617954 -19.05454 ], 25.283037185668945 meters away.)"}
{"file_name": "images/scenario_1086_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, -2.2) m/s. Its current heading (yaw) is -0.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 17.2 meters away at (9.0, -14.6). A vehicle with ID 15 is 24.5 meters away at (16.1, -18.5). A pedestrian with ID 39 is 32.5 meters away at (31.3, -8.9). A vehicle with ID 43 is 33.6 meters away at (31.2, -12.4). A vehicle with ID 38 is 34.9 meters away at (-20.7, 28.1). A pedestrian with ID 42 is 36.8 meters away at (-29.6, 21.9). A vehicle with ID 46 is 38.3 meters away at (-18.3, 33.6). A vehicle with ID 31 is 43.6 meters away at (28.9, -32.7). A vehicle with ID 9 is 44.1 meters away at (21.1, -38.8). A vehicle with ID 12 is 44.6 meters away at (34.9, -27.7).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.01124648 0.00087003] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.3167272   0.35757846] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  9.036507 -14.621477], 17.18854331970215 meters away.)"}
{"file_name": "images/scenario_1087_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 2.9) m/s. Its current heading (yaw) is 1.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 6.7 meters away at (5.2, 4.3). A vehicle with ID 26 is 6.9 meters away at (-5.1, 4.7). A vehicle with ID 28 is 7.4 meters away at (0.9, -7.3). A vehicle with ID 32 is 11.7 meters away at (6.9, 9.4). A vehicle with ID 29 is 12.3 meters away at (-9.4, -8.0). A vehicle with ID 25 is 17.1 meters away at (-0.8, 17.1). A vehicle with ID 31 is 17.6 meters away at (-11.4, -13.4). A vehicle with ID 5 is 18.3 meters away at (9.0, 16.0). A vehicle with ID 27 is 23.4 meters away at (-5.9, 22.7). A vehicle with ID 6 is 24.8 meters away at (11.4, 22.0).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(215.04222106933594, -27.577974319458008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.165453  4.2698483], 6.701754093170166 meters away.)"}
{"file_name": "images/scenario_1087_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 3.9) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 3.7 meters away at (2.8, -2.4). A vehicle with ID 32 is 5.2 meters away at (4.5, 2.5). A vehicle with ID 26 is 7.7 meters away at (-7.4, -2.0). A vehicle with ID 25 is 10.7 meters away at (-3.2, 10.2). A vehicle with ID 5 is 11.3 meters away at (6.6, 9.2). A vehicle with ID 28 is 14.2 meters away at (-1.5, -14.2). A vehicle with ID 6 is 17.7 meters away at (9.0, 15.2). A vehicle with ID 27 is 17.9 meters away at (-8.3, 15.8). A vehicle with ID 29 is 18.9 meters away at (-11.8, -14.8). A vehicle with ID 3 is 19.9 meters away at (-10.6, 16.9).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(215.04222106933594, -27.577974319458008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.798923 -2.392808], 3.6823225021362305 meters away.)"}
{"file_name": "images/scenario_1087_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 4.6) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 4.0 meters away at (3.9, 0.9). A vehicle with ID 32 is 5.8 meters away at (1.8, -5.6). A vehicle with ID 25 is 6.3 meters away at (-5.9, 2.0). A vehicle with ID 6 is 9.3 meters away at (6.3, 6.8). A vehicle with ID 30 is 10.7 meters away at (0.0, -10.7). A vehicle with ID 27 is 13.3 meters away at (-11.0, 7.5). A vehicle with ID 26 is 14.4 meters away at (-10.2, -10.3). A vehicle with ID 3 is 15.8 meters away at (-13.3, 8.6). A vehicle with ID 12 is 18.2 meters away at (-15.9, 9.0). A vehicle with ID 16 is 21.1 meters away at (-18.5, 10.2).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(215.04222106933594, -27.577974319458008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.8722749  0.91132164], 3.978067398071289 meters away.)"}
{"file_name": "images/scenario_1087_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.5) m/s. Its current heading (yaw) is 1.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 4.3 meters away at (3.0, -3.0). A vehicle with ID 5 is 8.9 meters away at (0.6, -8.9). A vehicle with ID 25 is 12.2 meters away at (-9.2, -7.9). A vehicle with ID 27 is 14.5 meters away at (-14.3, -2.3). A vehicle with ID 32 is 15.6 meters away at (-1.5, -15.5). A vehicle with ID 3 is 16.6 meters away at (-16.6, -1.3). A vehicle with ID 12 is 19.2 meters away at (-19.2, -1.0). A vehicle with ID 30 is 21.0 meters away at (-3.3, -20.7). A vehicle with ID 16 is 21.7 meters away at (-21.7, 0.3). A vehicle with ID 26 is 24.4 meters away at (-13.5, -20.3).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(215.04222106933594, -27.577974319458008)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.0010548 -3.0142975], 4.253506660461426 meters away.)"}
{"file_name": "images/scenario_1088_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, 3.2) m/s. Its current heading (yaw) is 0.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 3 is 26.1 meters away at (-24.6, -8.8). A pedestrian with ID 17 is 46.7 meters away at (46.7, -0.9). A pedestrian with ID 18 is 47.9 meters away at (47.9, -1.8).", "velocity_description": "The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.4377861   0.40661162] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.4154073  0.4851348] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(120.24417877197266, -180.42527770996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-24.598476  -8.845735], 26.140621185302734 meters away.)"}
{"file_name": "images/scenario_1088_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, 2.3) m/s. Its current heading (yaw) is 0.31 ", "actor_description": " The most relevant actors are: A pedestrian with ID 17 is 29.8 meters away at (29.3, -5.5). A pedestrian with ID 18 is 31.1 meters away at (30.5, -6.3). A unknown object with ID 3 is 41.7 meters away at (-39.1, -14.6).", "velocity_description": "The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.4157299  0.4051198] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.3371972   0.36827868] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(120.24417877197266, -180.42527770996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [29.310604  -5.5357447], 29.828777313232422 meters away.)"}
{"file_name": "images/scenario_1088_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, 0.8) m/s. Its current heading (yaw) is 0.12 ", "actor_description": " The most relevant actors are: A pedestrian with ID 17 is 14.9 meters away at (12.6, -7.8). A pedestrian with ID 18 is 16.4 meters away at (13.9, -8.7).", "velocity_description": "The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.5361482   0.38397062] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.4512941   0.41411656] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(120.24417877197266, -180.42527770996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [12.627037 -7.846611], 14.866451263427734 meters away.)"}
{"file_name": "images/scenario_1088_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -1.3) m/s. Its current heading (yaw) is -0.19 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 8.3 meters away at (-2.9, -7.8). A pedestrian with ID 17 is 8.5 meters away at (-4.3, -7.3).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.4662286  -0.03094418] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.3999789  -0.08712016] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(120.24417877197266, -180.42527770996094)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-2.8804855 -7.8322444], 8.345133781433105 meters away.)"}
{"file_name": "images/scenario_1089_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.5) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A pedestrian with ID 36 is 7.2 meters away at (-6.9, -1.9). A vehicle with ID 29 is 8.2 meters away at (-2.9, -7.7). A vehicle with ID 30 is 14.9 meters away at (-4.9, -14.1). A pedestrian with ID 42 is 17.7 meters away at (13.2, 11.8). A vehicle with ID 44 is 20.3 meters away at (-10.0, 17.6). A vehicle with ID 46 is 22.8 meters away at (-1.8, 22.7). A pedestrian with ID 45 is 25.9 meters away at (20.6, 15.7). A vehicle with ID 49 is 26.3 meters away at (-8.5, 24.9). A vehicle with ID 50 is 27.0 meters away at (24.9, 10.4). A vehicle with ID 51 is 29.5 meters away at (26.5, 13.0).", "velocity_description": "The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.42304167 0.9615553 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.7779196 -1.0279524] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [1.2748008 1.1455005] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.267838 20.117296]\n [14.12177  12.724569]\n [ 7.661958 19.40023 ]\n [15.939299 17.700855]]", "nav_goal": "(-108.513427734375, 58.78073501586914)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-6.916241  -1.8524644], 7.160029411315918 meters away.)"}
{"file_name": "images/scenario_1089_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 7.8 meters away at (-2.8, -7.3). A vehicle with ID 30 is 14.5 meters away at (-4.8, -13.7). A pedestrian with ID 42 is 15.4 meters away at (11.7, 10.0). A pedestrian with ID 53 is 17.3 meters away at (-4.9, 16.6). A unknown object with ID 9 is 22.9 meters away at (-9.3, -21.0). A vehicle with ID 46 is 23.1 meters away at (-1.7, 23.0). A vehicle with ID 49 is 26.6 meters away at (-8.4, 25.2). A pedestrian with ID 56 is 27.0 meters away at (20.2, 17.9). A vehicle with ID 50 is 27.2 meters away at (25.0, 10.8). A pedestrian with ID 45 is 29.4 meters away at (23.0, 18.3).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.7480437 -1.1282156] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [1.4059678 0.6320466] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.91495234 -1.2366834 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [1.1067982 1.1172005] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.267838 20.117296]\n [14.12177  12.724569]\n [ 7.661958 19.40023 ]\n [15.939299 17.700855]]", "nav_goal": "(-108.513427734375, 58.78073501586914)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.7609866 -7.269744 ], 7.776389122009277 meters away.)"}
{"file_name": "images/scenario_1089_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 7.7 meters away at (-2.7, -7.2). A pedestrian with ID 42 is 12.7 meters away at (10.2, 7.6). A vehicle with ID 30 is 14.5 meters away at (-4.8, -13.7). A pedestrian with ID 53 is 18.5 meters away at (-1.2, 18.4). A unknown object with ID 9 is 22.9 meters away at (-9.3, -21.0). A vehicle with ID 46 is 23.2 meters away at (-1.7, 23.1). A pedestrian with ID 56 is 23.8 meters away at (18.1, 15.5). A vehicle with ID 50 is 27.2 meters away at (25.0, 10.8). A vehicle with ID 51 is 29.9 meters away at (26.7, 13.4). A pedestrian with ID 64 is 30.3 meters away at (21.4, 21.5).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.6092007 -1.3351847] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [1.3580221  0.98149925] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.0743797 -1.125781 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.98575974 -0.9597839 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.267838 20.117296]\n [14.12177  12.724569]\n [ 7.661958 19.40023 ]\n [15.939299 17.700855]]", "nav_goal": "(-108.513427734375, 58.78073501586914)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.7492025 -7.2410216], 7.745354175567627 meters away.)"}
{"file_name": "images/scenario_1089_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 7.7 meters away at (-2.8, -7.2). A pedestrian with ID 42 is 10.3 meters away at (9.0, 5.0). A vehicle with ID 30 is 14.4 meters away at (-4.9, -13.5). A pedestrian with ID 56 is 20.8 meters away at (16.2, 13.1). A pedestrian with ID 53 is 21.2 meters away at (1.4, 21.2). A vehicle with ID 46 is 23.2 meters away at (-1.5, 23.2). A vehicle with ID 50 is 27.3 meters away at (25.1, 10.7). A pedestrian with ID 64 is 27.4 meters away at (19.6, 19.2). A vehicle with ID 51 is 29.9 meters away at (26.7, 13.4). A vehicle with ID 54 is 33.9 meters away at (32.7, 8.7).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.54412484 -1.3503611 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.7758361 -1.3318671] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [1.0847102 1.6008528] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.7932102 -1.288301 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[18.267838 20.117296]\n [14.12177  12.724569]\n [ 7.661958 19.40023 ]\n [15.939299 17.700855]]", "nav_goal": "(-108.513427734375, 58.78073501586914)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.768164  -7.1656437], 7.681743621826172 meters away.)"}
{"file_name": "images/scenario_1090_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.4) m/s. Its current heading (yaw) is -0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 3.2 meters away at (-0.4, -3.2). A unknown object with ID 102 is 8.6 meters away at (8.2, 2.7). A unknown object with ID 127 is 13.9 meters away at (7.9, 11.5). A unknown object with ID 64 is 14.1 meters away at (5.2, 13.1). A unknown object with ID 125 is 14.4 meters away at (10.6, 9.7). A unknown object with ID 114 is 16.5 meters away at (15.0, 6.7). A unknown object with ID 112 is 18.5 meters away at (17.7, 5.2). A unknown object with ID 124 is 19.7 meters away at (18.2, 7.5). A unknown object with ID 109 is 20.8 meters away at (20.5, 3.3). A unknown object with ID 119 is 21.5 meters away at (20.7, 5.8).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  8.229572 -10.796741]\n [ 21.969177 -25.442823]\n [ 37.191822 -10.154974]\n [  9.158133  -9.702201]\n [ 21.6982   -25.11052 ]\n [ 35.425827 -12.632677]\n [ 11.990359  -7.88714 ]]", "nav_goal": "(211.19459533691406, 9.672574996948242)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.40738487 -3.2241101 ], 3.2497458457946777 meters away.)"}
{"file_name": "images/scenario_1090_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 3.1 meters away at (-0.7, -3.0). A unknown object with ID 102 is 8.4 meters away at (7.9, 2.9). A unknown object with ID 127 is 13.9 meters away at (7.6, 11.6). A unknown object with ID 125 is 14.2 meters away at (10.2, 9.9). A unknown object with ID 64 is 14.3 meters away at (4.9, 13.4). A unknown object with ID 114 is 16.2 meters away at (14.7, 6.9). A unknown object with ID 112 is 18.3 meters away at (17.4, 5.4). A unknown object with ID 124 is 19.5 meters away at (17.9, 7.7). A unknown object with ID 109 is 20.6 meters away at (20.3, 3.5). A unknown object with ID 119 is 21.2 meters away at (20.4, 6.0).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  8.229572 -10.796741]\n [ 21.969177 -25.442823]\n [ 37.191822 -10.154974]\n [  9.158133  -9.702201]\n [ 21.6982   -25.11052 ]\n [ 35.425827 -12.632677]\n [ 11.990359  -7.88714 ]]", "nav_goal": "(211.19459533691406, 9.672574996948242)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.70970416 -2.986422  ], 3.069592237472534 meters away.)"}
{"file_name": "images/scenario_1090_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 3.0 meters away at (-0.8, -2.9). A unknown object with ID 102 is 8.3 meters away at (7.8, 2.9). A unknown object with ID 127 is 13.9 meters away at (7.6, 11.7). A unknown object with ID 125 is 14.2 meters away at (10.1, 10.0). A unknown object with ID 64 is 14.3 meters away at (4.9, 13.4). A unknown object with ID 114 is 16.2 meters away at (14.7, 7.0). A unknown object with ID 112 is 18.2 meters away at (17.4, 5.5). A unknown object with ID 124 is 19.5 meters away at (17.9, 7.8). A unknown object with ID 109 is 20.5 meters away at (20.2, 3.5). A unknown object with ID 119 is 21.2 meters away at (20.3, 6.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[  8.229572 -10.796741]\n [ 21.969177 -25.442823]\n [  9.158133  -9.702201]\n [ 21.6982   -25.11052 ]\n [ 11.990359  -7.88714 ]]", "nav_goal": "(211.19459533691406, 9.672574996948242)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.7550454 -2.9441497], 3.03942608833313 meters away.)"}
{"file_name": "images/scenario_1090_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.9) m/s. Its current heading (yaw) is -0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 3.2 meters away at (-2.8, -1.6). A unknown object with ID 102 is 7.1 meters away at (5.4, 4.6). A unknown object with ID 125 is 14.0 meters away at (7.8, 11.7). A unknown object with ID 88 is 14.2 meters away at (9.1, 10.9). A unknown object with ID 127 is 14.3 meters away at (5.1, 13.3). A unknown object with ID 114 is 15.0 meters away at (12.2, 8.6). A unknown object with ID 64 is 15.3 meters away at (2.5, 15.1). A unknown object with ID 112 is 16.6 meters away at (14.9, 7.1). A unknown object with ID 124 is 18.1 meters away at (15.4, 9.4). A unknown object with ID 109 is 18.5 meters away at (17.8, 5.2).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.8375083 -0.5807945] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 21.969177 -25.442823]\n [ 21.6982   -25.11052 ]]", "nav_goal": "(211.19459533691406, 9.672574996948242)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.808212  -1.5784972], 3.221445083618164 meters away.)"}
{"file_name": "images/scenario_1091_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.5) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 4.0 meters away at (2.2, 3.4). A vehicle with ID 23 is 9.1 meters away at (-8.6, 3.0). A unknown object with ID 26 is 9.4 meters away at (-3.4, -8.7). A unknown object with ID 29 is 9.8 meters away at (-0.4, -9.8). A unknown object with ID 25 is 10.1 meters away at (-6.6, -7.6). A unknown object with ID 31 is 11.4 meters away at (0.8, -11.3). A unknown object with ID 28 is 11.8 meters away at (-9.7, -6.6). A vehicle with ID 34 is 13.6 meters away at (4.8, -12.7). A unknown object with ID 30 is 13.7 meters away at (-11.6, -7.1). A vehicle with ID 36 is 16.6 meters away at (-15.9, 4.9).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-1.2061036  0.3966909] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.1731833  0.3669331] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(2.0468807220458984, -114.12458801269531)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [2.1762743 3.3899324], 4.028375625610352 meters away.)"}
{"file_name": "images/scenario_1091_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.3) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 5.1 meters away at (4.3, 2.7). A vehicle with ID 23 is 8.9 meters away at (-8.4, 2.9). A unknown object with ID 25 is 9.4 meters away at (-4.4, -8.3). A unknown object with ID 26 is 9.5 meters away at (-1.3, -9.4). A unknown object with ID 28 is 10.5 meters away at (-7.5, -7.3). A unknown object with ID 29 is 10.6 meters away at (1.8, -10.4). A unknown object with ID 30 is 12.3 meters away at (-9.5, -7.8). A unknown object with ID 31 is 12.4 meters away at (2.9, -12.0). A vehicle with ID 32 is 15.0 meters away at (14.3, -4.5). A vehicle with ID 34 is 15.1 meters away at (7.0, -13.4).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-1.0517896   0.31964654] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.8488202  0.6215563] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(2.0468807220458984, -114.12458801269531)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.331126  2.7101912], 5.10918664932251 meters away.)"}
{"file_name": "images/scenario_1091_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.2) m/s. Its current heading (yaw) is 2.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 6.5 meters away at (6.1, 2.2). A vehicle with ID 23 is 9.0 meters away at (-8.5, 3.0). A unknown object with ID 25 is 9.3 meters away at (-2.7, -8.9). A unknown object with ID 28 is 9.8 meters away at (-5.8, -7.9). A unknown object with ID 26 is 10.0 meters away at (0.5, -10.0). A unknown object with ID 30 is 11.4 meters away at (-7.7, -8.4). A unknown object with ID 29 is 11.6 meters away at (3.6, -11.0). A unknown object with ID 31 is 13.4 meters away at (4.7, -12.6). A vehicle with ID 32 is 13.5 meters away at (12.9, -4.0). A vehicle with ID 34 is 16.5 meters away at (8.8, -14.0).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-1.0095032  0.3005888] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.3252397   0.43194857] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(2.0468807220458984, -114.12458801269531)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [6.087902  2.1604948], 6.459898948669434 meters away.)"}
{"file_name": "images/scenario_1091_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.2) m/s. Its current heading (yaw) is 2.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 7.6 meters away at (7.3, 1.8). A unknown object with ID 28 is 9.4 meters away at (-4.5, -8.2). A unknown object with ID 25 is 9.4 meters away at (-1.4, -9.3). A vehicle with ID 23 is 9.5 meters away at (-9.0, 3.1). A unknown object with ID 26 is 10.5 meters away at (1.8, -10.4). A unknown object with ID 30 is 10.9 meters away at (-6.4, -8.8). A unknown object with ID 29 is 12.4 meters away at (4.9, -11.4). A vehicle with ID 32 is 12.6 meters away at (12.0, -3.7). A unknown object with ID 31 is 14.3 meters away at (6.0, -13.0). A pedestrian with ID 37 is 15.4 meters away at (-12.9, 8.4).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.95941657  0.2961936 ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.9321999  0.2972616] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.14568818 -0.0746088 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(2.0468807220458984, -114.12458801269531)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [7.346751  1.7629616], 7.555315017700195 meters away.)"}
{"file_name": "images/scenario_1092_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 5.2 meters away at (-1.1, -5.0). A vehicle with ID 43 is 11.0 meters away at (-10.6, 3.0). A pedestrian with ID 35 is 43.1 meters away at (38.0, -20.3). A vehicle with ID 46 is 44.7 meters away at (39.8, -20.3). A vehicle with ID 47 is 50.7 meters away at (42.0, -28.5). A vehicle with ID 48 is 51.0 meters away at (37.4, -34.6). A vehicle with ID 11 is 53.2 meters away at (48.8, -21.1). A vehicle with ID 9 is 56.2 meters away at (8.3, 55.5). A vehicle with ID 50 is 57.1 meters away at (55.6, -12.9). A vehicle with ID 49 is 58.7 meters away at (55.8, -18.0).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.00259654 -0.04170324] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.8317644 0.9797733] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [1.7168244 1.9532427] m/s.", "light_description": "There are active red lights at the following coordinates: [[56.915672   0.9652186]\n [51.17021    7.514124 ]\n [55.16404    2.843775 ]\n [58.4244    15.412969 ]\n [56.195732  17.704506 ]\n [55.825603  18.553026 ]\n [60.343193  14.028738 ]]", "nav_goal": "(-222.91629028320312, 64.9275894165039)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.1017456 -5.0449505], 5.163851737976074 meters away.)"}
{"file_name": "images/scenario_1092_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.7) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 6.3 meters away at (0.5, -6.3). A unknown object with ID 25 is 7.6 meters away at (7.5, -1.1). A pedestrian with ID 6 is 8.0 meters away at (-6.9, -4.1). A vehicle with ID 44 is 17.5 meters away at (10.1, -14.3). A unknown object with ID 18 is 34.4 meters away at (-31.8, 13.2). A vehicle with ID 9 is 50.1 meters away at (19.4, 46.2). A vehicle with ID 46 is 59.0 meters away at (51.1, -29.6). A vehicle with ID 47 is 65.3 meters away at (53.3, -37.7). A vehicle with ID 48 is 65.5 meters away at (49.2, -43.3). A pedestrian with ID 4 is 66.4 meters away at (-31.1, 58.6).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.04639323 0.02322754] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.35797256 -0.9897055 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[56.915672   0.9652186]\n [51.17021    7.514124 ]\n [55.16404    2.843775 ]]", "nav_goal": "(-222.91629028320312, 64.9275894165039)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.5320225 -6.285618 ], 6.308093070983887 meters away.)"}
{"file_name": "images/scenario_1092_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.4) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 14.0 meters away at (4.4, -13.3). A vehicle with ID 43 is 19.3 meters away at (11.6, -15.4). A unknown object with ID 18 is 21.2 meters away at (-20.8, 4.2). A vehicle with ID 40 is 28.7 meters away at (-28.6, 2.8). A vehicle with ID 44 is 31.5 meters away at (21.2, -23.4). A vehicle with ID 33 is 38.0 meters away at (-35.2, 14.2). A pedestrian with ID 38 is 40.5 meters away at (-40.3, 4.6). A vehicle with ID 9 is 48.0 meters away at (30.5, 37.1). A pedestrian with ID 4 is 51.2 meters away at (-18.6, 47.7). A unknown object with ID 2 is 69.2 meters away at (-52.9, 44.6).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.4156985  -0.34405568] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.69552964  0.7035385 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.14095186  0.14287825] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.0164801 -0.8331777] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-222.91629028320312, 64.9275894165039)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [  4.383745 -13.340881], 14.042661666870117 meters away.)"}
{"file_name": "images/scenario_1092_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.2) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 11.4 meters away at (-10.6, -4.4). A unknown object with ID 39 is 23.0 meters away at (-20.5, -10.4). A vehicle with ID 33 is 25.7 meters away at (-25.1, 5.5). A pedestrian with ID 6 is 27.5 meters away at (15.4, -22.8). A vehicle with ID 43 is 32.4 meters away at (21.9, -23.9). A pedestrian with ID 4 is 37.8 meters away at (-6.6, 37.2). A vehicle with ID 44 is 45.0 meters away at (31.6, -32.0). A vehicle with ID 9 is 49.7 meters away at (40.6, 28.6). A unknown object with ID 2 is 55.8 meters away at (-42.7, 35.9). A unknown object with ID 3 is 56.0 meters away at (-44.4, 34.0).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.17570817 -0.21463954] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.97975034 -0.88168067] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-222.91629028320312, 64.9275894165039)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-10.553318   -4.3924446], 11.430927276611328 meters away.)"}
{"file_name": "images/scenario_1093_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 1.4) m/s. Its current heading (yaw) is 2.28 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 11.0 meters away at (-0.8, 10.9). A pedestrian with ID 12 is 14.1 meters away at (-9.5, 10.4). A pedestrian with ID 36 is 27.9 meters away at (19.2, 20.2). A pedestrian with ID 25 is 38.4 meters away at (11.9, 36.5). A pedestrian with ID 26 is 48.6 meters away at (14.5, 46.4). A vehicle with ID 37 is 49.9 meters away at (-7.7, -49.3). A pedestrian with ID 38 is 53.1 meters away at (22.6, 48.0). A pedestrian with ID 35 is 58.3 meters away at (-56.2, 15.5). A vehicle with ID 31 is 60.9 meters away at (-60.8, 2.9). A pedestrian with ID 9 is 61.3 meters away at (-59.4, 15.1).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.960088   -0.62137544] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.0389498  -0.09363604] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.5854001  -0.21152905] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.35680458 -1.5809385 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.03170037 -0.2540887 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.30160615 -0.06680825] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.006468    0.01628612] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.3749831  -0.02720364] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.68161815 -0.49692953] m/s.", "light_description": "There are active red lights at the following coordinates: [[-68.93327     4.0018773]\n [-68.91293     4.720954 ]\n [-68.93198     3.9731503]\n [-68.94308     4.2863603]\n [-68.93198     3.973151 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-0.80785644 10.947032  ], 10.976799964904785 meters away.)"}
{"file_name": "images/scenario_1093_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 1.6) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A pedestrian with ID 32 is 5.9 meters away at (2.9, 5.1). A pedestrian with ID 12 is 9.5 meters away at (-6.7, 6.7). A pedestrian with ID 36 is 31.7 meters away at (27.3, 16.2). A pedestrian with ID 25 is 34.0 meters away at (16.1, 29.9). A pedestrian with ID 26 is 46.7 meters away at (19.6, 42.4). A pedestrian with ID 35 is 52.5 meters away at (-51.2, 11.9). A pedestrian with ID 3 is 52.9 meters away at (-51.3, 12.7). A vehicle with ID 37 is 53.0 meters away at (-2.8, -53.0). A pedestrian with ID 6 is 54.6 meters away at (-53.1, 12.7). A pedestrian with ID 5 is 54.6 meters away at (-53.3, 11.7).", "velocity_description": "The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.4261066 -1.419381 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.1539557  -0.07702167] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.4084752  0.12409534] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.36848453 -1.2991984 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.4606087 -0.6798784] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.5554478  -0.33252597] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.8410119 -0.4305455] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.89056295 -0.42024517] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.1204972 -0.6534479] m/s.", "light_description": "There are active red lights at the following coordinates: [[-68.93327     4.0018773]\n [-68.91293     4.720954 ]\n [-68.93198     3.9731503]\n [-68.94308     4.2863603]\n [-68.93198     3.973151 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [2.8976817 5.0971837], 5.863262176513672 meters away.)"}
{"file_name": "images/scenario_1093_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, -0.1) m/s. Its current heading (yaw) is -3.12 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 5.5 meters away at (1.3, 5.3). A pedestrian with ID 32 is 11.9 meters away at (11.9, -0.3). A pedestrian with ID 35 is 42.2 meters away at (-41.0, 10.3). A pedestrian with ID 36 is 43.2 meters away at (40.4, 15.3). A pedestrian with ID 3 is 44.1 meters away at (-42.9, 10.0). A vehicle with ID 31 is 46.0 meters away at (-45.9, -2.2). A pedestrian with ID 6 is 46.0 meters away at (-45.0, 9.5). A pedestrian with ID 5 is 46.1 meters away at (-45.2, 9.1). A pedestrian with ID 7 is 46.5 meters away at (-45.4, 10.1). A pedestrian with ID 8 is 50.4 meters away at (-49.6, 9.0).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.2318504   0.07575998] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.0418373 -2.713467 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.59804153 -0.5710278 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.281971  0.6838896] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.2001146 -0.7800055] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.5007526 -0.7494084] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.435245  -0.6278324] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.362348  -0.5556196] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.4227886 -0.368837 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-68.93327     4.0018773]\n [-68.91293     4.720954 ]\n [-68.93198     3.9731503]\n [-68.94308     4.2863603]\n [-68.93198     3.973151 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [1.3159475 5.300211 ], 5.4611310958862305 meters away.)"}
{"file_name": "images/scenario_1093_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, -0.3) m/s. Its current heading (yaw) is -3.09 ", "actor_description": " The most relevant actors are: A pedestrian with ID 12 is 13.0 meters away at (11.5, 6.1). A pedestrian with ID 32 is 21.5 meters away at (20.9, -5.1). A pedestrian with ID 1 is 31.5 meters away at (-29.5, 11.0). A pedestrian with ID 35 is 31.8 meters away at (-30.3, 9.7). A pedestrian with ID 2 is 32.2 meters away at (-30.0, 11.8). A vehicle with ID 31 is 33.4 meters away at (-33.3, -1.7). A pedestrian with ID 3 is 34.1 meters away at (-32.7, 9.5). A pedestrian with ID 5 is 36.7 meters away at (-35.7, 8.4). A pedestrian with ID 6 is 36.7 meters away at (-35.5, 9.5). A pedestrian with ID 7 is 37.0 meters away at (-35.6, 10.1).", "velocity_description": "The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.3360118  -0.03721385] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-2.2807484 -1.7497405] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.0676638 -1.0070392] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.2486813 -0.7886373] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.93557215 -1.0276747 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.4514434 -0.5308791] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.5760839  -0.27178726] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.4615946  -0.19213651] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.4419229  -0.12376629] m/s.", "light_description": "There are active red lights at the following coordinates: [[-68.93327     4.0018773]\n [-68.91293     4.720954 ]\n [-68.93198     3.9731503]\n [-68.94308     4.2863603]\n [-68.93198     3.973151 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [11.531172   6.0695844], 13.031031608581543 meters away.)"}
{"file_name": "images/scenario_1094_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.9) m/s. Its current heading (yaw) is -0.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 3.9 meters away at (-3.9, -0.6). A vehicle with ID 84 is 6.6 meters away at (1.3, 6.5). A vehicle with ID 85 is 10.7 meters away at (-2.8, 10.3). A vehicle with ID 26 is 13.2 meters away at (-10.0, 8.5). A vehicle with ID 102 is 13.5 meters away at (-1.0, -13.5). A vehicle with ID 86 is 14.9 meters away at (-6.6, 13.4). A unknown object with ID 89 is 16.4 meters away at (-1.3, 16.4). A unknown object with ID 91 is 17.7 meters away at (-2.4, 17.5). A unknown object with ID 92 is 17.9 meters away at (-2.6, 17.7). A unknown object with ID 93 is 18.0 meters away at (-2.8, 17.8).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.78876   -2.4284787] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-51.455421447753906, 113.05795288085938)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.9075258  -0.55773354], 3.9471285343170166 meters away.)"}
{"file_name": "images/scenario_1094_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.1) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 4.4 meters away at (-4.4, -0.1). A vehicle with ID 84 is 7.0 meters away at (0.8, 6.9). A pedestrian with ID 68 is 8.9 meters away at (-8.2, -3.2). A vehicle with ID 26 is 9.7 meters away at (-7.4, 6.3). A vehicle with ID 85 is 11.3 meters away at (-3.3, 10.8). A vehicle with ID 102 is 13.2 meters away at (-1.6, -13.1). A vehicle with ID 86 is 15.6 meters away at (-7.1, 13.9). A unknown object with ID 89 is 16.9 meters away at (-1.8, 16.8). A unknown object with ID 91 is 18.1 meters away at (-2.9, 17.9). A unknown object with ID 93 is 18.4 meters away at (-3.2, 18.1).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.3290936  0.55237526] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 0.6131314  -0.52803093] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-51.455421447753906, 113.05795288085938)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-4.4167995 -0.0878067], 4.417672157287598 meters away.)"}
{"file_name": "images/scenario_1094_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -1.1) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 83 is 8.3 meters away at (-8.0, 2.1). A vehicle with ID 84 is 9.3 meters away at (-2.5, 9.0). A vehicle with ID 26 is 12.0 meters away at (-9.5, 7.2). A pedestrian with ID 68 is 12.0 meters away at (-12.0, -0.2). A vehicle with ID 102 is 12.1 meters away at (-5.2, -11.0). A vehicle with ID 85 is 14.6 meters away at (-6.8, 13.0). A vehicle with ID 81 is 17.3 meters away at (13.7, 10.6). A vehicle with ID 105 is 17.5 meters away at (10.6, -13.9). A vehicle with ID 78 is 18.0 meters away at (-9.1, -15.6). A vehicle with ID 86 is 19.2 meters away at (-10.5, 16.0).", "velocity_description": "The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 1.08402   -0.9052624] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.26279083  0.44123098] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-51.455421447753906, 113.05795288085938)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.994561   2.0541062], 8.254233360290527 meters away.)"}
{"file_name": "images/scenario_1094_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 2.6) m/s. Its current heading (yaw) is 0.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 11.0 meters away at (5.1, 9.8). A vehicle with ID 84 is 13.8 meters away at (-11.2, 8.1). A vehicle with ID 100 is 14.5 meters away at (10.1, -10.3). A vehicle with ID 105 is 14.9 meters away at (2.0, -14.8). A vehicle with ID 26 is 14.9 meters away at (-14.6, 3.2). A vehicle with ID 83 is 16.7 meters away at (-16.6, 1.2). A vehicle with ID 16 is 17.9 meters away at (9.5, 15.1). A vehicle with ID 102 is 18.2 meters away at (-13.7, -11.9). A vehicle with ID 109 is 19.6 meters away at (6.2, -18.6). A vehicle with ID 85 is 19.7 meters away at (-15.5, 12.1).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.0980783 -1.782822 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-51.455421447753906, 113.05795288085938)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.0613384 9.775097 ], 11.007709503173828 meters away.)"}
{"file_name": "images/scenario_1095_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 2.1) m/s. Its current heading (yaw) is 1.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 41 is 6.3 meters away at (6.0, -1.9). A vehicle with ID 40 is 7.0 meters away at (-6.8, 1.6). A vehicle with ID 42 is 11.4 meters away at (-10.9, -3.3). A vehicle with ID 43 is 14.6 meters away at (-6.2, -13.2). A vehicle with ID 44 is 17.5 meters away at (-15.2, -8.6). A vehicle with ID 45 is 19.9 meters away at (-10.1, -17.2). A pedestrian with ID 7 is 22.9 meters away at (-17.9, 14.4). A vehicle with ID 46 is 23.6 meters away at (-19.4, -13.4). A pedestrian with ID 11 is 24.0 meters away at (-18.4, 15.4). A vehicle with ID 47 is 26.3 meters away at (-14.1, -22.2).", "velocity_description": "The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.03027612 -0.01590648] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.03322517 -0.010778  ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-27.055212020874023, -27.08745765686035)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 5.9664717 -1.9298571], 6.270816326141357 meters away.)"}
{"file_name": "images/scenario_1095_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 4.4) m/s. Its current heading (yaw) is 1.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 9.4 meters away at (-8.0, -5.1). A unknown object with ID 41 is 9.8 meters away at (4.8, -8.6). A vehicle with ID 42 is 15.7 meters away at (-12.1, -10.0). A pedestrian with ID 7 is 20.4 meters away at (-18.9, 7.8). A vehicle with ID 43 is 21.2 meters away at (-7.3, -19.9). A pedestrian with ID 11 is 21.4 meters away at (-19.5, 8.8). A vehicle with ID 44 is 22.4 meters away at (-16.4, -15.3). A vehicle with ID 45 is 26.3 meters away at (-11.1, -23.8). A vehicle with ID 46 is 28.8 meters away at (-20.6, -20.1). A vehicle with ID 47 is 32.7 meters away at (-15.2, -28.9).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.01179604 0.01234698] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00285676 -0.00380197] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-27.055212020874023, -27.08745765686035)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.955895  -5.0942564], 9.447100639343262 meters away.)"}
{"file_name": "images/scenario_1095_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 4.6) m/s. Its current heading (yaw) is 2.33 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 13.1 meters away at (-13.0, -1.4). A pedestrian with ID 11 is 13.9 meters away at (-13.9, -0.4). A vehicle with ID 40 is 14.3 meters away at (-2.4, -14.1). A vehicle with ID 42 is 20.1 meters away at (-6.5, -19.0). A vehicle with ID 44 is 26.7 meters away at (-10.9, -24.4). A vehicle with ID 43 is 29.0 meters away at (-1.7, -29.0). A vehicle with ID 46 is 32.8 meters away at (-15.0, -29.2). A vehicle with ID 45 is 33.4 meters away at (-5.5, -33.0). A unknown object with ID 25 is 35.1 meters away at (-24.9, 24.8). A vehicle with ID 47 is 39.3 meters away at (-9.5, -38.1).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.05883286 0.02585208] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00504568 -0.01440035] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-27.055212020874023, -27.08745765686035)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-13.022573   -1.4353428], 13.101435661315918 meters away.)"}
{"file_name": "images/scenario_1095_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 4.3) m/s. Its current heading (yaw) is 2.51 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 9.7 meters away at (-3.5, -9.1). A pedestrian with ID 7 is 10.1 meters away at (-2.8, -9.7). A vehicle with ID 40 is 24.2 meters away at (8.0, -22.8). A vehicle with ID 42 is 28.2 meters away at (3.8, -27.9). A vehicle with ID 55 is 36.7 meters away at (20.2, 30.6). A vehicle with ID 54 is 36.7 meters away at (15.4, 33.3). A vehicle with ID 50 is 37.7 meters away at (10.7, 36.2). A vehicle with ID 43 is 38.7 meters away at (8.7, -37.8). A vehicle with ID 1 is 42.9 meters away at (-40.1, 15.1). A cyclist with ID 10 is 50.9 meters away at (-16.0, 48.3).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.1169659  -0.02552399] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.07914326  0.40017778] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-8.364645  5.289972] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-27.055212020874023, -27.08745765686035)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-3.5279188 -9.064482 ], 9.726820945739746 meters away.)"}
{"file_name": "images/scenario_1096_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.5) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 10.6 meters away at (-3.7, 9.9). A vehicle with ID 37 is 17.6 meters away at (-7.8, 15.8). A vehicle with ID 2 is 28.1 meters away at (3.0, -27.9). A vehicle with ID 28 is 31.6 meters away at (-27.1, -16.3). A vehicle with ID 12 is 34.1 meters away at (-30.5, -15.4). A vehicle with ID 43 is 43.3 meters away at (-4.2, -43.1). A vehicle with ID 16 is 48.1 meters away at (-47.9, 4.7). A pedestrian with ID 40 is 52.2 meters away at (-42.3, 30.6). A vehicle with ID 42 is 52.5 meters away at (-51.8, 8.4). A unknown object with ID 45 is 68.4 meters away at (-47.5, 49.2).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [2.9497256 3.5524983] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.381486   0.23688859] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.8258413   0.61485386] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.9002912   0.94707173] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(43.230674743652344, -203.68136596679688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.687448  9.889299], 10.554407119750977 meters away.)"}
{"file_name": "images/scenario_1096_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.5) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 36 is 14.8 meters away at (-7.3, 12.9). A vehicle with ID 2 is 19.3 meters away at (4.5, -18.8). A vehicle with ID 37 is 21.8 meters away at (-11.2, 18.7). A pedestrian with ID 32 is 29.4 meters away at (25.6, -14.5). A unknown object with ID 10 is 29.4 meters away at (-14.5, -25.6). A vehicle with ID 28 is 33.1 meters away at (-30.4, -13.1). A vehicle with ID 12 is 36.5 meters away at (-34.4, -12.0). A vehicle with ID 43 is 40.7 meters away at (-7.8, -40.0). A unknown object with ID 15 is 42.2 meters away at (37.6, -19.2). A vehicle with ID 16 is 51.9 meters away at (-51.3, 7.8).", "velocity_description": "The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [1.5201778 1.9030622] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.31627548  0.2102919 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.32173622 -0.24227281] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(43.230674743652344, -203.68136596679688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.2936063 12.90195  ], 14.820830345153809 meters away.)"}
{"file_name": "images/scenario_1096_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -3.7) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 11.9 meters away at (-0.9, -11.8). A vehicle with ID 36 is 23.1 meters away at (-13.9, 18.5). A unknown object with ID 10 is 29.2 meters away at (-21.3, -20.1). A vehicle with ID 43 is 37.4 meters away at (-14.4, -34.5). A vehicle with ID 12 is 41.2 meters away at (-40.5, -7.2). A unknown object with ID 11 is 42.6 meters away at (37.9, -19.6). A pedestrian with ID 8 is 46.0 meters away at (-45.1, -9.2). A unknown object with ID 23 is 51.6 meters away at (44.8, -25.6). A vehicle with ID 21 is 52.6 meters away at (-25.8, -45.9). A vehicle with ID 7 is 53.2 meters away at (-29.0, -44.7).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.8462869  -0.71413964] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0.25702637 0.29860228] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(43.230674743652344, -203.68136596679688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -0.8630047 -11.832953 ], 11.864381790161133 meters away.)"}
{"file_name": "images/scenario_1096_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -5.2) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 11.1 meters away at (-11.0, -1.9). A unknown object with ID 10 is 33.9 meters away at (-32.2, -10.5). A vehicle with ID 43 is 35.6 meters away at (-25.4, -25.0). A vehicle with ID 36 is 37.3 meters away at (-24.7, 27.9). A vehicle with ID 22 is 40.4 meters away at (-31.4, -25.4). A vehicle with ID 19 is 44.8 meters away at (-29.1, 34.0). A vehicle with ID 7 is 52.1 meters away at (-39.1, -34.4). A pedestrian with ID 8 is 54.3 meters away at (-54.3, -0.8). A vehicle with ID 18 is 54.4 meters away at (54.4, -2.3). A pedestrian with ID 1 is 73.8 meters away at (61.3, -41.1).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [1.0802573 0.9119632] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.2612534  -0.16531047] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 1.0973603 -0.7612482] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.7506235  1.2137458] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(43.230674743652344, -203.68136596679688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.962082   -1.8758926], 11.121430397033691 meters away.)"}
{"file_name": "images/scenario_1097_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 2.9) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 6.9 meters away at (-1.6, 6.7). A vehicle with ID 65 is 12.7 meters away at (9.4, -8.5). A vehicle with ID 56 is 14.5 meters away at (13.1, -6.3). A pedestrian with ID 57 is 18.5 meters away at (17.7, -5.3). A vehicle with ID 64 is 19.1 meters away at (-15.7, 10.9). A pedestrian with ID 21 is 19.2 meters away at (-7.8, 17.6). A pedestrian with ID 22 is 19.9 meters away at (-7.4, 18.5). A vehicle with ID 60 is 20.1 meters away at (17.5, -10.0). A pedestrian with ID 58 is 20.3 meters away at (19.3, -6.1). A pedestrian with ID 59 is 21.3 meters away at (19.8, -7.9).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-4.0261593  3.4145823] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.9787362 -0.7576491] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-6.705196  4.196098] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.83922434  0.9346339 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.78429395  0.93053234] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.97893625 -0.7791764 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.974389  -0.8066211] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.557102  26.908472]\n [-34.042404  28.072636]\n [-32.905266  27.07331 ]\n [-31.57696   26.428213]]", "nav_goal": "(142.33517456054688, 194.6431121826172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.5834875  6.682058 ], 6.867119312286377 meters away.)"}
{"file_name": "images/scenario_1097_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 2.8) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 5.0 meters away at (4.8, 1.4). A vehicle with ID 65 is 11.4 meters away at (8.5, -7.6). A pedestrian with ID 21 is 14.4 meters away at (-2.2, 14.2). A pedestrian with ID 22 is 15.2 meters away at (-1.8, 15.1). A vehicle with ID 56 is 22.8 meters away at (19.6, -11.6). A vehicle with ID 64 is 27.1 meters away at (-23.7, 13.1). A vehicle with ID 24 is 28.6 meters away at (21.6, -18.6). A vehicle with ID 60 is 28.6 meters away at (24.1, -15.4). A pedestrian with ID 57 is 29.1 meters away at (26.3, -12.4). A pedestrian with ID 67 is 30.3 meters away at (11.7, -28.0).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-3.5151825  2.9727452] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.20282249  1.1063112 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.26568708  1.0571855 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-8.18508    3.4428291] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.0106816  3.2437344] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 1.0699316  -0.88616395] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.8857481  -0.70910805] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.557102  26.908472]\n [-34.042404  28.072636]\n [-32.905266  27.07331 ]\n [-31.57696   26.428213]]", "nav_goal": "(142.33517456054688, 194.6431121826172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.795972  1.3786497], 4.990192413330078 meters away.)"}
{"file_name": "images/scenario_1097_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 3.4) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 11.0 meters away at (8.0, -7.6). A pedestrian with ID 21 is 11.3 meters away at (3.7, 10.6). A pedestrian with ID 22 is 11.9 meters away at (4.2, 11.1). A vehicle with ID 68 is 11.9 meters away at (11.1, -4.4). A vehicle with ID 24 is 25.5 meters away at (19.1, -17.0). A vehicle with ID 13 is 28.0 meters away at (-2.9, 27.8). A vehicle with ID 56 is 31.2 meters away at (25.9, -17.4). A vehicle with ID 83 is 32.6 meters away at (-28.4, 16.0). A vehicle with ID 45 is 34.2 meters away at (13.2, 31.6). A vehicle with ID 8 is 34.5 meters away at (2.8, 34.4).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [-3.4963574  3.0208037] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00187099 1.0418233 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.04324964  0.99038404] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.609166   3.8091595] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.557102  26.908472]\n [-34.042404  28.072636]\n [-32.905266  27.07331 ]\n [-31.57696   26.428213]]", "nav_goal": "(142.33517456054688, 194.6431121826172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.040192  -7.5693464], 11.042630195617676 meters away.)"}
{"file_name": "images/scenario_1097_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 4.2) m/s. Its current heading (yaw) is 1.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 9.4 meters away at (3.7, -8.6). A pedestrian with ID 21 is 9.7 meters away at (8.2, 5.3). A pedestrian with ID 22 is 10.6 meters away at (9.2, 5.4). A vehicle with ID 68 is 19.4 meters away at (15.1, -12.1). A vehicle with ID 13 is 20.1 meters away at (1.0, 20.1). A vehicle with ID 24 is 22.8 meters away at (14.5, -17.6). A vehicle with ID 83 is 25.8 meters away at (-24.4, 8.3). A vehicle with ID 8 is 27.5 meters away at (6.7, 26.7). A vehicle with ID 45 is 29.4 meters away at (17.2, 23.9). A vehicle with ID 86 is 32.9 meters away at (-31.1, 10.7).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [-5.267643   3.4773111] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.35288355 1.1706806 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.44980553 1.0455287 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.240282  3.501935] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.557102  26.908472]\n [-34.042404  28.072636]\n [-32.905266  27.07331 ]\n [-31.57696   26.428213]]", "nav_goal": "(142.33517456054688, 194.6431121826172)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.6636639 -8.649525 ], 9.393439292907715 meters away.)"}
{"file_name": "images/scenario_1098_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -0.6) m/s. Its current heading (yaw) is -0.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 4.3 meters away at (2.8, -3.3). A vehicle with ID 59 is 8.5 meters away at (7.3, 4.4). A vehicle with ID 61 is 14.0 meters away at (-9.6, 10.1). A vehicle with ID 58 is 14.3 meters away at (14.0, 2.6). A unknown object with ID 65 is 23.8 meters away at (10.0, -21.6). A vehicle with ID 57 is 25.0 meters away at (24.9, -0.9). A unknown object with ID 66 is 26.1 meters away at (9.0, -24.5). A vehicle with ID 60 is 26.4 meters away at (-23.9, 11.2). A vehicle with ID 63 is 26.7 meters away at (-22.8, 14.0). A vehicle with ID 62 is 26.7 meters away at (-26.1, 5.8).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-8.920832   2.6732378] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-23.734148025512695, 122.75211334228516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 2.8083344 -3.2747588], 4.314022064208984 meters away.)"}
{"file_name": "images/scenario_1098_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -1.6) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 6.2 meters away at (-6.0, -1.4). A vehicle with ID 59 is 6.6 meters away at (-1.6, 6.4). A vehicle with ID 58 is 6.9 meters away at (5.1, 4.6). A vehicle with ID 57 is 16.0 meters away at (16.0, 1.1). A unknown object with ID 65 is 19.7 meters away at (1.1, -19.6). A pedestrian with ID 67 is 20.1 meters away at (15.7, -12.5). A unknown object with ID 54 is 20.2 meters away at (1.5, -20.1). A vehicle with ID 56 is 21.3 meters away at (21.3, -0.4). A vehicle with ID 61 is 22.2 meters away at (-18.6, 12.1). A unknown object with ID 66 is 22.6 meters away at (0.2, -22.6).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.0756108   0.28575402] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-23.734148025512695, 122.75211334228516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-6.0209494 -1.3500986], 6.170461654663086 meters away.)"}
{"file_name": "images/scenario_1098_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -1.9) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 7.2 meters away at (5.8, 4.3). A pedestrian with ID 67 is 9.2 meters away at (3.3, -8.6). A vehicle with ID 58 is 9.3 meters away at (-5.1, 7.8). A vehicle with ID 56 is 11.3 meters away at (11.0, 2.9). A vehicle with ID 59 is 15.3 meters away at (-11.9, 9.6). A vehicle with ID 23 is 16.5 meters away at (-16.3, 1.9). A vehicle with ID 55 is 25.9 meters away at (25.8, -1.7). A vehicle with ID 15 is 31.6 meters away at (17.8, -26.1). A vehicle with ID 61 is 32.8 meters away at (-28.9, 15.4). A vehicle with ID 14 is 34.7 meters away at (21.7, -27.0).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.056439    0.34894237] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-23.734148025512695, 122.75211334228516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.7668877 4.3336678], 7.213713645935059 meters away.)"}
{"file_name": "images/scenario_1098_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -1.7) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 6.3 meters away at (1.1, 6.2). A vehicle with ID 57 is 8.6 meters away at (-4.0, 7.6). A pedestrian with ID 67 is 9.8 meters away at (-8.8, -4.4). A vehicle with ID 55 is 16.0 meters away at (15.9, 1.5). A vehicle with ID 58 is 18.6 meters away at (-14.9, 11.1). A vehicle with ID 15 is 24.1 meters away at (7.7, -22.8). A vehicle with ID 59 is 25.3 meters away at (-21.7, 13.0). A vehicle with ID 14 is 26.3 meters away at (11.8, -23.5). A vehicle with ID 23 is 26.7 meters away at (-26.2, 5.3). A vehicle with ID 11 is 35.5 meters away at (17.6, -30.9).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.0873672  0.3624338] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-23.734148025512695, 122.75211334228516)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.1492004 6.165069 ], 6.271263122558594 meters away.)"}
{"file_name": "images/scenario_1099_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, -6.4) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 27.0 meters away at (20.9, 17.2).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.466374 -6.527531] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-230.18861389160156, -100.35228729248047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [20.902336 17.150845], 27.038105010986328 meters away.)"}
{"file_name": "images/scenario_1099_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, -6.4) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 26.9 meters away at (20.8, 17.1). A vehicle with ID 17 is 72.7 meters away at (56.0, 46.3).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.21207   -6.2447314] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-9.768184 -7.689601] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-230.18861389160156, -100.35228729248047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [20.783623 17.123232], 26.928871154785156 meters away.)"}
{"file_name": "images/scenario_1099_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, -6.4) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 13.2 meters away at (-11.3, -6.8). A unknown object with ID 20 is 16.2 meters away at (-13.6, -8.7). A unknown object with ID 35 is 19.3 meters away at (-16.1, -10.7). A unknown object with ID 18 is 22.4 meters away at (-18.5, -12.6). A vehicle with ID 11 is 27.2 meters away at (21.0, 17.3). A vehicle with ID 28 is 66.5 meters away at (-49.1, -44.8).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.093453  -6.2011204] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [11.766001 10.181094] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-230.18861389160156, -100.35228729248047)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.348549  -6.800003], 13.229875564575195 meters away.)"}
{"file_name": "images/scenario_1099_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, -6.2) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 13.9 meters away at (-8.0, -11.4). A vehicle with ID 11 is 28.3 meters away at (21.9, 17.9). A vehicle with ID 23 is 43.4 meters away at (-31.1, -30.2). A vehicle with ID 25 is 69.8 meters away at (-51.2, -47.4).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [12.998919 11.010108] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.7425237 -5.8829265] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [11.211011   9.8807335] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [8.6387825 7.8604965] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-230.18861389160156, -100.35228729248047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -8.006714 -11.395779], 13.927355766296387 meters away.)"}
{"file_name": "images/scenario_1100_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 1.8) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A cyclist with ID 49 is 7.3 meters away at (-5.4, 4.9). A vehicle with ID 56 is 14.3 meters away at (3.9, 13.8). A vehicle with ID 54 is 15.7 meters away at (-14.6, 5.9). A vehicle with ID 55 is 20.4 meters away at (-17.2, 10.9). A pedestrian with ID 53 is 23.8 meters away at (15.2, 18.3). A vehicle with ID 28 is 25.9 meters away at (-24.2, 9.2). A unknown object with ID 29 is 33.8 meters away at (31.9, 11.3). A pedestrian with ID 60 is 41.8 meters away at (-26.4, 32.4). A pedestrian with ID 66 is 43.3 meters away at (-29.3, 31.8). A pedestrian with ID 65 is 43.8 meters away at (-27.3, 34.2).", "velocity_description": "The cyclist with ID 49 is traveling at a (x, y) velocity of [-9.565413  3.565103] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ 7.3661213 -3.3317368] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.9491699  0.3678569] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-1.0372838   0.44515294] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-2.8788064  0.8498158] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-3.9981666  0.4012822] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.1285567   0.43946373] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.6034882  0.7202648] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-1.3833293   0.64279234] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-303.1976318359375, 128.5040740966797)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-5.431464  4.92686 ], 7.333127021789551 meters away.)"}
{"file_name": "images/scenario_1100_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 1.3) m/s. Its current heading (yaw) is 2.72 ", "actor_description": " The most relevant actors are: A pedestrian with ID 36 is 6.5 meters away at (-2.3, -6.1). A vehicle with ID 54 is 13.9 meters away at (-12.9, 5.2). A vehicle with ID 55 is 17.9 meters away at (-15.0, 9.9). A cyclist with ID 49 is 22.3 meters away at (-20.0, 9.8). A vehicle with ID 56 is 27.1 meters away at (26.8, 3.7). A vehicle with ID 28 is 27.2 meters away at (-26.8, 4.4). A pedestrian with ID 45 is 32.0 meters away at (22.8, 22.5). A pedestrian with ID 60 is 37.1 meters away at (-21.3, 30.4). A vehicle with ID 69 is 38.2 meters away at (-29.4, 24.5). A pedestrian with ID 66 is 39.4 meters away at (-25.2, 30.4).", "velocity_description": "The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.1861763  0.18301123] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-4.603581   1.9398502] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-3.565953   1.4578066] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-11.588041    4.4519243] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ 8.613317  -4.0394573] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-4.90663   -2.9975183] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.2689704  -0.00423782] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.9776767  0.5876833] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 6.224457  -2.6136804] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.449541    0.85612357] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-303.1976318359375, 128.5040740966797)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-2.3379898 -6.053149 ], 6.48897647857666 meters away.)"}
{"file_name": "images/scenario_1100_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 1.9) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A pedestrian with ID 36 is 11.0 meters away at (7.2, -8.4). A vehicle with ID 69 is 17.0 meters away at (-7.5, 15.3). A vehicle with ID 54 is 20.2 meters away at (-18.7, 7.6). A vehicle with ID 55 is 20.3 meters away at (-17.3, 10.7). A cyclist with ID 32 is 22.3 meters away at (-12.7, 18.3). A vehicle with ID 70 is 28.7 meters away at (-17.0, 23.1). A vehicle with ID 28 is 29.6 meters away at (-28.2, -8.9). A pedestrian with ID 60 is 32.6 meters away at (-15.9, 28.5). A vehicle with ID 37 is 34.6 meters away at (33.0, -10.3). A pedestrian with ID 66 is 35.6 meters away at (-20.7, 28.9).", "velocity_description": "The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.1114885  0.39675358] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 8.273239  -3.4024065] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-8.152836   3.6501558] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-5.963759  2.570017] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [ 8.0224085 -3.0303278] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 5.3691444 -2.140763 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-3.6378057 -6.5382795] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.0404179  0.6613679] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-16.73845    6.957404] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.3728997   0.80278146] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-303.1976318359375, 128.5040740966797)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 7.1841755 -8.384961 ], 11.041736602783203 meters away.)"}
{"file_name": "images/scenario_1100_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 0.8) m/s. Its current heading (yaw) is 2.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 10.4 meters away at (10.4, -0.1). A vehicle with ID 70 is 15.6 meters away at (3.5, 15.2). A cyclist with ID 32 is 17.8 meters away at (15.8, 8.2). A vehicle with ID 69 is 20.3 meters away at (19.8, 4.5). A pedestrian with ID 36 is 20.9 meters away at (17.9, -10.9). A vehicle with ID 55 is 26.1 meters away at (-22.1, 13.8). A cyclist with ID 38 is 26.2 meters away at (18.8, 18.2). A pedestrian with ID 26 is 26.2 meters away at (19.1, 18.0). A pedestrian with ID 59 is 27.5 meters away at (-26.1, 8.7). A vehicle with ID 4 is 27.6 meters away at (-21.0, 17.9).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [-14.635084    6.2390313] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 6.467444  -2.7716112] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [10.976684 -4.090808] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [10.048713 -4.313305] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.86097074 0.29459658] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-7.6454577  3.450769 ] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-3.175001   1.9458579] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-2.9313948  1.7523719] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.02719328 0.08501536] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-303.1976318359375, 128.5040740966797)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [10.38246  -0.089118], 10.382842063903809 meters away.)"}
{"file_name": "images/scenario_1101_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 6.2) m/s. Its current heading (yaw) is 1.76 ", "actor_description": " The most relevant actors are: A pedestrian with ID 29 is 6.1 meters away at (4.3, 4.4). A vehicle with ID 21 is 8.3 meters away at (8.2, 0.7). A vehicle with ID 22 is 8.5 meters away at (8.3, -1.8). A vehicle with ID 20 is 9.1 meters away at (-5.8, 7.0). A unknown object with ID 34 is 10.8 meters away at (-4.3, 9.9). A unknown object with ID 35 is 11.4 meters away at (-4.5, 10.5). A unknown object with ID 37 is 11.9 meters away at (-4.6, 10.9). A pedestrian with ID 25 is 14.5 meters away at (12.5, -7.4). A pedestrian with ID 26 is 17.8 meters away at (13.4, -11.7). A vehicle with ID 27 is 19.7 meters away at (15.5, -12.2).", "velocity_description": "The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.14515667 -1.0786338 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.30656922 -0.33223465] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.0908163 -1.2398372] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-29.734588623046875, 225.98980712890625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [4.3047256 4.3866014], 6.145968914031982 meters away.)"}
{"file_name": "images/scenario_1101_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 5.7) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 2.3 meters away at (-2.2, -0.6). A unknown object with ID 35 is 2.3 meters away at (-2.0, -1.2). A unknown object with ID 34 is 2.5 meters away at (-1.7, -1.8). A vehicle with ID 20 is 5.8 meters away at (-3.3, -4.8). A unknown object with ID 16 is 10.5 meters away at (-8.5, 6.1). A pedestrian with ID 29 is 12.0 meters away at (7.2, -9.6). A unknown object with ID 24 is 14.7 meters away at (13.7, 5.3). A unknown object with ID 23 is 15.4 meters away at (13.5, 7.4). A vehicle with ID 21 is 15.4 meters away at (10.7, -11.0). A vehicle with ID 22 is 17.4 meters away at (10.8, -13.7).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.11352061 -1.1021662 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-29.734588623046875, 225.98980712890625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.2204456  -0.60634804], 2.3017466068267822 meters away.)"}
{"file_name": "images/scenario_1101_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 5.3) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 7.7 meters away at (-6.0, -4.8). A unknown object with ID 37 is 11.6 meters away at (0.4, -11.6). A unknown object with ID 14 is 12.1 meters away at (0.6, -12.1). A unknown object with ID 35 is 12.4 meters away at (0.7, -12.4). A unknown object with ID 34 is 12.8 meters away at (0.8, -12.8). A vehicle with ID 20 is 15.8 meters away at (-0.7, -15.8). A unknown object with ID 23 is 16.4 meters away at (16.0, -3.6). A unknown object with ID 24 is 17.3 meters away at (16.3, -5.8). A unknown object with ID 7 is 20.3 meters away at (20.1, -3.0). A pedestrian with ID 29 is 25.1 meters away at (10.2, -22.9).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.29303885 -1.0536866 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-29.734588623046875, 225.98980712890625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-5.979263  -4.8281536], 7.68522310256958 meters away.)"}
{"file_name": "images/scenario_1101_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 5.5) m/s. Its current heading (yaw) is 1.82 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 16.0 meters away at (-3.3, -15.7). A unknown object with ID 37 is 22.7 meters away at (3.1, -22.5). A unknown object with ID 14 is 23.2 meters away at (3.4, -23.0). A unknown object with ID 35 is 23.6 meters away at (3.5, -23.3). A unknown object with ID 23 is 23.7 meters away at (18.7, -14.5). A unknown object with ID 34 is 23.9 meters away at (3.6, -23.7). A unknown object with ID 24 is 25.3 meters away at (19.0, -16.7). A vehicle with ID 20 is 26.6 meters away at (2.0, -26.6). A unknown object with ID 7 is 26.7 meters away at (22.8, -13.9). A vehicle with ID 21 is 36.6 meters away at (16.0, -32.9).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-29.734588623046875, 225.98980712890625)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ -3.2559175 -15.684099 ], 16.01848793029785 meters away.)"}
{"file_name": "images/scenario_1102_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 7.0 meters away at (2.5, -6.5). A pedestrian with ID 7 is 7.5 meters away at (2.2, -7.2). A pedestrian with ID 5 is 12.0 meters away at (8.5, 8.5). A unknown object with ID 10 is 15.6 meters away at (-14.8, 4.9). A unknown object with ID 11 is 15.8 meters away at (-14.1, 7.0). A unknown object with ID 12 is 16.2 meters away at (-15.9, 3.4). A unknown object with ID 13 is 16.3 meters away at (-16.2, 1.9). A pedestrian with ID 16 is 16.5 meters away at (-11.1, 12.1). A unknown object with ID 15 is 17.2 meters away at (-14.6, 9.2). A unknown object with ID 18 is 18.3 meters away at (-16.6, 7.6).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.1085904  -0.07314872] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.0983821  -0.10128146] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.34622175 -0.74698836] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.089646   -0.02347579] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.0678825   -1.0078032 ]\n [ 10.820237    80.66143   ]\n [  7.562112    80.21543   ]\n [ 10.820236    80.66143   ]\n [ 10.765571    80.66622   ]\n [ -0.6210138  -18.87918   ]\n [ -0.6006732  -18.160105  ]\n [ -0.619718   -18.907907  ]\n [ -0.63081366 -18.594698  ]\n [ -0.6197181  -18.907907  ]\n [  1.0803747   -1.7944362 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 2.5081656 -6.5489235], 7.0127949714660645 meters away.)"}
{"file_name": "images/scenario_1102_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 8.2 meters away at (4.8, -6.6). A pedestrian with ID 7 is 8.4 meters away at (4.4, -7.2). A unknown object with ID 10 is 15.6 meters away at (-14.8, 4.9). A unknown object with ID 11 is 15.8 meters away at (-14.1, 7.0). A unknown object with ID 12 is 16.2 meters away at (-15.8, 3.4). A unknown object with ID 13 is 16.3 meters away at (-16.2, 1.9). A pedestrian with ID 16 is 16.5 meters away at (-9.6, 13.4). A unknown object with ID 15 is 17.2 meters away at (-14.6, 9.2). A unknown object with ID 18 is 18.3 meters away at (-16.6, 7.6). A unknown object with ID 19 is 18.4 meters away at (-16.2, 8.7).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.1394686 -0.1321958] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.1766391  -0.10198747] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.4725872  0.91347027] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.0678825   -1.0078032 ]\n [ -0.6210138  -18.87918   ]\n [ -0.6006732  -18.160105  ]\n [ -0.619718   -18.907907  ]\n [ -0.63081366 -18.594698  ]\n [ -0.6197181  -18.907907  ]\n [  1.0803747   -1.7944362 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 4.8428044 -6.617345 ], 8.200121879577637 meters away.)"}
{"file_name": "images/scenario_1102_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A pedestrian with ID 6 is 10.0 meters away at (7.3, -6.8). A pedestrian with ID 7 is 10.0 meters away at (6.8, -7.4). A unknown object with ID 10 is 15.6 meters away at (-14.8, 4.9). A unknown object with ID 11 is 15.7 meters away at (-14.1, 7.0). A unknown object with ID 12 is 16.2 meters away at (-15.8, 3.4). A unknown object with ID 13 is 16.3 meters away at (-16.1, 1.9). A unknown object with ID 15 is 17.2 meters away at (-14.6, 9.2). A pedestrian with ID 16 is 17.7 meters away at (-9.5, 15.0). A unknown object with ID 18 is 18.3 meters away at (-16.6, 7.7). A unknown object with ID 19 is 18.4 meters away at (-16.2, 8.7).", "velocity_description": "The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.2160482  -0.11891173] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.2243001  -0.11136041] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01700485  0.27332842] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.0678825   -1.0078032 ]\n [ -0.6210138  -18.87918   ]\n [ -0.6006732  -18.160105  ]\n [ -0.619718   -18.907907  ]\n [ -0.63081366 -18.594698  ]\n [ -0.6197181  -18.907907  ]\n [  1.0803747   -1.7944362 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 7.3006954 -6.805716 ], 9.980877876281738 meters away.)"}
{"file_name": "images/scenario_1102_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A pedestrian with ID 7 is 12.1 meters away at (9.0, -8.0). A pedestrian with ID 6 is 12.1 meters away at (9.6, -7.4). A unknown object with ID 10 is 15.6 meters away at (-14.8, 4.9). A unknown object with ID 11 is 15.7 meters away at (-14.1, 7.0). A unknown object with ID 12 is 16.2 meters away at (-15.9, 3.4). A unknown object with ID 13 is 16.3 meters away at (-16.1, 2.0). A unknown object with ID 15 is 17.2 meters away at (-14.6, 9.2). A pedestrian with ID 16 is 17.6 meters away at (-9.5, 14.9). A unknown object with ID 18 is 18.3 meters away at (-16.6, 7.7). A unknown object with ID 19 is 18.4 meters away at (-16.2, 8.7).", "velocity_description": "The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.0594716  -0.47792208] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.0243661  -0.46417326] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.1586155 -0.6199723] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -1.0678825   -1.0078032 ]\n [ -0.6210138  -18.87918   ]\n [ -0.6006732  -18.160105  ]\n [ -0.619718   -18.907907  ]\n [ -0.63081366 -18.594698  ]\n [ -0.6197181  -18.907907  ]\n [  1.0803747   -1.7944362 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 9.043233 -8.041167], 12.10125732421875 meters away.)"}
{"file_name": "images/scenario_1103_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 3.9) m/s. Its current heading (yaw) is 2.71 ", "actor_description": " The most relevant actors are: A pedestrian with ID 62 is 22.8 meters away at (18.1, 13.9). A vehicle with ID 15 is 23.6 meters away at (21.6, -9.3). A vehicle with ID 18 is 28.9 meters away at (25.1, -14.3). A cyclist with ID 64 is 30.2 meters away at (24.8, 17.4). A pedestrian with ID 63 is 32.1 meters away at (29.8, 12.1). A pedestrian with ID 65 is 51.8 meters away at (42.6, -29.5). A vehicle with ID 61 is 55.8 meters away at (49.9, -25.0). A pedestrian with ID 1 is 65.7 meters away at (-62.3, 20.8). A unknown object with ID 69 is 67.9 meters away at (59.0, -33.6). A unknown object with ID 71 is 69.2 meters away at (60.2, -34.1).", "velocity_description": "The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 1.1048509  -0.20410942] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-9.302727  4.087905] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-11.005311    4.7544603] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.8298092 1.492462 ] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.6148392 0.0379907] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 1.1797134  -0.40385666] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-11.434203    4.6418357] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.03532604 -0.00666054] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-98.40131   41.79    ]\n [-98.44762   41.544327]\n [-94.65624   40.906277]]", "nav_goal": "(-8.328848838806152, 217.250244140625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [18.102972 13.916124], 22.833662033081055 meters away.)"}
{"file_name": "images/scenario_1103_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 3.4) m/s. Its current heading (yaw) is 2.70 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 22.0 meters away at (20.0, -9.0). A vehicle with ID 18 is 22.9 meters away at (19.3, -12.2). A vehicle with ID 45 is 31.5 meters away at (-13.2, -28.6). A pedestrian with ID 62 is 37.2 meters away at (36.9, 5.3). A unknown object with ID 42 is 42.7 meters away at (41.5, 10.2). A vehicle with ID 41 is 46.0 meters away at (-11.1, -44.6). A pedestrian with ID 63 is 46.8 meters away at (46.5, 4.7). A pedestrian with ID 1 is 48.4 meters away at (-46.5, 13.5). A pedestrian with ID 33 is 48.5 meters away at (48.5, 0.6). A vehicle with ID 61 is 48.9 meters away at (43.1, -23.1).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [-8.29053    3.6306534] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-10.488952    4.7207427] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 1.2317427  -0.69236636] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.27960834 0.14164996] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.03517376 -0.00053037] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.2039697  0.5449818] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-11.526206   4.564464] m/s.", "light_description": "There are active red lights at the following coordinates: [[-98.40131   41.79    ]\n [-98.44762   41.544327]\n [-94.65624   40.906277]]", "nav_goal": "(-8.328848838806152, 217.250244140625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [20.03018  -9.043673], 21.9771728515625 meters away.)"}
{"file_name": "images/scenario_1103_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 2.9) m/s. Its current heading (yaw) is 2.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 15.5 meters away at (12.3, -9.4). A vehicle with ID 15 is 20.4 meters away at (18.4, -8.9). A pedestrian with ID 1 is 34.1 meters away at (-33.4, 7.2). A vehicle with ID 45 is 35.0 meters away at (-0.0, -35.0). A vehicle with ID 61 is 39.1 meters away at (33.0, -20.9). A vehicle with ID 37 is 40.1 meters away at (-39.7, 5.5). A pedestrian with ID 4 is 44.7 meters away at (-28.4, 34.5). A vehicle with ID 41 is 50.7 meters away at (2.0, -50.7). A vehicle with ID 8 is 51.1 meters away at (-49.8, 11.3). A vehicle with ID 7 is 51.2 meters away at (-47.7, 18.6).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-9.47574    4.3572545] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.510376   2.8177702] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00575844 0.00453382] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-11.630169    4.0857816] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -2.945678 -13.71245 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00355668  0.00077738] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -98.40131    41.79    ]\n [-101.21585    67.78886 ]\n [ -98.44762    41.544327]\n [ -94.65624    40.906277]\n [-100.23981    70.31418 ]]", "nav_goal": "(-8.328848838806152, 217.250244140625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.337765 -9.422662], 15.524399757385254 meters away.)"}
{"file_name": "images/scenario_1103_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 2.4) m/s. Its current heading (yaw) is 2.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 8.3 meters away at (5.3, -6.3). A vehicle with ID 15 is 19.4 meters away at (16.9, -9.4). A pedestrian with ID 1 is 23.1 meters away at (-23.0, 1.9). A vehicle with ID 61 is 27.4 meters away at (20.3, -18.5). A vehicle with ID 53 is 30.5 meters away at (-28.0, 12.3). A pedestrian with ID 4 is 34.3 meters away at (-18.1, 29.2). A pedestrian with ID 32 is 34.6 meters away at (-7.9, 33.7). A vehicle with ID 7 is 39.7 meters away at (-37.5, 13.3). A vehicle with ID 43 is 39.8 meters away at (-37.5, 13.4). A vehicle with ID 8 is 39.9 meters away at (-39.5, 6.0).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-7.729875  4.042544] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.7336454  2.248066 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00328553 0.01575805] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-11.001494   3.815498] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ -3.6685228 -15.086521 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.0356505   0.00315999] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.04490162 -0.06431192] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -98.40131    41.79    ]\n [-101.21585    67.78886 ]\n [-103.93874    62.89867 ]\n [ -98.44762    41.544327]\n [ -94.65624    40.906277]\n [-100.23981    70.31418 ]\n [-103.02676    65.66521 ]]", "nav_goal": "(-8.328848838806152, 217.250244140625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.314438 -6.34729 ], 8.278366088867188 meters away.)"}
{"file_name": "images/scenario_1104_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.4) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 13.1 meters away at (11.5, 6.2). A pedestrian with ID 34 is 13.3 meters away at (6.3, 11.7). A pedestrian with ID 33 is 14.3 meters away at (6.9, 12.5). A pedestrian with ID 32 is 15.2 meters away at (7.9, 13.0). A vehicle with ID 40 is 16.0 meters away at (-7.4, -14.2). A vehicle with ID 47 is 22.7 meters away at (-12.1, -19.2). A vehicle with ID 23 is 24.0 meters away at (19.0, 14.6). A vehicle with ID 51 is 28.6 meters away at (-16.3, -23.5). A vehicle with ID 24 is 30.3 meters away at (23.3, 19.4). A vehicle with ID 31 is 30.6 meters away at (10.3, 28.9).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.47230947 -1.2897558 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.59406495 -1.0620635 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.65212697 -1.0928943 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(198.48880004882812, 223.02865600585938)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [11.48989   6.215435], 13.063277244567871 meters away.)"}
{"file_name": "images/scenario_1104_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A pedestrian with ID 34 is 11.1 meters away at (6.9, 8.7). A pedestrian with ID 33 is 12.4 meters away at (7.5, 9.9). A vehicle with ID 26 is 12.7 meters away at (11.2, 5.9). A pedestrian with ID 32 is 13.3 meters away at (8.4, 10.4). A vehicle with ID 40 is 16.3 meters away at (-7.6, -14.5). A vehicle with ID 47 is 23.1 meters away at (-12.4, -19.5). A vehicle with ID 23 is 23.6 meters away at (18.8, 14.3). A vehicle with ID 51 is 28.9 meters away at (-16.5, -23.7). A pedestrian with ID 35 is 29.3 meters away at (1.7, 29.3). A vehicle with ID 24 is 29.9 meters away at (23.1, 19.1).", "velocity_description": "The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.34225392 -1.3593155 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.22249533 -1.2555794 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.34352732 -1.1948712 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2835867 -0.5743955] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(198.48880004882812, 223.02865600585938)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [6.8586545 8.698957 ], 11.077589988708496 meters away.)"}
{"file_name": "images/scenario_1104_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A pedestrian with ID 34 is 9.5 meters away at (7.4, 6.0). A pedestrian with ID 33 is 10.6 meters away at (7.7, 7.3). A pedestrian with ID 32 is 11.6 meters away at (8.7, 7.8). A vehicle with ID 26 is 12.7 meters away at (11.2, 5.9). A vehicle with ID 40 is 16.4 meters away at (-7.6, -14.5). A vehicle with ID 47 is 23.1 meters away at (-12.4, -19.5). A vehicle with ID 23 is 23.5 meters away at (18.7, 14.3). A vehicle with ID 51 is 29.0 meters away at (-16.6, -23.8). A pedestrian with ID 35 is 29.7 meters away at (4.2, 29.4). A vehicle with ID 24 is 29.9 meters away at (23.0, 19.1).", "velocity_description": "The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.27518415 -1.4038801 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.19631326 -1.2637323 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.20637016 -1.2496274 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [1.1309578  0.53935593] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(198.48880004882812, 223.02865600585938)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [7.3787003 6.018696 ], 9.522075653076172 meters away.)"}
{"file_name": "images/scenario_1104_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.3) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A pedestrian with ID 34 is 7.9 meters away at (7.5, 2.5). A pedestrian with ID 33 is 8.5 meters away at (7.7, 3.6). A pedestrian with ID 32 is 9.3 meters away at (8.2, 4.3). A vehicle with ID 26 is 11.6 meters away at (10.4, 5.0). A vehicle with ID 40 is 17.5 meters away at (-8.4, -15.4). A vehicle with ID 23 is 22.4 meters away at (17.9, 13.4). A vehicle with ID 47 is 24.3 meters away at (-13.2, -20.4). A vehicle with ID 24 is 28.7 meters away at (22.2, 18.1). A vehicle with ID 31 is 29.2 meters away at (9.2, 27.7). A vehicle with ID 51 is 30.2 meters away at (-17.4, -24.7).", "velocity_description": "The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.60208464 -1.2660872 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.45134434 -1.2330525 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.26631016 -1.2759385 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(198.48880004882812, 223.02865600585938)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [7.5328226 2.497207 ], 7.935959815979004 meters away.)"}
{"file_name": "images/scenario_1105_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -0.2) m/s. Its current heading (yaw) is -0.11 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 44.5 meters away at (40.3, -18.9). A pedestrian with ID 21 is 44.5 meters away at (39.8, -19.9). A pedestrian with ID 22 is 49.3 meters away at (41.5, -26.7). A vehicle with ID 25 is 70.0 meters away at (-49.1, -49.9). A vehicle with ID 19 is 76.4 meters away at (75.9, 8.9).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.03326789 -0.0002204 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.54026496  0.20452803] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-31.01881217956543, -38.10252380371094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 40.288494 -18.852858], 44.48137664794922 meters away.)"}
{"file_name": "images/scenario_1105_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 0.4) m/s. Its current heading (yaw) is 0.11 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 33.2 meters away at (30.4, 13.2). A vehicle with ID 18 is 39.3 meters away at (34.5, -18.8). A pedestrian with ID 21 is 39.4 meters away at (34.0, -19.9). A vehicle with ID 19 is 70.9 meters away at (70.4, 8.6). A vehicle with ID 12 is 74.0 meters away at (73.6, 7.2).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.04775257 -0.04481588] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.02715602 -0.01475934] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-31.01881217956543, -38.10252380371094)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [30.434036 13.219247], 33.181007385253906 meters away.)"}
{"file_name": "images/scenario_1105_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 2.5) m/s. Its current heading (yaw) is 0.65 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 25.2 meters away at (22.7, 11.0). A pedestrian with ID 10 is 25.5 meters away at (23.3, 10.4). A vehicle with ID 18 is 34.6 meters away at (27.1, -21.6). A pedestrian with ID 21 is 35.1 meters away at (26.6, -22.8). A vehicle with ID 19 is 63.5 meters away at (63.3, 5.6). A vehicle with ID 12 is 66.8 meters away at (66.6, 4.5).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.00287859 0.00233602] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.13979693 -0.09779774] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.08110619 -0.03638331] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-31.01881217956543, -38.10252380371094)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [22.667599 11.011522], 25.200666427612305 meters away.)"}
{"file_name": "images/scenario_1105_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 3.9) m/s. Its current heading (yaw) is 1.08 ", "actor_description": " The most relevant actors are: A pedestrian with ID 3 is 18.1 meters away at (17.5, 4.8). A vehicle with ID 18 is 35.4 meters away at (22.0, -27.8). A vehicle with ID 19 is 58.0 meters away at (58.0, -0.6).", "velocity_description": "The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.05855671 -0.02590635] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-31.01881217956543, -38.10252380371094)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [17.463896  4.769536], 18.103485107421875 meters away.)"}
{"file_name": "images/scenario_1106_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 4.1) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 27.6 meters away at (-19.2, 19.8). A unknown object with ID 58 is 33.6 meters away at (33.3, -4.6). A unknown object with ID 59 is 34.1 meters away at (34.0, -3.4). A vehicle with ID 61 is 53.5 meters away at (46.4, -26.5).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 5.7848053 -3.4594116] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-19.193132  19.845203], 27.608121871948242 meters away.)"}
{"file_name": "images/scenario_1106_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.7) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 12.5 meters away at (-5.8, 11.1).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.785246 11.097247], 12.514710426330566 meters away.)"}
{"file_name": "images/scenario_1106_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.8) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 8.5 meters away at (8.4, 1.5). A unknown object with ID 35 is 58.8 meters away at (-51.5, 28.4). A unknown object with ID 51 is 60.7 meters away at (-52.6, 30.4). A pedestrian with ID 55 is 62.4 meters away at (-54.3, 30.9). A unknown object with ID 22 is 63.7 meters away at (-47.4, 42.6). A vehicle with ID 20 is 65.6 meters away at (-57.1, 32.3). A unknown object with ID 21 is 65.6 meters away at (-49.3, 43.3). A unknown object with ID 46 is 67.3 meters away at (-59.8, 30.8). A unknown object with ID 18 is 67.6 meters away at (-51.2, 44.1). A unknown object with ID 49 is 69.3 meters away at (-61.4, 32.0).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.01998061  0.0392254 ] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.394243  1.5401726], 8.534368515014648 meters away.)"}
{"file_name": "images/scenario_1106_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.9) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 22.7 meters away at (-21.5, 7.2). A vehicle with ID 62 is 24.4 meters away at (23.0, -8.2). A unknown object with ID 35 is 41.3 meters away at (-36.8, 18.7). A unknown object with ID 51 is 43.3 meters away at (-38.0, 20.7). A pedestrian with ID 24 is 43.3 meters away at (-29.8, 31.5). A unknown object with ID 57 is 43.5 meters away at (-29.9, 31.5). A unknown object with ID 40 is 45.0 meters away at (-31.2, 32.4). A pedestrian with ID 55 is 45.0 meters away at (-39.7, 21.1). A unknown object with ID 22 is 46.4 meters away at (-32.8, 32.9). A vehicle with ID 20 is 47.6 meters away at (-42.0, 22.3).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.00082285 0.0011497 ] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.01988162  0.02370578] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-21.542992    7.2041283], 22.71563148498535 meters away.)"}
{"file_name": "images/scenario_1107_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 2.4) m/s. Its current heading (yaw) is 2.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 8.3 meters away at (-2.3, -7.9). A vehicle with ID 63 is 10.4 meters away at (-8.5, -6.0). A vehicle with ID 65 is 11.5 meters away at (4.3, -10.6). A vehicle with ID 62 is 13.9 meters away at (-13.3, -4.2). A vehicle with ID 68 is 16.7 meters away at (9.7, -13.6). A pedestrian with ID 11 is 17.8 meters away at (-14.4, 10.5). A pedestrian with ID 12 is 18.1 meters away at (-14.2, 11.2). A vehicle with ID 69 is 21.7 meters away at (14.4, -16.1). A vehicle with ID 84 is 33.5 meters away at (-16.5, 29.2). A pedestrian with ID 80 is 34.3 meters away at (5.6, 33.8).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.55598104  0.15778512] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.49207625  0.12255164] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.5240301  0.80618364] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(153.07371520996094, -13.45824909210205)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.3440485 -7.9349933], 8.27397632598877 meters away.)"}
{"file_name": "images/scenario_1107_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 0.7) m/s. Its current heading (yaw) is 2.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 8.8 meters away at (-5.1, -7.2). A vehicle with ID 63 is 8.9 meters away at (-0.4, -8.9). A pedestrian with ID 11 is 10.8 meters away at (-7.4, 7.9). A pedestrian with ID 12 is 11.0 meters away at (-7.0, 8.6). A vehicle with ID 64 is 12.4 meters away at (5.8, -10.9). A unknown object with ID 39 is 14.2 meters away at (-5.2, 13.3). A vehicle with ID 65 is 18.5 meters away at (12.5, -13.6). A vehicle with ID 68 is 24.3 meters away at (17.9, -16.5). A vehicle with ID 92 is 25.1 meters away at (-23.8, 7.9). A vehicle with ID 84 is 27.5 meters away at (-8.3, 26.2).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.5199639   0.28504956] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.52662486  0.35547602] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [5.2502875 2.8581889] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(153.07371520996094, -13.45824909210205)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.116911 -7.166528], 8.805788040161133 meters away.)"}
{"file_name": "images/scenario_1107_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 8.5 meters away at (-3.9, -7.6). A vehicle with ID 63 is 9.4 meters away at (0.8, -9.4). A pedestrian with ID 11 is 10.7 meters away at (-7.3, 7.8). A pedestrian with ID 12 is 11.1 meters away at (-7.1, 8.5). A unknown object with ID 39 is 13.2 meters away at (-4.2, 12.6). A vehicle with ID 64 is 13.3 meters away at (7.0, -11.3). A unknown object with ID 32 is 16.2 meters away at (-3.8, 15.7). A vehicle with ID 92 is 18.1 meters away at (-11.5, 14.0). A vehicle with ID 65 is 19.6 meters away at (13.7, -14.0). A vehicle with ID 68 is 25.6 meters away at (19.2, -17.0).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.47601405  0.15686515] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.45765722  0.21761888] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [5.7903976 3.624327 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(153.07371520996094, -13.45824909210205)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.8878021 -7.5926967], 8.530184745788574 meters away.)"}
{"file_name": "images/scenario_1107_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 0.8) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 8.5 meters away at (-1.3, -8.4). A pedestrian with ID 11 is 9.5 meters away at (-6.0, 7.5). A pedestrian with ID 12 is 10.0 meters away at (-5.7, 8.2). A vehicle with ID 63 is 10.8 meters away at (3.4, -10.2). A unknown object with ID 39 is 12.0 meters away at (-1.2, 11.9). A unknown object with ID 41 is 13.3 meters away at (-1.0, 13.3). A unknown object with ID 32 is 14.9 meters away at (-1.2, 14.8). A vehicle with ID 64 is 15.5 meters away at (9.6, -12.1). A vehicle with ID 92 is 21.4 meters away at (1.4, 21.4). A vehicle with ID 65 is 22.1 meters away at (16.3, -14.9).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.70965505  0.34646824] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.71644515  0.3918938 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [4.712883  4.6048636] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(153.07371520996094, -13.45824909210205)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-1.3111   -8.420894], 8.52234935760498 meters away.)"}
{"file_name": "images/scenario_1108_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -0.1) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 117 is 11.0 meters away at (-2.1, 10.8). A vehicle with ID 86 is 11.5 meters away at (0.3, 11.5). A vehicle with ID 112 is 13.8 meters away at (-9.2, 10.3). A vehicle with ID 110 is 15.1 meters away at (-11.6, -9.6). A vehicle with ID 108 is 15.9 meters away at (-12.0, 10.5). A vehicle with ID 103 is 17.1 meters away at (-14.4, -9.3). A pedestrian with ID 98 is 17.5 meters away at (-16.8, -5.0). A vehicle with ID 107 is 18.5 meters away at (-14.9, 11.0). A vehicle with ID 102 is 20.6 meters away at (-17.5, 10.9). A vehicle with ID 99 is 22.0 meters away at (-19.7, -9.7).", "velocity_description": "The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [1.4120244 0.1088263] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.0739594 10.816095 ], 11.013138771057129 meters away.)"}
{"file_name": "images/scenario_1108_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.3, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A unknown object with ID 91 is 16.9 meters away at (-13.7, -9.9). A pedestrian with ID 80 is 20.5 meters away at (-3.2, -20.2). A unknown object with ID 74 is 20.9 meters away at (11.3, -17.5). A vehicle with ID 86 is 23.0 meters away at (-19.9, 11.5). A vehicle with ID 117 is 24.9 meters away at (-22.3, 11.0). A vehicle with ID 96 is 26.3 meters away at (25.9, 4.3). A vehicle with ID 112 is 31.3 meters away at (-29.5, 10.3). A vehicle with ID 72 is 32.2 meters away at (-32.2, 0.7). A vehicle with ID 110 is 33.3 meters away at (-31.9, -9.5). A vehicle with ID 73 is 33.7 meters away at (27.0, -20.2).", "velocity_description": "The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [-9.633203e+00  3.290101e-03] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [10.685989   -0.14577714] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-13.721661  -9.945354], 16.946800231933594 meters away.)"}
{"file_name": "images/scenario_1108_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.5, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 96 is 14.4 meters away at (-13.7, 4.5). A vehicle with ID 77 is 17.5 meters away at (-1.1, -17.5). A vehicle with ID 84 is 19.7 meters away at (-5.5, -18.9). A vehicle with ID 73 is 21.2 meters away at (6.4, -20.2). A vehicle with ID 83 is 21.9 meters away at (2.0, -21.8). A vehicle with ID 71 is 24.6 meters away at (14.4, -19.9). A vehicle with ID 69 is 27.7 meters away at (19.9, -19.3). A vehicle with ID 58 is 31.3 meters away at (29.5, 10.4). A vehicle with ID 67 is 31.5 meters away at (23.4, -21.0). A vehicle with ID 72 is 32.2 meters away at (-32.2, 0.5).", "velocity_description": "The vehicle with ID 96 is traveling at a (x, y) velocity of [-9.199628    0.14282528] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [10.217503   -0.07282107] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-13.715462    4.5314345], 14.444645881652832 meters away.)"}
{"file_name": "images/scenario_1108_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 13.8 meters away at (8.9, 10.6). A vehicle with ID 53 is 16.5 meters away at (12.5, 10.7). A vehicle with ID 69 is 20.4 meters away at (-0.7, -20.4). A vehicle with ID 71 is 21.0 meters away at (-6.2, -20.0). A vehicle with ID 67 is 21.2 meters away at (2.7, -21.0). A vehicle with ID 48 is 21.7 meters away at (19.0, 10.4). A vehicle with ID 63 is 23.0 meters away at (6.4, -22.1). A vehicle with ID 46 is 24.2 meters away at (21.8, 10.5). A vehicle with ID 73 is 24.6 meters away at (-14.3, -20.1). A vehicle with ID 61 is 25.2 meters away at (9.9, -23.2).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 8.872978 10.592947], 13.818114280700684 meters away.)"}
{"file_name": "images/scenario_1109_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -9.3) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 16.5 meters away at (0.4, -16.5). A unknown object with ID 20 is 18.3 meters away at (-0.2, -18.3). A unknown object with ID 13 is 20.1 meters away at (-0.8, -20.1). A unknown object with ID 39 is 21.0 meters away at (4.0, -20.6). A vehicle with ID 35 is 24.3 meters away at (-10.4, 22.0). A vehicle with ID 36 is 25.2 meters away at (-15.4, 19.9). A vehicle with ID 42 is 25.2 meters away at (-22.1, 12.2). A pedestrian with ID 44 is 25.3 meters away at (3.1, -25.1). A unknown object with ID 32 is 25.9 meters away at (-2.5, -25.8). A unknown object with ID 28 is 27.9 meters away at (-3.2, -27.7).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [3.875015 9.059625] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [2.7145443 6.2315984] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [2.811994  7.6186266] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.05683545 0.05866877] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 7.8794622 60.689068 ]\n [11.746545  59.565258 ]\n [ 4.26253   61.26903  ]]", "nav_goal": "(-122.9483871459961, -267.68328857421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  0.35514498 -16.543324  ], 16.547134399414062 meters away.)"}
{"file_name": "images/scenario_1109_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -9.1) m/s. Its current heading (yaw) is -1.85 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 5.4 meters away at (5.1, -1.7). A unknown object with ID 20 is 5.7 meters away at (5.7, 0.1). A unknown object with ID 24 is 5.8 meters away at (4.5, -3.6). A unknown object with ID 23 is 6.5 meters away at (6.2, 1.9). A unknown object with ID 10 is 6.7 meters away at (4.0, -5.4). A unknown object with ID 32 is 8.1 meters away at (3.4, -7.4). A unknown object with ID 28 is 9.7 meters away at (2.8, -9.3). A unknown object with ID 39 is 10.0 meters away at (9.8, -2.2). A pedestrian with ID 44 is 11.1 meters away at (9.1, -6.3). A unknown object with ID 29 is 11.5 meters away at (2.2, -11.3).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.03557479 0.03173024] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-122.9483871459961, -267.68328857421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 5.1183677 -1.7375908], 5.405266761779785 meters away.)"}
{"file_name": "images/scenario_1109_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -8.5) m/s. Its current heading (yaw) is -1.81 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 7.2 meters away at (6.1, 4.0). A unknown object with ID 9 is 7.5 meters away at (6.3, -3.9). A unknown object with ID 17 is 8.9 meters away at (8.8, -1.4). A unknown object with ID 29 is 9.2 meters away at (6.9, 6.1). A unknown object with ID 28 is 11.0 meters away at (7.5, 8.1). A unknown object with ID 32 is 12.9 meters away at (8.1, 10.0). A unknown object with ID 10 is 14.7 meters away at (8.7, 11.9). A unknown object with ID 24 is 16.7 meters away at (9.3, 13.9). A unknown object with ID 13 is 18.5 meters away at (9.8, 15.7). A unknown object with ID 20 is 20.3 meters away at (10.4, 17.5).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -44.52462  -129.4082  ]\n [ -42.879482 -135.07993 ]\n [ -41.185753 -139.22993 ]]", "nav_goal": "(-122.9483871459961, -267.68328857421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [6.052706  3.9802094], 7.244122505187988 meters away.)"}
{"file_name": "images/scenario_1109_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -7.3) m/s. Its current heading (yaw) is -1.82 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 21.9 meters away at (10.1, 19.5). A unknown object with ID 29 is 24.0 meters away at (10.8, 21.5). A unknown object with ID 14 is 25.6 meters away at (12.2, 22.5). A vehicle with ID 7 is 40.2 meters away at (-16.1, 36.8). A pedestrian with ID 16 is 45.6 meters away at (19.8, 41.1). A vehicle with ID 1 is 53.9 meters away at (-17.1, -51.1). A vehicle with ID 2 is 58.0 meters away at (-15.4, -55.9).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 3.4322352 14.167403 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -44.52462  -129.4082  ]\n [ -42.879482 -135.07993 ]\n [ -41.185753 -139.22993 ]]", "nav_goal": "(-122.9483871459961, -267.68328857421875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [10.115928 19.454391], 21.927274703979492 meters away.)"}
{"file_name": "images/scenario_1110_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 5.0) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 51 is 4.8 meters away at (-4.8, -0.9). A unknown object with ID 46 is 13.8 meters away at (5.5, 12.6). A pedestrian with ID 56 is 14.1 meters away at (5.6, 12.9). A unknown object with ID 50 is 15.9 meters away at (10.2, -12.1). A unknown object with ID 59 is 29.2 meters away at (-27.1, 11.0). A unknown object with ID 34 is 34.2 meters away at (-33.1, 8.6). A unknown object with ID 32 is 35.0 meters away at (-32.9, 12.1). A unknown object with ID 49 is 40.5 meters away at (29.8, -27.4). A vehicle with ID 21 is 41.4 meters away at (34.4, -23.0). A vehicle with ID 40 is 51.4 meters away at (-51.1, 5.9).", "velocity_description": "The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.01918937 0.10229853] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.317728  4.896669] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-108.5127182006836, 245.07298278808594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-4.766371   -0.86442375], 4.844121932983398 meters away.)"}
{"file_name": "images/scenario_1110_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 4.9) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A unknown object with ID 51 is 14.4 meters away at (9.7, -10.6). A unknown object with ID 44 is 14.6 meters away at (-14.5, 1.8). A unknown object with ID 39 is 14.8 meters away at (8.7, -12.0). A unknown object with ID 24 is 14.9 meters away at (9.4, -11.5). A unknown object with ID 25 is 16.4 meters away at (10.7, -12.5). A unknown object with ID 32 is 18.4 meters away at (-18.2, 2.3). A unknown object with ID 34 is 18.6 meters away at (-18.5, -1.2). A pedestrian with ID 56 is 20.5 meters away at (20.3, 3.2). A pedestrian with ID 27 is 32.6 meters away at (-8.6, 31.5). A unknown object with ID 50 is 33.1 meters away at (24.9, -21.8).", "velocity_description": "The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.00320426 0.04585704] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-108.5127182006836, 245.07298278808594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  9.7407   -10.550664], 14.359587669372559 meters away.)"}
{"file_name": "images/scenario_1110_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 5.2) m/s. Its current heading (yaw) is 2.52 ", "actor_description": " The most relevant actors are: A unknown object with ID 44 is 8.2 meters away at (0.1, -8.2). A unknown object with ID 32 is 8.5 meters away at (-3.5, -7.8). A unknown object with ID 34 is 11.8 meters away at (-3.8, -11.2). A pedestrian with ID 27 is 22.3 meters away at (6.3, 21.4). A vehicle with ID 40 is 25.8 meters away at (-21.7, -14.0). A unknown object with ID 16 is 30.7 meters away at (-26.4, 15.8). A unknown object with ID 51 is 32.0 meters away at (24.5, -20.6). A unknown object with ID 39 is 32.2 meters away at (23.4, -22.1). A unknown object with ID 15 is 34.4 meters away at (-29.0, 18.6). A vehicle with ID 21 is 41.1 meters away at (34.2, -22.8).", "velocity_description": "The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.04069293 -0.01848629] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.3886886  4.906027 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-108.5127182006836, 245.07298278808594)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 0.10808563 -8.224756  ], 8.225465774536133 meters away.)"}
{"file_name": "images/scenario_1110_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 5.7) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A unknown object with ID 16 is 12.9 meters away at (-11.9, 4.9). A unknown object with ID 15 is 16.5 meters away at (-14.6, 7.7). A unknown object with ID 32 is 21.6 meters away at (10.9, -18.6). A pedestrian with ID 27 is 22.5 meters away at (20.3, 9.8). A unknown object with ID 44 is 24.0 meters away at (14.6, -19.1). A unknown object with ID 34 is 24.4 meters away at (10.6, -21.9). A vehicle with ID 40 is 25.9 meters away at (-7.2, -24.8). A vehicle with ID 21 is 41.9 meters away at (34.3, -24.2). A vehicle with ID 9 is 42.8 meters away at (-42.2, 7.1). A unknown object with ID 38 is 45.6 meters away at (32.4, -32.1).", "velocity_description": "The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.01546509 -0.01374021] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-6.993883  4.692445] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-108.5127182006836, 245.07298278808594)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.94199    4.900669], 12.908434867858887 meters away.)"}
{"file_name": "images/scenario_1111_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 3.8) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A unknown object with ID 122 is 11.2 meters away at (-0.5, 11.2). A pedestrian with ID 109 is 30.6 meters away at (-27.8, -12.8). A unknown object with ID 39 is 52.1 meters away at (-46.4, 23.8). A pedestrian with ID 118 is 58.7 meters away at (-40.8, 42.3). A pedestrian with ID 126 is 60.1 meters away at (-42.3, 42.7). A vehicle with ID 18 is 63.4 meters away at (-49.8, 39.3). A vehicle with ID 26 is 63.5 meters away at (-60.0, 20.8). A pedestrian with ID 49 is 66.7 meters away at (-64.7, 16.3). A vehicle with ID 13 is 68.7 meters away at (-64.5, 23.8). A vehicle with ID 6 is 70.0 meters away at (-55.3, 42.9).", "velocity_description": "The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 1.0431623  -0.46751887] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.8192732  -0.69699013] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [ 0.9007382 -0.8831248] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0916821 -0.6422393] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 36.53246   -22.654823 ]\n [ 14.8279915 -26.681782 ]\n [ 16.671844  -20.025002 ]\n [ 38.773277  -20.71652  ]\n [ 39.88548   -20.283278 ]\n [ 16.212523  -23.210981 ]\n [ 16.461956  -19.889183 ]]", "nav_goal": "(-196.66078186035156, -101.04231262207031)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.4983616 11.225265 ], 11.236321449279785 meters away.)"}
{"file_name": "images/scenario_1111_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 4.2) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A unknown object with ID 122 is 12.9 meters away at (12.5, 3.2). A pedestrian with ID 109 is 24.8 meters away at (-13.4, -20.9). A pedestrian with ID 110 is 25.5 meters away at (-14.4, -21.1). A unknown object with ID 39 is 36.8 meters away at (-33.4, 15.5). A pedestrian with ID 118 is 41.6 meters away at (-25.9, 32.6). A pedestrian with ID 126 is 42.6 meters away at (-27.3, 32.7). A vehicle with ID 18 is 48.3 meters away at (-36.7, 31.3). A vehicle with ID 26 is 48.7 meters away at (-47.0, 12.7). A pedestrian with ID 49 is 50.8 meters away at (-50.4, 6.8). A pedestrian with ID 21 is 51.7 meters away at (-50.8, 9.3).", "velocity_description": "The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 0.76574    -0.19921945] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.83877885 -0.11587458] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.98515344 -0.72968966] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [ 1.0864251  -0.80023795] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.91244173 -0.5905279 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.1835512  0.3353282] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 14.8279915 -26.681782 ]\n [ 16.671844  -20.025002 ]\n [ 16.212523  -23.210981 ]\n [ 16.461956  -19.889183 ]]", "nav_goal": "(-196.66078186035156, -101.04231262207031)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [12.467177   3.1757355], 12.865294456481934 meters away.)"}
{"file_name": "images/scenario_1111_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 3.7) m/s. Its current heading (yaw) is 2.66 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 20.9 meters away at (-19.6, 7.4). A pedestrian with ID 118 is 25.2 meters away at (-10.1, 23.1). A pedestrian with ID 126 is 25.5 meters away at (-11.4, 22.8). A unknown object with ID 122 is 26.5 meters away at (26.0, -5.2). A pedestrian with ID 110 is 29.8 meters away at (0.8, -29.7). A pedestrian with ID 109 is 29.8 meters away at (1.6, -29.8). A vehicle with ID 18 is 32.6 meters away at (-22.9, 23.2). A vehicle with ID 26 is 33.5 meters away at (-33.2, 4.4). A pedestrian with ID 49 is 34.8 meters away at (-34.8, -1.5). A pedestrian with ID 50 is 35.2 meters away at (-35.1, -2.2).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.9524867  -0.65626514] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [ 1.0513468 -0.7718895] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.78193283 -0.28056636] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [ 0.71411616 -0.29512173] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.94459885 -0.505036  ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.91931784 -0.5149792 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 14.8279915 -26.681782 ]\n [ 16.671844  -20.025002 ]\n [ 16.212523  -23.210981 ]\n [ 16.461956  -19.889183 ]]", "nav_goal": "(-196.66078186035156, -101.04231262207031)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-19.593319   7.3524  ], 20.927396774291992 meters away.)"}
{"file_name": "images/scenario_1111_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 3.5) m/s. Its current heading (yaw) is 2.66 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 6.0 meters away at (-6.0, 0.1). A pedestrian with ID 126 is 15.0 meters away at (4.6, 14.3). A pedestrian with ID 118 is 15.6 meters away at (5.3, 14.6). A vehicle with ID 18 is 18.5 meters away at (-9.1, 16.1). A vehicle with ID 26 is 19.6 meters away at (-19.4, -2.7). A pedestrian with ID 49 is 21.4 meters away at (-19.2, -9.5). A pedestrian with ID 50 is 22.1 meters away at (-19.6, -10.3). A vehicle with ID 13 is 23.9 meters away at (-23.9, 0.3). A vehicle with ID 6 is 24.4 meters away at (-14.6, 19.5). A pedestrian with ID 25 is 26.1 meters away at (-8.8, 24.5).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [ 0.8567483 -0.6337302] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.79134613 -0.649785  ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.7279582  -0.45115334] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.8075232  -0.43578264] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.15114547 -0.18211992] m/s.", "light_description": "There are active red lights at the following coordinates: [[  14.8279915  -26.681782 ]\n [  16.671844   -20.025002 ]\n [-113.09713     57.76291  ]\n [  16.212523   -23.210981 ]\n [  16.461956   -19.889183 ]]", "nav_goal": "(-196.66078186035156, -101.04231262207031)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-6.0011597  0.0905571], 6.001842975616455 meters away.)"}
{"file_name": "images/scenario_1112_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -8.8) m/s. Its current heading (yaw) is -1.39 ", "actor_description": " The most relevant actors are: A pedestrian with ID 59 is 16.9 meters away at (7.3, 15.3). A unknown object with ID 61 is 22.4 meters away at (9.5, 20.3). A pedestrian with ID 60 is 27.4 meters away at (4.0, 27.1). A unknown object with ID 58 is 28.2 meters away at (-8.7, -26.8). A unknown object with ID 72 is 29.8 meters away at (-8.1, -28.7). A vehicle with ID 18 is 37.5 meters away at (-1.0, 37.5). A unknown object with ID 52 is 43.5 meters away at (1.0, -43.5). A unknown object with ID 50 is 45.2 meters away at (2.1, -45.1). A unknown object with ID 74 is 48.8 meters away at (4.4, -48.6). A unknown object with ID 26 is 50.8 meters away at (4.9, -50.5).", "velocity_description": "The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 1.1947526  -0.37119067] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.583622    0.93108267] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.77934617 -8.971006  ] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-10.316818237304688, -82.05754089355469)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 7.3212357 15.255696 ], 16.92148780822754 meters away.)"}
{"file_name": "images/scenario_1112_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -9.2) m/s. Its current heading (yaw) is -1.31 ", "actor_description": " The most relevant actors are: A unknown object with ID 72 is 16.1 meters away at (-11.9, -10.8). A unknown object with ID 32 is 24.6 meters away at (-4.5, -24.2). A unknown object with ID 52 is 25.8 meters away at (-3.0, -25.6). A unknown object with ID 50 is 27.3 meters away at (-1.8, -27.2). A unknown object with ID 74 is 30.7 meters away at (0.4, -30.7). A unknown object with ID 26 is 32.7 meters away at (0.9, -32.6). A unknown object with ID 42 is 34.5 meters away at (1.2, -34.4). A unknown object with ID 48 is 35.1 meters away at (0.4, -35.1). A vehicle with ID 18 is 38.2 meters away at (-5.2, 37.8). A pedestrian with ID 60 is 46.2 meters away at (-2.1, 46.2).", "velocity_description": "The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.35756522 -9.323665  ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.3443818   0.38367298] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-10.316818237304688, -82.05754089355469)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.868236 -10.817776], 16.05862045288086 meters away.)"}
{"file_name": "images/scenario_1112_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -9.4) m/s. Its current heading (yaw) is -1.18 ", "actor_description": " The most relevant actors are: A unknown object with ID 32 is 12.0 meters away at (-10.6, -5.5). A unknown object with ID 74 is 13.3 meters away at (-5.8, -12.0). A unknown object with ID 26 is 14.8 meters away at (-5.3, -13.9). A unknown object with ID 42 is 16.5 meters away at (-5.0, -15.7). A unknown object with ID 72 is 19.7 meters away at (-18.0, 7.9). A pedestrian with ID 47 is 32.2 meters away at (20.8, -24.6). A vehicle with ID 18 is 38.0 meters away at (-9.4, 36.8). A pedestrian with ID 33 is 43.0 meters away at (10.2, -41.7). A unknown object with ID 45 is 49.2 meters away at (-3.6, -49.1). A pedestrian with ID 7 is 54.5 meters away at (32.4, -43.9).", "velocity_description": "The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.6110343  1.3890902] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [  1.7062637 -10.290015 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.01647518 -0.00015626] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.18954939 0.00773141] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-10.316818237304688, -82.05754089355469)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-10.633982  -5.470379], 11.958537101745605 meters away.)"}
{"file_name": "images/scenario_1112_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -8.5) m/s. Its current heading (yaw) is -1.09 ", "actor_description": " The most relevant actors are: A pedestrian with ID 47 is 12.1 meters away at (11.4, -3.8). A unknown object with ID 26 is 13.8 meters away at (-13.3, 3.9). A unknown object with ID 74 is 14.9 meters away at (-13.8, 5.7). A unknown object with ID 36 is 20.3 meters away at (-17.1, 10.8). A unknown object with ID 32 is 22.3 meters away at (-18.6, 12.3). A unknown object with ID 45 is 33.4 meters away at (-11.6, -31.3). A unknown object with ID 23 is 34.7 meters away at (-19.0, -29.0). A pedestrian with ID 7 is 35.2 meters away at (23.6, -26.1). A pedestrian with ID 6 is 35.8 meters away at (24.3, -26.2). A pedestrian with ID 5 is 36.3 meters away at (24.3, -26.9).", "velocity_description": "The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.67071533  1.431516  ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.07694881 -0.00665985] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00398255 -0.00392862] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.0066793  -0.02371643] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-10.316818237304688, -82.05754089355469)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [11.438198  -3.8448105], 12.06710147857666 meters away.)"}
{"file_name": "images/scenario_1113_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 0.9) m/s. Its current heading (yaw) is 0.91 ", "actor_description": " The most relevant actors are: A unknown object with ID 43 is 20.5 meters away at (2.1, -20.4). A vehicle with ID 45 is 23.9 meters away at (12.6, 20.3). A unknown object with ID 10 is 25.7 meters away at (6.7, 24.8). A unknown object with ID 17 is 27.7 meters away at (-8.2, 26.5). A cyclist with ID 40 is 33.7 meters away at (-31.7, -11.6). A vehicle with ID 42 is 34.6 meters away at (-14.9, 31.2). A vehicle with ID 47 is 35.5 meters away at (-20.7, -28.9). A vehicle with ID 41 is 39.4 meters away at (-19.5, 34.3). A vehicle with ID 49 is 44.2 meters away at (-24.0, 37.1). A vehicle with ID 48 is 45.6 meters away at (-34.2, -30.2).", "velocity_description": "The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [-2.353027   2.1307864] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-209.1232452392578, 33.50379943847656)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [  2.1071692 -20.377138 ], 20.485797882080078 meters away.)"}
{"file_name": "images/scenario_1113_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 3.6) m/s. Its current heading (yaw) is 1.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 19.3 meters away at (10.5, 16.2). A unknown object with ID 10 is 21.4 meters away at (4.6, 20.9). A unknown object with ID 31 is 22.1 meters away at (8.0, 20.6). A unknown object with ID 39 is 23.0 meters away at (17.9, -14.4). A vehicle with ID 42 is 32.2 meters away at (-17.0, 27.3). A vehicle with ID 41 is 37.2 meters away at (-21.6, 30.3). A unknown object with ID 22 is 38.4 meters away at (-30.6, -23.3). A vehicle with ID 47 is 40.0 meters away at (-23.0, -32.7). A vehicle with ID 6 is 40.2 meters away at (35.0, -19.7). A cyclist with ID 40 is 40.7 meters away at (-38.8, -12.3).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-6.564134   5.6591105] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [-1.8096266  1.1681434] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-209.1232452392578, 33.50379943847656)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [10.469517 16.192299], 19.282150268554688 meters away.)"}
{"file_name": "images/scenario_1113_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 4.8) m/s. Its current heading (yaw) is 2.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 28 is 13.3 meters away at (-12.4, -5.0). A vehicle with ID 45 is 13.8 meters away at (11.6, 7.5). A vehicle with ID 42 is 24.6 meters away at (-16.0, 18.7). A vehicle with ID 6 is 29.2 meters away at (23.5, -17.3). A vehicle with ID 41 is 29.9 meters away at (-20.5, 21.7). A vehicle with ID 49 is 35.1 meters away at (-25.1, 24.5). A cyclist with ID 40 is 45.1 meters away at (-41.4, -17.8). A vehicle with ID 47 is 46.8 meters away at (-21.8, -41.4). A vehicle with ID 48 is 55.5 meters away at (-35.5, -42.8). A vehicle with ID 15 is 57.5 meters away at (-28.7, -49.8).", "velocity_description": "The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.7343746  -0.20685135] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-6.2380333  5.4901595] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [-2.4947433  2.0586998] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-209.1232452392578, 33.50379943847656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-12.366808   -5.0049543], 13.341196060180664 meters away.)"}
{"file_name": "images/scenario_1113_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 3.8) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 5.7 meters away at (-2.1, 5.3). A vehicle with ID 42 is 13.4 meters away at (-8.8, 10.1). A pedestrian with ID 28 is 14.7 meters away at (-4.2, -14.0). A vehicle with ID 45 is 18.7 meters away at (18.7, -1.1). A vehicle with ID 41 is 18.8 meters away at (-13.4, 13.2). A vehicle with ID 6 is 23.9 meters away at (18.5, -15.1). A vehicle with ID 49 is 24.0 meters away at (-17.9, 16.0). A pedestrian with ID 32 is 27.0 meters away at (-19.0, 19.1). A cyclist with ID 40 is 46.1 meters away at (-40.8, -21.3). A vehicle with ID 47 is 52.2 meters away at (-14.7, -50.1).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.15756392 -0.18909657] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-5.9319916  5.286375 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.46815076  0.04904   ] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [-3.495013  2.274308] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-209.1232452392578, 33.50379943847656)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.122683   5.3191566], 5.727059364318848 meters away.)"}
{"file_name": "images/scenario_1114_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -0.6) m/s. Its current heading (yaw) is -2.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 19.2 meters away at (-13.4, -13.8). A cyclist with ID 40 is 23.1 meters away at (-13.4, 18.8). A pedestrian with ID 41 is 25.8 meters away at (-19.7, 16.6). A vehicle with ID 42 is 49.2 meters away at (-33.8, 35.7). A cyclist with ID 39 is 52.0 meters away at (0.5, 52.0). A vehicle with ID 38 is 55.4 meters away at (-42.8, 35.3). A pedestrian with ID 25 is 57.4 meters away at (-24.8, -51.8). A pedestrian with ID 44 is 64.9 meters away at (-46.4, -45.4). A cyclist with ID 43 is 76.9 meters away at (13.7, 75.7). A vehicle with ID 45 is 80.1 meters away at (75.9, 25.6).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [ -4.972119 -11.577294] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [2.7045767 6.2120156] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.55039376 -1.476845  ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-0.01016165 -0.0026635 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.0888473  0.06663831] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.42699528 1.2522854 ] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [2.439887 4.920082] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 2.6883078  -0.69300705] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-13.401776 -13.771849], 19.2164363861084 meters away.)"}
{"file_name": "images/scenario_1114_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -3.2) m/s. Its current heading (yaw) is -2.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 41 is 21.9 meters away at (-13.8, 17.0). A cyclist with ID 40 is 33.7 meters away at (-1.7, 33.7). A vehicle with ID 4 is 36.8 meters away at (-16.3, -33.0). A vehicle with ID 42 is 47.4 meters away at (-26.8, 39.1). A pedestrian with ID 25 is 51.7 meters away at (-18.0, -48.4). A vehicle with ID 38 is 52.5 meters away at (-35.7, 38.5). A unknown object with ID 37 is 56.0 meters away at (-35.0, -43.7). A vehicle with ID 2 is 63.9 meters away at (-22.5, -59.8).", "velocity_description": "The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.66672075 -1.3603798 ] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [1.8724641 4.8085084] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ -4.8520203 -11.103254 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.06169118 -0.02490033] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-13.779474  17.043022], 21.9166259765625 meters away.)"}
{"file_name": "images/scenario_1114_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -6.2) m/s. Its current heading (yaw) is -1.96 ", "actor_description": " The most relevant actors are: A pedestrian with ID 41 is 25.8 meters away at (-9.5, 24.0). A pedestrian with ID 25 is 40.6 meters away at (-12.0, -38.8). A unknown object with ID 37 is 44.8 meters away at (-29.0, -34.2). A vehicle with ID 4 is 48.7 meters away at (-19.2, -44.7). A cyclist with ID 35 is 50.1 meters away at (4.8, 49.9). A vehicle with ID 2 is 52.7 meters away at (-16.4, -50.1). A vehicle with ID 42 is 53.2 meters away at (-21.1, 48.8). A vehicle with ID 38 is 56.8 meters away at (-30.2, 48.1). A cyclist with ID 32 is 66.5 meters away at (13.1, 65.2). A pedestrian with ID 1 is 73.7 meters away at (-44.1, -59.1).", "velocity_description": "The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.63446456 -1.3909719 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.02562327 -0.00730639] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ -4.158501 -10.526816] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-0.5237117  2.2695808] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-0.08094139 -0.05291351] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.47629565 -1.1872443 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-9.452206 23.953844], 25.751325607299805 meters away.)"}
{"file_name": "images/scenario_1114_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -7.4) m/s. Its current heading (yaw) is -1.96 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 21.6 meters away at (0.1, -21.6). A unknown object with ID 36 is 23.6 meters away at (-0.3, -23.6). A pedestrian with ID 25 is 25.6 meters away at (-6.4, -24.8). A unknown object with ID 37 is 30.8 meters away at (-23.3, -20.1). A pedestrian with ID 41 is 35.5 meters away at (-5.0, 35.1). A vehicle with ID 2 is 37.7 meters away at (-10.6, -36.2). A vehicle with ID 4 is 55.4 meters away at (-21.0, -51.2). A pedestrian with ID 1 is 61.7 meters away at (-39.5, -47.4). A vehicle with ID 42 is 64.6 meters away at (-15.3, 62.8).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.01990662 -0.04086941] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.6958748 -1.3663524] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.321678 -9.754515] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.4758804 -1.2541995] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  0.1472454 -21.556414 ], 21.556915283203125 meters away.)"}
{"file_name": "images/scenario_1115_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 4.9) m/s. Its current heading (yaw) is 2.02 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 40.2 meters away at (17.6, -36.1). A vehicle with ID 3 is 59.1 meters away at (27.5, -52.3). A vehicle with ID 4 is 61.0 meters away at (46.0, -40.1).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.3741503  8.415533 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.796684   7.8650117] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 17.589668 -36.13212 ], 40.1861457824707 meters away.)"}
{"file_name": "images/scenario_1115_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 3.5) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 32.1 meters away at (16.6, -27.5). A vehicle with ID 3 is 50.7 meters away at (23.6, -44.9). A vehicle with ID 11 is 68.8 meters away at (50.0, -47.2).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-2.8988156  8.618114 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6026115  8.239321 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 16.641449 -27.467575], 32.115501403808594 meters away.)"}
{"file_name": "images/scenario_1115_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 3.6) m/s. Its current heading (yaw) is 2.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 26.5 meters away at (20.9, -16.3). A vehicle with ID 3 is 41.9 meters away at (24.1, -34.3). A vehicle with ID 9 is 65.3 meters away at (37.9, -53.2). A vehicle with ID 10 is 68.1 meters away at (35.9, -57.9).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.9839444  9.348803 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.0394554  9.657184 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.945313 11.727772] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.86777  9.96023] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 20.86154  -16.311438], 26.481443405151367 meters away.)"}
{"file_name": "images/scenario_1115_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.5) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 30.2 meters away at (29.7, -5.9). A vehicle with ID 3 is 36.5 meters away at (27.7, -23.9). A vehicle with ID 9 is 53.6 meters away at (39.2, -36.6). A vehicle with ID 10 is 61.5 meters away at (38.1, -48.2).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.1563183  9.913159 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6034594  8.063471 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-4.0829916 12.927567 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.188007  8.936056] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [29.651573  -5.8879337], 30.23050880432129 meters away.)"}
{"file_name": "images/scenario_1116_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.3) m/s. Its current heading (yaw) is 2.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 13.9 meters away at (-11.0, 8.4). A vehicle with ID 21 is 21.8 meters away at (-17.5, -13.0). A vehicle with ID 22 is 23.3 meters away at (-20.9, -10.5). A vehicle with ID 20 is 23.7 meters away at (-23.3, -4.3). A pedestrian with ID 17 is 24.9 meters away at (22.0, 11.7). A vehicle with ID 10 is 25.7 meters away at (6.2, 24.9). A pedestrian with ID 18 is 25.8 meters away at (22.6, 12.6). A vehicle with ID 13 is 27.6 meters away at (9.6, 25.8). A vehicle with ID 26 is 30.3 meters away at (-25.8, -15.9). A vehicle with ID 27 is 30.5 meters away at (-22.5, -20.6).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.5351486 -2.9320633] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.7308051 -1.0698402] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.7592454 -1.0844036] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.7787591 -1.8874918] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.24441      0.28562048]\n [-20.005388     5.8333893 ]\n [-22.836306     9.408555  ]\n [-17.290714     0.03994614]\n [-13.499337    -0.59810466]]", "nav_goal": "(122.74266815185547, 253.6526336669922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.017445   8.428132], 13.871463775634766 meters away.)"}
{"file_name": "images/scenario_1116_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-7.3, 0.6). A vehicle with ID 21 is 21.8 meters away at (-17.3, -13.2). A vehicle with ID 22 is 23.2 meters away at (-20.7, -10.6). A vehicle with ID 20 is 23.5 meters away at (-23.1, -4.5). A vehicle with ID 13 is 25.3 meters away at (9.0, 23.7). A vehicle with ID 10 is 25.5 meters away at (6.4, 24.7). A pedestrian with ID 17 is 25.7 meters away at (23.9, 9.4). A pedestrian with ID 18 is 26.6 meters away at (24.5, 10.2). A vehicle with ID 26 is 30.0 meters away at (-25.4, -16.0). A vehicle with ID 27 is 30.4 meters away at (-22.3, -20.7).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.9325402 -5.079133 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.821354  -1.0289242] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.86944574 -0.9919511 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.24441      0.28562048]\n [-20.005388     5.8333893 ]\n [-22.836306     9.408555  ]\n [-17.290714     0.03994614]\n [-13.499337    -0.59810466]]", "nav_goal": "(122.74266815185547, 253.6526336669922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.2598314  0.5619972], 7.281551361083984 meters away.)"}
{"file_name": "images/scenario_1116_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 13.2 meters away at (-4.3, -12.4). A vehicle with ID 21 is 21.8 meters away at (-17.3, -13.2). A vehicle with ID 22 is 23.2 meters away at (-20.7, -10.6). A vehicle with ID 20 is 23.5 meters away at (-23.1, -4.6). A vehicle with ID 13 is 25.2 meters away at (9.0, 23.5). A vehicle with ID 10 is 25.5 meters away at (6.4, 24.7). A vehicle with ID 26 is 30.2 meters away at (-25.5, -16.1). A vehicle with ID 27 is 30.4 meters away at (-22.3, -20.7). A pedestrian with ID 11 is 38.4 meters away at (-18.6, 33.6). A cyclist with ID 23 is 42.0 meters away at (-24.4, 34.2).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.5227223 -7.7646437] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.01043332  0.00389628] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [ 6.5191016 -5.8919935] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.24441      0.28562048]\n [-20.005388     5.8333893 ]\n [-22.836306     9.408555  ]\n [-17.290714     0.03994614]\n [-13.499337    -0.59810466]]", "nav_goal": "(122.74266815185547, 253.6526336669922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -4.3226285 -12.444514 ], 13.173877716064453 meters away.)"}
{"file_name": "images/scenario_1116_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 1.4) m/s. Its current heading (yaw) is 2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 21.6 meters away at (-16.3, -14.3). A vehicle with ID 20 is 22.8 meters away at (-22.1, -5.7). A vehicle with ID 22 is 22.8 meters away at (-19.6, -11.7). A cyclist with ID 23 is 23.9 meters away at (-9.9, 21.8). A vehicle with ID 13 is 24.7 meters away at (9.9, 22.6). A vehicle with ID 10 is 24.8 meters away at (7.3, 23.7). A vehicle with ID 26 is 29.9 meters away at (-24.5, -17.1). A vehicle with ID 15 is 30.3 meters away at (-3.8, -30.1). A vehicle with ID 27 is 30.3 meters away at (-21.2, -21.7). A pedestrian with ID 11 is 37.1 meters away at (-17.8, 32.5).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [ 7.315365  -5.4309025] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.50020856 -9.260516  ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.04909581 -0.02900347] m/s.", "light_description": "There are active red lights at the following coordinates: [[-17.24441      0.28562048]\n [-20.005388     5.8333893 ]\n [-22.836306     9.408555  ]\n [-17.290714     0.03994614]\n [-13.499337    -0.59810466]]", "nav_goal": "(122.74266815185547, 253.6526336669922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-16.262001 -14.271633], 21.636362075805664 meters away.)"}
{"file_name": "images/scenario_1117_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.6) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 21.4 meters away at (-16.3, -13.9). A pedestrian with ID 52 is 21.8 meters away at (-2.3, -21.7). A vehicle with ID 44 is 27.7 meters away at (-20.6, -18.6). A vehicle with ID 53 is 28.8 meters away at (26.1, 12.0). A vehicle with ID 48 is 30.6 meters away at (-14.5, -26.9). A vehicle with ID 27 is 33.3 meters away at (-24.1, -23.0). A vehicle with ID 54 is 36.2 meters away at (18.0, 31.4). A vehicle with ID 49 is 36.5 meters away at (-18.6, -31.5). A pedestrian with ID 56 is 37.5 meters away at (29.0, 23.8). A pedestrian with ID 59 is 38.5 meters away at (35.2, 15.6).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.04885245 0.004717  ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-2.797198   2.4462242] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.13789655 0.10848133] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.05962523 0.01926878] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-249.0213165283203, -27.6674747467041)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-16.302814 -13.915772], 21.434329986572266 meters away.)"}
{"file_name": "images/scenario_1117_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -4.1) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 14.1 meters away at (-11.5, -8.3). A pedestrian with ID 52 is 16.2 meters away at (2.6, -16.0). A vehicle with ID 44 is 20.2 meters away at (-15.6, -12.8). A vehicle with ID 48 is 23.3 meters away at (-9.6, -21.2). A vehicle with ID 27 is 25.8 meters away at (-19.2, -17.3). A vehicle with ID 49 is 29.3 meters away at (-13.7, -25.8). A vehicle with ID 45 is 32.9 meters away at (-23.9, -22.7). A vehicle with ID 53 is 34.1 meters away at (26.7, 21.2). A vehicle with ID 47 is 36.7 meters away at (-18.8, -31.6). A vehicle with ID 25 is 39.7 meters away at (-28.2, -28.0).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00273994  0.00124321] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-1.7867597  1.4548376] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-249.0213165283203, -27.6674747467041)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.4569025  -8.301243 ], 14.148188591003418 meters away.)"}
{"file_name": "images/scenario_1117_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -5.9) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 3.4 meters away at (-2.9, 1.8). A vehicle with ID 44 is 7.5 meters away at (-7.0, -2.7). A vehicle with ID 48 is 11.1 meters away at (-1.0, -11.1). A pedestrian with ID 52 is 12.5 meters away at (11.2, -5.7). A vehicle with ID 27 is 12.8 meters away at (-10.7, -7.2). A vehicle with ID 49 is 16.3 meters away at (-4.9, -15.6). A vehicle with ID 45 is 19.7 meters away at (-15.3, -12.5). A vehicle with ID 47 is 23.7 meters away at (-10.1, -21.5). A vehicle with ID 25 is 26.5 meters away at (-19.6, -17.9). A pedestrian with ID 29 is 30.0 meters away at (-6.8, -29.3).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.01197514 -0.01872962] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.0249198  -0.00190702] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-249.0213165283203, -27.6674747467041)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.9131546  1.7615547], 3.40434193611145 meters away.)"}
{"file_name": "images/scenario_1117_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -5.9) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 4.6 meters away at (-0.6, 4.6). A vehicle with ID 45 is 5.3 meters away at (-5.2, -0.7). A vehicle with ID 49 is 6.3 meters away at (5.1, -3.8). A vehicle with ID 48 is 8.9 meters away at (8.9, 0.6). A vehicle with ID 44 is 9.5 meters away at (3.0, 9.1). A vehicle with ID 47 is 9.7 meters away at (0.0, -9.7). A vehicle with ID 25 is 11.3 meters away at (-9.5, -6.0). A vehicle with ID 26 is 15.3 meters away at (7.1, 13.5). A unknown object with ID 11 is 19.6 meters away at (-14.9, -12.7). A pedestrian with ID 52 is 21.7 meters away at (20.7, 6.5).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.35560068  0.3108591 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-249.0213165283203, -27.6674747467041)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.6455517  4.5861015], 4.631313323974609 meters away.)"}
{"file_name": "images/scenario_1118_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 3.0) m/s. Its current heading (yaw) is 1.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 3.8 meters away at (3.7, 0.8). A vehicle with ID 57 is 9.4 meters away at (-8.3, -4.5). A vehicle with ID 58 is 21.7 meters away at (5.6, 20.9). A vehicle with ID 60 is 27.3 meters away at (20.0, 18.6). A vehicle with ID 59 is 27.6 meters away at (2.6, -27.5). A vehicle with ID 47 is 28.3 meters away at (-9.2, 26.7). A vehicle with ID 61 is 32.4 meters away at (19.0, -26.3). A vehicle with ID 63 is 41.0 meters away at (-8.6, 40.1). A vehicle with ID 64 is 42.9 meters away at (-11.9, 41.2). A vehicle with ID 62 is 45.3 meters away at (-10.3, -44.2).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-0.17262426  4.321626  ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ 5.2467256  -0.90492594] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(107.31842041015625, -121.42940521240234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.6768935 0.7711835], 3.7568962574005127 meters away.)"}
{"file_name": "images/scenario_1118_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 3.5) m/s. Its current heading (yaw) is 1.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 6.2 meters away at (1.4, -6.1). A vehicle with ID 57 is 15.5 meters away at (-10.6, -11.3). A vehicle with ID 58 is 22.7 meters away at (-0.6, 22.7). A vehicle with ID 47 is 23.0 meters away at (-11.4, 20.0). A vehicle with ID 27 is 25.4 meters away at (-14.7, 20.7). A unknown object with ID 39 is 30.4 meters away at (-3.3, 30.3). A vehicle with ID 63 is 35.0 meters away at (-10.7, 33.3). A vehicle with ID 61 is 36.9 meters away at (16.5, -33.0). A vehicle with ID 64 is 37.3 meters away at (-14.1, 34.5). A vehicle with ID 38 is 39.3 meters away at (-17.4, 35.3).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-4.2114043  3.9679928] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(107.31842041015625, -121.42940521240234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.4000916 -6.0643563], 6.223879337310791 meters away.)"}
{"file_name": "images/scenario_1118_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.0) m/s. Its current heading (yaw) is 1.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 10.8 meters away at (-0.2, -10.8). A vehicle with ID 57 is 20.1 meters away at (-12.2, -16.0). A vehicle with ID 47 is 20.1 meters away at (-13.0, 15.3). A vehicle with ID 27 is 22.8 meters away at (-16.3, 16.0). A vehicle with ID 58 is 28.2 meters away at (-15.0, 23.9). A vehicle with ID 63 is 31.1 meters away at (-12.1, 28.7). A vehicle with ID 64 is 33.6 meters away at (-15.5, 29.8). A vehicle with ID 38 is 35.9 meters away at (-18.9, 30.6). A vehicle with ID 33 is 42.8 meters away at (42.7, -0.9). A vehicle with ID 50 is 50.1 meters away at (33.7, 37.1).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-7.8229737  2.6810157] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 6.8163366 -2.3699882] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(107.31842041015625, -121.42940521240234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -0.2190082 -10.794113 ], 10.796335220336914 meters away.)"}
{"file_name": "images/scenario_1118_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 2.5) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 13.1 meters away at (-1.0, -13.1). A vehicle with ID 47 is 18.9 meters away at (-13.8, 12.9). A vehicle with ID 27 is 21.9 meters away at (-17.2, 13.6). A vehicle with ID 57 is 22.5 meters away at (-12.9, -18.4). A unknown object with ID 41 is 23.9 meters away at (-5.7, 23.2). A vehicle with ID 63 is 29.3 meters away at (-12.9, 26.3). A vehicle with ID 64 is 32.0 meters away at (-16.3, 27.5). A vehicle with ID 38 is 34.5 meters away at (-19.7, 28.3). A vehicle with ID 50 is 48.1 meters away at (33.3, 34.6). A vehicle with ID 37 is 53.3 meters away at (53.3, 0.4).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(107.31842041015625, -121.42940521240234)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -0.98217297 -13.106442  ], 13.143192291259766 meters away.)"}
{"file_name": "images/scenario_1119_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 4.9) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 3.6 meters away at (3.5, -0.8). A vehicle with ID 42 is 6.6 meters away at (-4.2, 5.1). A pedestrian with ID 67 is 7.3 meters away at (7.2, -0.6). A unknown object with ID 60 is 8.1 meters away at (8.1, 0.5). A pedestrian with ID 56 is 8.7 meters away at (-4.5, 7.4). A pedestrian with ID 58 is 9.4 meters away at (-5.0, 8.0). A vehicle with ID 41 is 9.7 meters away at (-0.2, 9.7). A pedestrian with ID 57 is 10.1 meters away at (-6.0, 8.1). A unknown object with ID 44 is 12.4 meters away at (-11.3, -5.0). A pedestrian with ID 7 is 12.6 meters away at (12.2, 3.1).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.9087206 -1.3932855] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.02789084 0.00181615] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.00356384 0.01622272] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.00395541  0.00258379] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.96883184 1.162725  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.510623  -0.8089733], 3.602625608444214 meters away.)"}
{"file_name": "images/scenario_1119_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.3) m/s. Its current heading (yaw) is 0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 3.2 meters away at (-2.5, 2.0). A vehicle with ID 36 is 3.5 meters away at (3.0, -1.6). A vehicle with ID 39 is 6.9 meters away at (-4.0, 5.6). A pedestrian with ID 7 is 7.4 meters away at (6.4, -3.7). A vehicle with ID 38 is 7.8 meters away at (7.1, 3.3). A vehicle with ID 41 is 8.0 meters away at (-8.0, 0.6). A unknown object with ID 60 is 8.6 meters away at (0.4, -8.6). A pedestrian with ID 66 is 9.6 meters away at (-8.2, 5.1). A vehicle with ID 40 is 10.6 meters away at (0.3, 10.6). A vehicle with ID 37 is 10.7 meters away at (-4.2, -9.9).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [-4.1954637 -5.0447454] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.0942717 1.1944164] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.01226904 0.00637891] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.5498247  1.9799461], 3.2282803058624268 meters away.)"}
{"file_name": "images/scenario_1119_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 3.3) m/s. Its current heading (yaw) is 0.86 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 4.3 meters away at (0.6, -4.2). A vehicle with ID 40 is 7.0 meters away at (-6.3, 3.0). A pedestrian with ID 7 is 9.5 meters away at (1.9, -9.3). A vehicle with ID 36 is 9.8 meters away at (-3.4, -9.2). A vehicle with ID 39 is 10.7 meters away at (-10.5, -2.0). A pedestrian with ID 18 is 14.6 meters away at (14.6, 1.4). A pedestrian with ID 66 is 15.0 meters away at (-14.8, -2.6). A pedestrian with ID 29 is 15.1 meters away at (15.0, 2.0). A vehicle with ID 41 is 16.2 meters away at (-14.6, -7.1). A vehicle with ID 37 is 20.7 meters away at (-10.8, -17.6).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.1275048 1.18821  ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00515314 -0.01125693] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.00606919 0.00492105] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.01049555 0.01664361] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.5966263 -4.2146378], 4.256657600402832 meters away.)"}
{"file_name": "images/scenario_1119_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 1.6) m/s. Its current heading (yaw) is 0.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 9.6 meters away at (-3.4, -9.0). A vehicle with ID 40 is 10.4 meters away at (-10.3, -1.7). A pedestrian with ID 18 is 11.0 meters away at (10.5, -3.2). A pedestrian with ID 29 is 11.3 meters away at (11.0, -2.7). A pedestrian with ID 7 is 11.9 meters away at (-0.1, -11.9). A vehicle with ID 36 is 15.8 meters away at (-7.5, -13.9). A vehicle with ID 39 is 16.0 meters away at (-14.5, -6.8). A pedestrian with ID 25 is 19.6 meters away at (16.9, 9.9). A pedestrian with ID 66 is 20.1 meters away at (-18.8, -7.3). A vehicle with ID 41 is 22.0 meters away at (-18.5, -11.8).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00990253 -0.00256597] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01242478 -0.00735797] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.0609894 1.1611425] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00196126 0.00429743] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.0096532  -0.00033589] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.423729 -8.972364], 9.603398323059082 meters away.)"}
{"file_name": "images/scenario_1120_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 5.4) m/s. Its current heading (yaw) is 1.14 ", "actor_description": " The most relevant actors are: A unknown object with ID 53 is 5.6 meters away at (-5.3, 1.9). A unknown object with ID 48 is 5.9 meters away at (-5.9, 0.5). A pedestrian with ID 54 is 6.6 meters away at (-6.4, 1.4). A unknown object with ID 46 is 6.6 meters away at (-6.6, 0.1). A unknown object with ID 49 is 7.4 meters away at (-7.4, 0.5). A unknown object with ID 55 is 7.9 meters away at (-7.8, 1.7). A unknown object with ID 59 is 8.0 meters away at (-7.3, 3.3). A unknown object with ID 63 is 8.0 meters away at (-3.9, 7.0). A unknown object with ID 57 is 8.1 meters away at (-7.6, 2.8). A unknown object with ID 58 is 8.1 meters away at (-7.7, 2.7).", "velocity_description": "The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.01833568 0.00428732] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-5.30206    1.8830042], 5.626503944396973 meters away.)"}
{"file_name": "images/scenario_1120_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.0) m/s. Its current heading (yaw) is 1.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 9.6 meters away at (-7.2, 6.3). A unknown object with ID 63 is 9.8 meters away at (-8.8, -4.1). A unknown object with ID 64 is 9.9 meters away at (-9.3, -3.3). A unknown object with ID 65 is 10.7 meters away at (-10.3, -3.0). A unknown object with ID 27 is 11.3 meters away at (-10.6, -3.9). A vehicle with ID 5 is 11.7 meters away at (-6.8, -9.5). A unknown object with ID 33 is 12.0 meters away at (-11.0, -4.8). A unknown object with ID 69 is 12.8 meters away at (-0.6, 12.8). A unknown object with ID 53 is 13.8 meters away at (-10.3, -9.2). A unknown object with ID 70 is 14.2 meters away at (0.1, 14.2).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [2.9174573 7.509756 ] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-7.159181  6.343958], 9.565546035766602 meters away.)"}
{"file_name": "images/scenario_1120_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.2) m/s. Its current heading (yaw) is 1.15 ", "actor_description": " The most relevant actors are: A unknown object with ID 70 is 5.7 meters away at (-5.4, 1.9). A unknown object with ID 72 is 5.9 meters away at (-5.0, 3.2). A unknown object with ID 69 is 6.2 meters away at (-6.1, 0.6). A vehicle with ID 41 is 7.3 meters away at (-6.8, 2.7). A unknown object with ID 71 is 8.4 meters away at (-7.9, 2.7). A vehicle with ID 5 is 9.0 meters away at (-6.3, -6.4). A vehicle with ID 6 is 13.7 meters away at (-12.3, -6.0). A pedestrian with ID 15 is 14.5 meters away at (-4.7, 13.7). A pedestrian with ID 21 is 14.6 meters away at (-14.3, 2.8). A unknown object with ID 64 is 21.5 meters away at (-14.9, -15.5).", "velocity_description": "The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [3.0677264 8.194986 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.50215024 1.2612736 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00621887  0.00400119] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-5.382759   1.9209251], 5.71524715423584 meters away.)"}
{"file_name": "images/scenario_1120_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 5.3) m/s. Its current heading (yaw) is 1.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 5.8 meters away at (-5.6, -1.7). A pedestrian with ID 15 is 10.0 meters away at (-8.9, 4.6). A unknown object with ID 4 is 13.8 meters away at (-12.1, -6.6). A vehicle with ID 41 is 15.0 meters away at (-12.0, -8.9). A unknown object with ID 69 is 15.6 meters away at (-11.2, -10.9). A vehicle with ID 6 is 24.3 meters away at (-16.2, -18.1). A unknown object with ID 64 is 33.6 meters away at (-20.0, -27.0). A unknown object with ID 65 is 34.0 meters away at (-20.9, -26.8). A unknown object with ID 63 is 34.0 meters away at (-19.5, -27.9). A unknown object with ID 27 is 34.9 meters away at (-21.3, -27.7).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [2.6494777 7.581694 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.5411775 1.2938087] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 1.1710883  -0.33952647] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.5688543 -1.6694527], 5.813708782196045 meters away.)"}
{"file_name": "images/scenario_1121_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -3.5) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-175.01173400878906, -85.8351821899414)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_1121_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -5.5) m/s. Its current heading (yaw) is -1.85 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-175.01173400878906, -85.8351821899414)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_1121_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -6.5) m/s. Its current heading (yaw) is -1.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 70.6 meters away at (-38.5, -59.2). A vehicle with ID 9 is 70.8 meters away at (-43.2, -56.1). A vehicle with ID 10 is 71.3 meters away at (-46.9, -53.6). A vehicle with ID 12 is 71.5 meters away at (-50.8, -50.3). A vehicle with ID 17 is 71.8 meters away at (-33.6, -63.4). A pedestrian with ID 14 is 72.6 meters away at (-29.6, -66.3). A vehicle with ID 3 is 73.1 meters away at (-30.1, -66.6).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.7646415   0.15914989] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 0.68105876 -0.5959587 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-175.01173400878906, -85.8351821899414)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-38.465076 -59.170807], 70.57440185546875 meters away.)"}
{"file_name": "images/scenario_1121_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -6.9) m/s. Its current heading (yaw) is -1.77 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 56.6 meters away at (-35.8, -43.8). A unknown object with ID 8 is 57.0 meters away at (-39.3, -41.3). A unknown object with ID 1 is 57.8 meters away at (-28.0, -50.5). A vehicle with ID 6 is 58.1 meters away at (-35.2, -46.2). A vehicle with ID 17 is 58.7 meters away at (-30.8, -50.0). A vehicle with ID 9 is 58.7 meters away at (-40.2, -42.8). A vehicle with ID 10 is 59.7 meters away at (-44.1, -40.3). A vehicle with ID 3 is 59.8 meters away at (-26.9, -53.4). A vehicle with ID 12 is 60.7 meters away at (-48.5, -36.5).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 0.39445704 -0.2480307 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-175.01173400878906, -85.8351821899414)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-35.83809 -43.83249], 56.61851119995117 meters away.)"}
{"file_name": "images/scenario_1122_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -1.9) m/s. Its current heading (yaw) is -0.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 3.2 meters away at (-1.9, -2.5). A vehicle with ID 39 is 5.8 meters away at (-5.7, 1.1). A vehicle with ID 43 is 7.8 meters away at (2.2, 7.5). A unknown object with ID 45 is 8.1 meters away at (5.1, 6.3). A vehicle with ID 42 is 10.5 meters away at (-9.3, 4.8). A vehicle with ID 44 is 11.6 meters away at (-2.0, 11.4). A vehicle with ID 12 is 12.3 meters away at (-8.5, 8.9). A vehicle with ID 47 is 15.1 meters away at (14.0, -5.7). A vehicle with ID 46 is 15.8 meters away at (-13.3, 8.6). A vehicle with ID 48 is 17.2 meters away at (-6.3, 16.0).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 1.9353367 -1.9386525] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [4.0832047 1.039144 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.292355  -7.937312 ]\n [15.464267  -5.9613433]]", "nav_goal": "(-130.59713745117188, -251.86585998535156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.9377437 -2.5247395], 3.182634115219116 meters away.)"}
{"file_name": "images/scenario_1122_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -2.1) m/s. Its current heading (yaw) is -0.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 41 is 5.9 meters away at (-5.8, 1.3). A unknown object with ID 45 is 10.3 meters away at (1.2, 10.2). A pedestrian with ID 55 is 10.5 meters away at (1.9, -10.4). A vehicle with ID 39 is 10.9 meters away at (-9.6, 5.0). A unknown object with ID 35 is 11.1 meters away at (1.1, 11.1). A vehicle with ID 12 is 11.5 meters away at (-8.0, 8.2). A vehicle with ID 43 is 11.5 meters away at (-1.7, 11.4). A vehicle with ID 42 is 15.7 meters away at (-13.1, 8.6). A vehicle with ID 44 is 16.4 meters away at (-5.9, 15.3). A vehicle with ID 13 is 16.7 meters away at (-2.3, -16.5).", "velocity_description": "The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.1623608   0.87590414] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.4050674 -2.443203 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 17.292355   -7.937312 ]\n [ 15.464267   -5.9613433]\n [ 11.802556  -24.554895 ]\n [ 14.735096  -28.827005 ]]", "nav_goal": "(-130.59713745117188, -251.86585998535156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-5.7645526  1.265688 ], 5.901866912841797 meters away.)"}
{"file_name": "images/scenario_1122_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -3.5) m/s. Its current heading (yaw) is -1.30 ", "actor_description": " The most relevant actors are: A pedestrian with ID 55 is 4.6 meters away at (-3.3, -3.2). A vehicle with ID 41 is 11.1 meters away at (-8.9, 6.6). A vehicle with ID 12 is 11.2 meters away at (-6.6, 9.0). A vehicle with ID 13 is 12.5 meters away at (-5.5, -11.2). A unknown object with ID 45 is 15.7 meters away at (-2.0, 15.6). A vehicle with ID 39 is 16.5 meters away at (-12.8, 10.4). A unknown object with ID 35 is 16.6 meters away at (-2.1, 16.4). A vehicle with ID 43 is 17.5 meters away at (-4.9, 16.8). A vehicle with ID 30 is 18.7 meters away at (-8.7, -16.5). A vehicle with ID 54 is 18.9 meters away at (13.4, 13.4).", "velocity_description": "The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.9681314  1.0393177] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.2162402 -2.280464 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 17.292355   -7.937312 ]\n [ 15.464267   -5.9613433]\n [ 11.802556  -24.554895 ]\n [ 14.735096  -28.827005 ]]", "nav_goal": "(-130.59713745117188, -251.86585998535156)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-3.323967  -3.2136002], 4.623416900634766 meters away.)"}
{"file_name": "images/scenario_1122_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -5.0) m/s. Its current heading (yaw) is -1.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.5). A pedestrian with ID 55 is 8.8 meters away at (-4.3, 7.6). A vehicle with ID 30 is 11.1 meters away at (-7.9, -7.8). A vehicle with ID 11 is 11.3 meters away at (-1.9, -11.1). A pedestrian with ID 22 is 11.8 meters away at (-9.8, -6.6). A vehicle with ID 12 is 13.0 meters away at (-1.5, 12.9). A vehicle with ID 10 is 16.4 meters away at (-10.2, -12.9). A vehicle with ID 41 is 17.4 meters away at (-8.2, 15.3). A vehicle with ID 39 is 22.5 meters away at (-12.1, 19.0). A vehicle with ID 8 is 23.1 meters away at (-13.8, -18.6).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.8530292  1.1097119] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.6861267 1.3254791] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 1.9787084 -2.7183573] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 17.292355   -7.937312 ]\n [ 15.464267   -5.9613433]\n [ 11.802556  -24.554895 ]\n [ 14.735096  -28.827005 ]]", "nav_goal": "(-130.59713745117188, -251.86585998535156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.775562  -2.5376453], 5.407923221588135 meters away.)"}
{"file_name": "images/scenario_1123_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.5) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 19.6 meters away at (-19.1, -4.4). A pedestrian with ID 31 is 27.4 meters away at (16.5, 21.9). A vehicle with ID 33 is 28.0 meters away at (5.1, 27.6). A pedestrian with ID 9 is 42.3 meters away at (-18.4, -38.1). A vehicle with ID 36 is 55.6 meters away at (22.9, 50.7). A unknown object with ID 39 is 71.4 meters away at (29.4, 65.1).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.47588807 1.3136425 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.41438377 -1.2190964 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(108.85682678222656, -118.66533660888672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-19.057274  -4.377743], 19.553627014160156 meters away.)"}
{"file_name": "images/scenario_1123_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.0) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 15.7 meters away at (9.8, -12.3). A vehicle with ID 20 is 18.6 meters away at (-18.4, -2.5). A vehicle with ID 15 is 22.3 meters away at (-22.3, -1.5). A vehicle with ID 24 is 27.3 meters away at (-26.7, -5.7). A vehicle with ID 33 is 30.0 meters away at (5.7, 29.5). A pedestrian with ID 31 is 31.7 meters away at (18.6, 25.7). A pedestrian with ID 9 is 43.1 meters away at (-18.6, -38.9). A vehicle with ID 36 is 57.6 meters away at (23.5, 52.6). A vehicle with ID 27 is 61.2 meters away at (47.5, -38.5). A unknown object with ID 39 is 73.4 meters away at (30.0, 67.0).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.623591   1.7333716] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.9405731 0.7605171] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.4183639 -1.1322337] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(108.85682678222656, -118.66533660888672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  9.811611 -12.278982], 15.717541694641113 meters away.)"}
{"file_name": "images/scenario_1123_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -4.4) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 16.8 meters away at (-16.5, 3.0). A vehicle with ID 15 is 20.7 meters away at (-20.3, 4.0). A vehicle with ID 33 is 35.9 meters away at (7.6, 35.1). A pedestrian with ID 9 is 39.8 meters away at (-17.6, -35.7). A vehicle with ID 27 is 59.4 meters away at (49.4, -33.0). A vehicle with ID 13 is 60.6 meters away at (-60.4, 3.7). A vehicle with ID 36 is 63.5 meters away at (25.5, 58.1). A vehicle with ID 1 is 77.0 meters away at (-17.1, -75.1).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.51232666 -1.1643516 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(108.85682678222656, -118.66533660888672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-16.513533    2.9550343], 16.77584457397461 meters away.)"}
{"file_name": "images/scenario_1123_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.3) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 19.1 meters away at (-13.0, 13.9). A vehicle with ID 15 is 22.2 meters away at (-16.7, 14.5). A pedestrian with ID 9 is 31.2 meters away at (-14.9, -27.4). A vehicle with ID 28 is 36.9 meters away at (-36.4, 5.8). A unknown object with ID 29 is 38.5 meters away at (-0.5, -38.5). A vehicle with ID 33 is 47.3 meters away at (11.2, 46.0). A vehicle with ID 27 is 57.4 meters away at (52.9, -22.2). A vehicle with ID 13 is 58.6 meters away at (-56.8, 14.4). A vehicle with ID 16 is 58.7 meters away at (-52.5, 26.4). A vehicle with ID 23 is 62.4 meters away at (-55.9, 27.7).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.5216777 -1.2593449] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-2.5150366 -3.3556492] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(108.85682678222656, -118.66533660888672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-13.03481   13.910813], 19.063499450683594 meters away.)"}
{"file_name": "images/scenario_1124_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -1.7) m/s. Its current heading (yaw) is -0.80 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 6.6 meters away at (-1.1, -6.5). A vehicle with ID 42 is 9.7 meters away at (9.5, -2.2). A unknown object with ID 36 is 10.4 meters away at (5.9, 8.6). A unknown object with ID 41 is 13.2 meters away at (-2.8, 12.9). A vehicle with ID 37 is 16.9 meters away at (-14.3, 9.0). A vehicle with ID 33 is 18.1 meters away at (-6.3, -17.0). A unknown object with ID 39 is 20.5 meters away at (-8.9, 18.4). A pedestrian with ID 44 is 24.9 meters away at (19.2, -15.8). A unknown object with ID 43 is 29.3 meters away at (-16.1, 24.4). A unknown object with ID 17 is 30.3 meters away at (26.9, -14.0).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.39241502  0.71925265] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-4.33307   3.745366] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.37115723 -1.4852077 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-148.79393005371094, 24.8928165435791)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-1.0532345 -6.4880733], 6.573005199432373 meters away.)"}
{"file_name": "images/scenario_1124_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -3.6) m/s. Its current heading (yaw) is -1.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 3.3 meters away at (-3.3, -0.2). A vehicle with ID 42 is 12.0 meters away at (-3.4, 11.5). A unknown object with ID 36 is 14.2 meters away at (3.0, 13.9). A vehicle with ID 33 is 14.8 meters away at (-9.0, -11.7). A unknown object with ID 41 is 19.1 meters away at (-5.7, 18.2). A pedestrian with ID 44 is 20.6 meters away at (15.6, -13.4). A vehicle with ID 50 is 21.1 meters away at (-7.1, -19.9). A vehicle with ID 37 is 22.3 meters away at (-17.2, 14.2). A unknown object with ID 17 is 25.6 meters away at (24.1, -8.6). A unknown object with ID 46 is 26.1 meters away at (25.0, -7.5).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.79235655 0.51011896] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-5.406776  4.5855  ] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.40087664 -1.3006902 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [4.304941  4.8618083] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-148.79393005371094, 24.8928165435791)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-3.253753   -0.15596151], 3.25748872756958 meters away.)"}
{"file_name": "images/scenario_1124_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -4.6) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 5.0 meters away at (1.7, -4.8). A vehicle with ID 33 is 7.4 meters away at (-6.5, -3.6). A pedestrian with ID 38 is 9.8 meters away at (0.3, 9.8). A pedestrian with ID 44 is 18.7 meters away at (17.0, -7.8). A vehicle with ID 32 is 21.2 meters away at (-15.8, -14.2). A vehicle with ID 34 is 22.0 meters away at (-8.2, -20.5). A unknown object with ID 36 is 22.7 meters away at (5.8, 22.0). A unknown object with ID 41 is 26.6 meters away at (-2.9, 26.4). A unknown object with ID 17 is 26.6 meters away at (26.6, -0.7). A vehicle with ID 37 is 26.7 meters away at (-14.4, 22.5).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [1.9890566 2.0448735] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.5908982 0.9570947] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.4644096 -1.0773976] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-148.79393005371094, 24.8928165435791)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.6665351 -4.766432 ], 5.04937744140625 meters away.)"}
{"file_name": "images/scenario_1124_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.6) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 5.5 meters away at (0.3, 5.5). A vehicle with ID 32 is 10.1 meters away at (-8.9, -4.9). A vehicle with ID 34 is 11.2 meters away at (-1.2, -11.1). A vehicle with ID 50 is 13.4 meters away at (11.2, 7.4). A vehicle with ID 35 is 17.4 meters away at (-5.6, -16.5). A pedestrian with ID 38 is 22.6 meters away at (8.4, 20.9). A vehicle with ID 37 is 32.6 meters away at (-7.7, 31.7). A vehicle with ID 40 is 32.8 meters away at (-16.3, -28.5). A unknown object with ID 36 is 33.8 meters away at (12.6, 31.3). A unknown object with ID 17 is 34.6 meters away at (33.5, 8.7).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [1.2004101 1.2349007] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.7006407 0.7879763] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-63.065178 -93.9358  ]\n [-63.13381  -93.57159 ]\n [-64.45202  -92.22309 ]]", "nav_goal": "(-148.79393005371094, 24.8928165435791)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [0.26316357 5.5101166 ], 5.516397476196289 meters away.)"}
{"file_name": "images/scenario_1125_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.5) m/s. Its current heading (yaw) is -0.66 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 18.9 meters away at (10.3, -15.9). A vehicle with ID 27 is 53.6 meters away at (42.8, -32.2). A vehicle with ID 25 is 55.0 meters away at (-49.9, 23.2). A vehicle with ID 26 is 78.7 meters away at (-77.2, -15.1).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-6.5972815 -1.7032762] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.518367 -8.00285 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 10.254076 -15.920408], 18.93688201904297 meters away.)"}
{"file_name": "images/scenario_1125_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -3.6) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 7.8 meters away at (-0.6, -7.8). A vehicle with ID 27 is 40.1 meters away at (32.0, -24.1). A unknown object with ID 5 is 53.4 meters away at (31.5, -43.1). A vehicle with ID 25 is 75.8 meters away at (-72.3, 22.9).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-5.225824  -6.5288653] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.56007576 -7.781086  ], 7.801217079162598 meters away.)"}
{"file_name": "images/scenario_1125_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -1.1) m/s. Its current heading (yaw) is -0.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 10.0 meters away at (-9.7, -2.7). A vehicle with ID 27 is 30.0 meters away at (23.0, -19.3). A unknown object with ID 5 is 44.5 meters away at (22.4, -38.4). A unknown object with ID 12 is 53.1 meters away at (24.1, -47.3).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-9.672792  -2.6713085], 10.034878730773926 meters away.)"}
{"file_name": "images/scenario_1125_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 0.9) m/s. Its current heading (yaw) is 0.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 18.5 meters away at (-18.4, -1.6). A vehicle with ID 27 is 24.5 meters away at (15.2, -19.2). A vehicle with ID 4 is 31.0 meters away at (17.2, 25.9). A unknown object with ID 9 is 36.9 meters away at (18.0, 32.2). A unknown object with ID 5 is 40.9 meters away at (14.5, -38.3). A unknown object with ID 13 is 56.4 meters away at (15.4, 54.2). A vehicle with ID 17 is 78.8 meters away at (25.3, 74.7).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.5481464   0.40730318] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-18.433258   -1.6446419], 18.506481170654297 meters away.)"}
{"file_name": "images/scenario_1126_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.7) m/s. Its current heading (yaw) is 1.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.6 meters away at (-5.2, 4.0). A vehicle with ID 18 is 8.7 meters away at (-8.4, -2.2). A vehicle with ID 21 is 8.8 meters away at (-2.6, 8.4). A vehicle with ID 23 is 13.9 meters away at (-11.7, -7.6). A vehicle with ID 20 is 14.1 meters away at (-9.7, -10.1). A vehicle with ID 22 is 20.3 meters away at (19.8, -4.5). A unknown object with ID 11 is 23.7 meters away at (23.6, -1.6). A unknown object with ID 9 is 23.8 meters away at (23.8, -0.2). A unknown object with ID 25 is 24.3 meters away at (24.2, 1.4). A vehicle with ID 32 is 25.6 meters away at (-1.2, 25.6).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.9101505 -9.818556 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 2.1758738 -1.3593394] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 1.8413376 -2.2049124] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.812497  11.84242  ]\n [ 9.745036   7.5703087]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.209461  3.991643], 6.56290340423584 meters away.)"}
{"file_name": "images/scenario_1126_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.6 meters away at (-5.3, 3.8). A vehicle with ID 21 is 8.6 meters away at (-2.7, 8.2). A vehicle with ID 18 is 8.8 meters away at (-8.5, -2.4). A vehicle with ID 23 is 14.1 meters away at (-11.8, -7.8). A vehicle with ID 32 is 19.4 meters away at (2.2, 19.3). A cyclist with ID 33 is 20.9 meters away at (-8.7, -19.0). A unknown object with ID 25 is 24.2 meters away at (24.1, 1.2). A pedestrian with ID 36 is 29.0 meters away at (-21.9, -19.0). A vehicle with ID 37 is 36.5 meters away at (-18.9, -31.3). A vehicle with ID 28 is 36.7 meters away at (-2.4, 36.6).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 1.1674908 -4.0380416] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [2.0389328 3.5381503] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.6763184 -1.2099261] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [2.332917  3.7637463] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.812497  11.84242  ]\n [ 9.745036   7.5703087]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.312128   3.8466258], 6.558599948883057 meters away.)"}
{"file_name": "images/scenario_1126_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 6.5 meters away at (-5.3, 3.8). A vehicle with ID 21 is 8.6 meters away at (-2.7, 8.2). A vehicle with ID 18 is 8.8 meters away at (-8.5, -2.4). A vehicle with ID 32 is 11.2 meters away at (2.0, 11.0). A cyclist with ID 33 is 12.9 meters away at (-4.6, -12.0). A vehicle with ID 23 is 14.1 meters away at (-11.8, -7.8). A unknown object with ID 25 is 24.1 meters away at (24.1, 1.2). A vehicle with ID 27 is 24.3 meters away at (0.5, 24.3). A vehicle with ID 37 is 28.0 meters away at (-14.3, -24.1). A pedestrian with ID 36 is 31.7 meters away at (-23.4, -21.3).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.508655 -4.561969] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [2.1106894 3.3880265] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 2.5029852 -3.5627387] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [1.8327602 2.9648035] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.7672121 -1.1252035] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.812497  11.84242  ]\n [ 9.745036   7.5703087]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-5.3410015  3.789403 ], 6.548730373382568 meters away.)"}
{"file_name": "images/scenario_1126_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 3.1 meters away at (-2.5, 1.8). A cyclist with ID 33 is 5.0 meters away at (-0.1, -5.0). A vehicle with ID 19 is 6.6 meters away at (-5.4, 3.8). A vehicle with ID 21 is 8.6 meters away at (-2.8, 8.1). A vehicle with ID 18 is 8.8 meters away at (-8.5, -2.4). A vehicle with ID 23 is 14.1 meters away at (-11.8, -7.8). A vehicle with ID 27 is 16.2 meters away at (3.2, 15.9). A cyclist with ID 6 is 20.9 meters away at (5.2, 20.3). A vehicle with ID 37 is 22.0 meters away at (-11.1, -19.0). A unknown object with ID 25 is 24.1 meters away at (24.1, 1.2).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [-2.9078867 -5.026969 ] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [2.202251 3.503542] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.14368062 -4.3216    ] m/s.The cyclist with ID 6 is traveling at a (x, y) velocity of [ 2.1559129 -3.2079103] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [1.3215513 2.1694305] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 6.812497  11.84242  ]\n [ 9.745036   7.5703087]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.4964304  1.789197 ], 3.071382522583008 meters away.)"}
{"file_name": "images/scenario_1127_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.0 meters away at (4.4, -5.4). A vehicle with ID 24 is 14.3 meters away at (-11.4, 8.7). A vehicle with ID 14 is 15.2 meters away at (9.5, -11.8). A vehicle with ID 5 is 17.9 meters away at (-13.5, -11.7). A vehicle with ID 12 is 22.3 meters away at (-22.2, 1.8). A unknown object with ID 19 is 22.8 meters away at (-15.1, -17.2). A unknown object with ID 9 is 23.0 meters away at (-16.5, -16.0). A vehicle with ID 10 is 23.4 meters away at (15.3, -17.7). A vehicle with ID 27 is 24.4 meters away at (-19.0, -15.2). A vehicle with ID 17 is 25.9 meters away at (-21.2, 14.9).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 12.12169  -14.836026] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-2.0692213 -6.075015 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.5026207 -5.2094483] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.524237   -1.7604027]\n [  5.0665584  -6.4668837]\n [  5.066559   -6.4668837]\n [-13.184929   -8.824484 ]\n [-13.422824   -8.313663 ]\n [-15.354516   -1.892115 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.3569098 -5.4443965], 6.973099231719971 meters away.)"}
{"file_name": "images/scenario_1127_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.0 meters away at (4.4, -5.5). A vehicle with ID 17 is 9.7 meters away at (-9.6, 1.5). A vehicle with ID 14 is 15.2 meters away at (9.5, -11.8). A vehicle with ID 5 is 17.9 meters away at (-13.5, -11.7). A unknown object with ID 19 is 22.9 meters away at (-15.1, -17.2). A unknown object with ID 9 is 23.0 meters away at (-16.5, -16.0). A vehicle with ID 10 is 23.4 meters away at (15.3, -17.7). A vehicle with ID 27 is 24.3 meters away at (-19.0, -15.2). A vehicle with ID 24 is 25.6 meters away at (13.6, -21.7). A vehicle with ID 22 is 26.0 meters away at (-22.4, -13.2).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.133438 -8.243433] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 12.822809 -15.374521] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.524237   -1.7604027]\n [  5.0665584  -6.4668837]\n [  5.066559   -6.4668837]\n [-13.184929   -8.824484 ]\n [-13.422824   -8.313663 ]\n [-15.354516   -1.892115 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.362006 -5.45621 ], 6.985508441925049 meters away.)"}
{"file_name": "images/scenario_1127_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.0 meters away at (4.4, -5.5). A vehicle with ID 5 is 12.9 meters away at (-8.4, -9.7). A vehicle with ID 14 is 15.2 meters away at (9.5, -11.8). A vehicle with ID 17 is 18.0 meters away at (6.2, -16.9). A unknown object with ID 19 is 22.8 meters away at (-15.1, -17.2). A unknown object with ID 9 is 23.0 meters away at (-16.5, -15.9). A vehicle with ID 28 is 23.0 meters away at (-21.9, 7.0). A vehicle with ID 10 is 23.4 meters away at (15.3, -17.7). A vehicle with ID 27 is 23.6 meters away at (-18.3, -14.8). A vehicle with ID 22 is 26.0 meters away at (-22.4, -13.2).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [4.9308863  0.49044818] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.457793 -9.822722] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.2989421 -6.70277  ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [1.0144799  0.70637184] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.524237   -1.7604027]\n [  5.0665584  -6.4668837]\n [  5.066559   -6.4668837]\n [-13.184929   -8.824484 ]\n [-13.422824   -8.313663 ]\n [-15.354516   -1.892115 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.3593054 -5.451186 ], 6.979897975921631 meters away.)"}
{"file_name": "images/scenario_1127_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 7.0 meters away at (4.4, -5.4). A vehicle with ID 14 is 15.2 meters away at (9.6, -11.9). A vehicle with ID 5 is 15.5 meters away at (4.3, -14.9). A vehicle with ID 27 is 18.7 meters away at (-14.2, -12.2). A unknown object with ID 19 is 22.8 meters away at (-15.1, -17.2). A vehicle with ID 39 is 23.0 meters away at (-21.7, 7.4). A unknown object with ID 9 is 23.0 meters away at (-16.5, -16.0). A vehicle with ID 10 is 23.4 meters away at (15.3, -17.7). A vehicle with ID 22 is 26.0 meters away at (-22.4, -13.2). A vehicle with ID 28 is 27.7 meters away at (-26.9, -6.3).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 6.5169196 -5.8241644] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.467406  1.3218291] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 1.3564886e-03 -6.5688176e+00] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-4.92489   -6.0653777] m/s.", "light_description": "There are active red lights at the following coordinates: [[-15.524237   -1.7604027]\n [-13.184929   -8.824484 ]\n [-13.422824   -8.313663 ]\n [-15.354516   -1.892115 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 4.3617473 -5.4466424], 6.977875709533691 meters away.)"}
{"file_name": "images/scenario_1128_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -1.9) m/s. Its current heading (yaw) is -2.54 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 23.8 meters away at (-23.5, 3.7). A pedestrian with ID 29 is 30.7 meters away at (27.8, -12.9). A vehicle with ID 28 is 31.3 meters away at (-30.1, -8.9). A pedestrian with ID 30 is 39.0 meters away at (38.8, 4.3). A vehicle with ID 31 is 78.3 meters away at (67.2, -40.3).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.06376579 -0.00965889] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.19206819  1.4311439 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-5.20113  -7.457436] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.00661654 -0.05305697] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 3.4316437 -1.5351669] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.40293502807617, -41.558109283447266)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-23.459133    3.7232914], 23.752765655517578 meters away.)"}
{"file_name": "images/scenario_1128_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 0.8) m/s. Its current heading (yaw) is 2.94 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 17.4 meters away at (-16.8, 4.7). A pedestrian with ID 29 is 35.9 meters away at (34.6, -9.5). A vehicle with ID 28 is 40.5 meters away at (-30.9, -26.2). A pedestrian with ID 30 is 46.0 meters away at (45.7, 4.7).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00415039  0.09197084] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.12970419 1.2472217 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ -3.2302208 -10.588334 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.23478746 -0.68433326] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.40293502807617, -41.558109283447266)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-16.800667    4.6943398], 17.44417381286621 meters away.)"}
{"file_name": "images/scenario_1128_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -0.4) m/s. Its current heading (yaw) is -3.06 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 8.7 meters away at (-7.8, 3.8). A pedestrian with ID 30 is 54.5 meters away at (54.4, 2.9). A vehicle with ID 28 is 58.6 meters away at (-29.6, -50.6). A vehicle with ID 1 is 62.0 meters away at (-24.8, -56.8). A vehicle with ID 2 is 68.9 meters away at (-41.0, -55.4). A vehicle with ID 3 is 69.4 meters away at (-43.4, -54.2). A vehicle with ID 8 is 77.4 meters away at (-38.4, -67.2).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.00061519 0.0119762 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.01357415 -0.5171098 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ -3.910421 -12.657363] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.40293502807617, -41.558109283447266)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-7.8115845  3.761405 ], 8.67000675201416 meters away.)"}
{"file_name": "images/scenario_1128_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -3.4) m/s. Its current heading (yaw) is -2.50 ", "actor_description": " The most relevant actors are: A pedestrian with ID 26 is 7.7 meters away at (2.0, 7.5). A vehicle with ID 1 is 55.3 meters away at (-15.0, -53.2). A vehicle with ID 2 is 60.4 meters away at (-31.2, -51.7). A vehicle with ID 3 is 60.8 meters away at (-33.7, -50.6). A vehicle with ID 4 is 61.6 meters away at (-17.1, -59.2). A pedestrian with ID 30 is 64.7 meters away at (64.5, 5.2). A vehicle with ID 8 is 69.6 meters away at (-28.6, -63.5). A vehicle with ID 28 is 78.4 meters away at (-28.1, -73.2).", "velocity_description": "The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.04793463  0.03755176] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.02936329 -0.7067626 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ -4.324271 -13.090268] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-45.40293502807617, -41.558109283447266)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [1.9606247 7.486679 ], 7.739148139953613 meters away.)"}
{"file_name": "images/scenario_1129_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -3.6) m/s. Its current heading (yaw) is -2.16 ", "actor_description": " The most relevant actors are: A unknown object with ID 40 is 11.2 meters away at (0.1, 11.2). A vehicle with ID 51 is 11.2 meters away at (-9.8, 5.4). A vehicle with ID 54 is 11.4 meters away at (-7.8, 8.3). A vehicle with ID 52 is 11.7 meters away at (-11.4, 2.5). A vehicle with ID 46 is 12.4 meters away at (-6.8, 10.4). A vehicle with ID 39 is 12.6 meters away at (-12.6, 0.1). A unknown object with ID 24 is 27.0 meters away at (-26.3, -5.9). A vehicle with ID 55 is 32.3 meters away at (10.2, -30.6). A unknown object with ID 57 is 38.2 meters away at (30.2, 23.4). A unknown object with ID 59 is 39.2 meters away at (36.8, 13.6).", "velocity_description": "The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-114.3134536743164, -26.250350952148438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 0.09840918 11.22879   ], 11.22922134399414 meters away.)"}
{"file_name": "images/scenario_1129_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.4) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 10.9 meters away at (-9.6, 5.1). A vehicle with ID 52 is 11.2 meters away at (-8.5, 7.2). A vehicle with ID 51 is 12.3 meters away at (-6.9, 10.2). A vehicle with ID 54 is 14.2 meters away at (-4.8, 13.3). A vehicle with ID 46 is 16.1 meters away at (-3.6, 15.7). A unknown object with ID 40 is 16.5 meters away at (3.1, 16.2). A vehicle with ID 55 is 28.8 meters away at (13.1, -25.7). A unknown object with ID 22 is 31.9 meters away at (-2.2, -31.8). A vehicle with ID 82 is 37.4 meters away at (-27.5, -25.4). A vehicle with ID 69 is 41.4 meters away at (15.7, -38.3).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-114.3134536743164, -26.250350952148438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.60956   5.148553], 10.901891708374023 meters away.)"}
{"file_name": "images/scenario_1129_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.6) m/s. Its current heading (yaw) is -1.67 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 12.1 meters away at (-8.8, 8.3). A vehicle with ID 52 is 13.0 meters away at (-7.4, 10.8). A vehicle with ID 51 is 14.7 meters away at (-6.0, 13.4). A vehicle with ID 54 is 17.1 meters away at (-3.8, 16.6). A vehicle with ID 46 is 18.7 meters away at (-3.0, 18.5). A unknown object with ID 30 is 22.6 meters away at (-22.5, 2.5). A vehicle with ID 55 is 26.4 meters away at (14.0, -22.4). A vehicle with ID 82 is 34.6 meters away at (-26.7, -22.0). A vehicle with ID 53 is 38.4 meters away at (-18.8, -33.5). A vehicle with ID 69 is 38.8 meters away at (16.6, -35.0).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-114.3134536743164, -26.250350952148438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.81226   8.277016], 12.089868545532227 meters away.)"}
{"file_name": "images/scenario_1129_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -3.6) m/s. Its current heading (yaw) is -0.94 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 19.6 meters away at (12.2, -15.3). A vehicle with ID 54 is 24.1 meters away at (-5.9, 23.4). A unknown object with ID 30 is 26.2 meters away at (-24.3, 9.7). A vehicle with ID 69 is 31.6 meters away at (14.8, -27.9). A vehicle with ID 82 is 32.1 meters away at (-28.5, -14.9). A vehicle with ID 68 is 32.9 meters away at (17.3, -28.0). A vehicle with ID 53 is 33.4 meters away at (-20.5, -26.4). A vehicle with ID 67 is 34.5 meters away at (20.2, -27.9). A vehicle with ID 38 is 36.1 meters away at (-23.6, -27.3). A vehicle with ID 48 is 37.5 meters away at (34.1, -15.5).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-114.3134536743164, -26.250350952148438)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 12.205151  -15.3368435], 19.600624084472656 meters away.)"}
{"file_name": "images/scenario_1130_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 6.7) m/s. Its current heading (yaw) is 2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 4.6 meters away at (-2.7, -3.7). A vehicle with ID 56 is 5.9 meters away at (-5.8, 1.4). A vehicle with ID 55 is 6.2 meters away at (4.0, 4.7). A vehicle with ID 53 is 7.2 meters away at (7.2, -0.0). A vehicle with ID 57 is 9.1 meters away at (0.9, 9.0). A vehicle with ID 52 is 9.3 meters away at (1.8, -9.1). A cyclist with ID 59 is 9.6 meters away at (-8.4, 4.8). A vehicle with ID 15 is 16.8 meters away at (8.9, -14.3). A vehicle with ID 67 is 18.2 meters away at (-5.4, 17.4). A vehicle with ID 70 is 23.3 meters away at (-8.7, 21.6).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 0.03680718 -0.10304546] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.9767586  5.8420787] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 20.148436   -19.602001  ]\n [ -0.33429405  -9.775574  ]\n [  3.1902506   -9.763052  ]\n [  0.19365048 -21.288149  ]\n [ 20.065918   -19.253353  ]\n [ 20.313915   -18.882109  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.6523275 -3.7479134], 4.591480731964111 meters away.)"}
{"file_name": "images/scenario_1130_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 7.2) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 5.9 meters away at (4.8, 3.5). A vehicle with ID 70 is 7.9 meters away at (1.6, 7.7). A cyclist with ID 59 is 9.2 meters away at (1.8, -9.1). A vehicle with ID 57 is 12.0 meters away at (11.0, -4.8). A vehicle with ID 75 is 12.6 meters away at (-1.7, 12.5). A vehicle with ID 56 is 13.2 meters away at (4.4, -12.4). A vehicle with ID 55 is 16.9 meters away at (14.2, -9.2). A vehicle with ID 15 is 19.1 meters away at (11.5, -15.3). A vehicle with ID 54 is 19.2 meters away at (7.6, -17.7). A vehicle with ID 78 is 20.7 meters away at (-6.8, 19.5).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-0.02472362  0.0258947 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.197187  7.118568] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 20.148436   -19.602001  ]\n [ -0.33429405  -9.775574  ]\n [  3.1902506   -9.763052  ]\n [ 20.065918   -19.253353  ]\n [ 20.313915   -18.882109  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.7717047 3.5137596], 5.925848007202148 meters away.)"}
{"file_name": "images/scenario_1130_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 7.2) m/s. Its current heading (yaw) is 2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 6.6 meters away at (3.9, 5.3). A vehicle with ID 75 is 9.1 meters away at (9.0, -1.7). A vehicle with ID 81 is 10.0 meters away at (0.6, 10.0). A vehicle with ID 70 is 13.8 meters away at (12.2, -6.5). A vehicle with ID 15 is 18.5 meters away at (11.4, -14.6). A vehicle with ID 67 is 18.9 meters away at (15.5, -10.8). A vehicle with ID 30 is 24.6 meters away at (-10.6, 22.2). A cyclist with ID 59 is 26.4 meters away at (12.6, -23.3). A vehicle with ID 57 is 28.9 meters away at (21.7, -19.1). A vehicle with ID 56 is 30.7 meters away at (15.2, -26.7).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.5100737  7.5087423] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-0.00417682  0.00727566] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-0.33429405 -9.775574  ]\n [ 3.1902506  -9.763052  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.9219837 5.321148 ], 6.61033821105957 meters away.)"}
{"file_name": "images/scenario_1130_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 7.0) m/s. Its current heading (yaw) is 2.19 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 7.9 meters away at (0.0, 7.9). A vehicle with ID 81 is 11.7 meters away at (11.0, -4.1). A vehicle with ID 78 is 16.9 meters away at (14.4, -8.9). A vehicle with ID 15 is 17.8 meters away at (11.0, -14.0). A vehicle with ID 75 is 25.2 meters away at (19.4, -16.0). A pedestrian with ID 9 is 29.4 meters away at (-8.4, 28.1). A vehicle with ID 70 is 30.7 meters away at (22.6, -20.7). A vehicle with ID 17 is 33.2 meters away at (20.0, -26.5). A vehicle with ID 67 is 36.1 meters away at (26.0, -25.1). A cyclist with ID 59 is 43.9 meters away at (23.0, -37.4).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.4775376  7.2853866] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.717436   0.9494379] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.323642  8.336259] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-0.01460251  0.00025121] m/s.", "light_description": "There are active red lights at the following coordinates: [[-0.33429405 -9.775574  ]\n [ 3.1902506  -9.763052  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [0.01288605 7.918213  ], 7.9182233810424805 meters away.)"}
{"file_name": "images/scenario_1131_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 6.6) m/s. Its current heading (yaw) is 2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 97 is 6.5 meters away at (-1.0, 6.4). A pedestrian with ID 94 is 8.7 meters away at (7.9, 3.6). A pedestrian with ID 87 is 8.8 meters away at (8.7, 1.4). A pedestrian with ID 88 is 9.2 meters away at (8.9, 2.2). A pedestrian with ID 93 is 9.3 meters away at (8.6, 3.4). A vehicle with ID 91 is 9.8 meters away at (-5.8, -7.9). A vehicle with ID 108 is 10.4 meters away at (-9.8, 3.6). A vehicle with ID 100 is 12.1 meters away at (1.9, -12.0). A vehicle with ID 102 is 12.4 meters away at (-12.4, 0.7). A pedestrian with ID 99 is 13.9 meters away at (-11.3, -8.0).", "velocity_description": "The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 0.6017718 -1.0126061] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.5515128  -0.78570896] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.49061522 -0.8106394 ] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [ 0.6918906 -0.9670312] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [ 5.6735363 -7.3170586] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [ 5.8882656 -6.7275553] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [ 0.5628366 -0.7122138] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.6842123 -1.2579476] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.999195  -11.169844 ]\n [-16.01524    -1.1724316]\n [-13.468833  -10.85774  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.0216951  6.410223 ], 6.491133689880371 meters away.)"}
{"file_name": "images/scenario_1131_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 6.8) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 104 is 5.1 meters away at (5.0, 1.1). A vehicle with ID 71 is 6.2 meters away at (1.8, 5.9). A vehicle with ID 114 is 8.8 meters away at (-8.8, 0.3). A vehicle with ID 106 is 9.0 meters away at (-6.3, -6.5). A vehicle with ID 43 is 9.5 meters away at (0.4, -9.5). A vehicle with ID 97 is 11.8 meters away at (9.5, -6.9). A vehicle with ID 102 is 13.3 meters away at (-1.3, -13.2). A vehicle with ID 9 is 14.1 meters away at (8.2, -11.5). A vehicle with ID 80 is 15.3 meters away at (-4.8, 14.5). A pedestrian with ID 61 is 16.0 meters away at (-9.1, -13.1).", "velocity_description": "The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [ 4.5013723 -4.036125 ] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 5.9575577 -8.261523 ] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.0967364  7.0348334] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.01953626 0.14315678] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.999195  -11.169844 ]\n [-16.01524    -1.1724316]\n [-13.468833  -10.85774  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.9631157 1.1308937], 5.090327739715576 meters away.)"}
{"file_name": "images/scenario_1131_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 6.8) m/s. Its current heading (yaw) is 2.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 4.6 meters away at (-4.1, -2.2). A vehicle with ID 70 is 6.3 meters away at (3.0, 5.5). A vehicle with ID 80 is 6.4 meters away at (6.3, 0.8). A pedestrian with ID 59 is 8.8 meters away at (7.8, 4.2). A vehicle with ID 45 is 10.9 meters away at (-1.0, 10.8). A vehicle with ID 9 is 13.6 meters away at (7.8, -11.2). A vehicle with ID 71 is 15.2 meters away at (13.0, -7.9). A vehicle with ID 23 is 16.2 meters away at (-4.5, 15.6). A pedestrian with ID 82 is 17.9 meters away at (0.4, 17.9). A vehicle with ID 39 is 19.1 meters away at (-9.1, 16.8).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [ 3.7829578 -5.1695905] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 1.8042253 -1.9027135] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.7606535  6.9967675] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.02903656  0.01171232] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.999195  -11.169844 ]\n [-16.01524    -1.1724316]\n [-13.468833  -10.85774  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.057106  -2.2484016], 4.638471603393555 meters away.)"}
{"file_name": "images/scenario_1131_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 6.3) m/s. Its current heading (yaw) is 2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 39 is 3.9 meters away at (1.4, 3.6). A vehicle with ID 23 is 6.5 meters away at (6.0, 2.4). A vehicle with ID 21 is 8.2 meters away at (2.1, 7.9). A vehicle with ID 45 is 9.7 meters away at (9.4, -2.3). A vehicle with ID 17 is 12.1 meters away at (-1.2, 12.1). A vehicle with ID 9 is 13.1 meters away at (7.4, -10.9). A vehicle with ID 22 is 14.5 meters away at (-5.7, 13.4). A vehicle with ID 70 is 15.4 meters away at (13.4, -7.6). A vehicle with ID 80 is 20.9 meters away at (16.8, -12.4). A pedestrian with ID 59 is 25.2 meters away at (22.1, -12.0).", "velocity_description": "The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.0891414  6.4767   ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0.11095505 4.3929424 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 1.7603818 -0.9011879] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.999195  -11.169844 ]\n [-16.01524    -1.1724316]\n [-13.468833  -10.85774  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [1.4472923 3.5992546], 3.8793413639068604 meters away.)"}
{"file_name": "images/scenario_1132_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 4.7) m/s. Its current heading (yaw) is 1.47 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 15.5 meters away at (-2.8, 15.3). A pedestrian with ID 10 is 17.0 meters away at (-12.9, -11.1). A vehicle with ID 9 is 30.0 meters away at (15.4, 25.8). A pedestrian with ID 12 is 32.6 meters away at (18.2, 27.0). A vehicle with ID 8 is 61.8 meters away at (2.6, 61.7). A pedestrian with ID 13 is 63.0 meters away at (6.6, -62.7). A pedestrian with ID 14 is 66.2 meters away at (8.9, -65.6). A vehicle with ID 15 is 67.2 meters away at (0.0, -67.2). A pedestrian with ID 16 is 67.4 meters away at (9.0, -66.8). A pedestrian with ID 17 is 70.0 meters away at (56.9, -40.8).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00915774 -0.00548042] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00029526 -0.00801408] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.66382754 -0.7806531 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.04337174  0.00766463] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00241871 -0.05364943] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.00572073 -0.01918463] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.40714243 0.5749192 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-2.7534628 15.274201 ], 15.52039909362793 meters away.)"}
{"file_name": "images/scenario_1132_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 5.8) m/s. Its current heading (yaw) is 1.59 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 5.8 meters away at (-3.2, 4.8). A vehicle with ID 9 is 21.4 meters away at (14.9, 15.4). A pedestrian with ID 12 is 22.6 meters away at (16.2, 15.7). A pedestrian with ID 10 is 25.4 meters away at (-13.5, -21.5). A vehicle with ID 8 is 51.2 meters away at (2.1, 51.2). A pedestrian with ID 2 is 55.1 meters away at (6.2, 54.7). A pedestrian with ID 13 is 73.4 meters away at (6.0, -73.2). A pedestrian with ID 14 is 76.4 meters away at (8.4, -76.0). A vehicle with ID 15 is 77.6 meters away at (-0.5, -77.6).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.01261076  0.00235752] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.67245555 -0.23605813] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00774888 -0.00554678] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.03393274  0.00892491] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.0305162   0.00394459] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00697508  0.00019997] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-3.2269673  4.812351 ], 5.7941389083862305 meters away.)"}
{"file_name": "images/scenario_1132_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 6.6) m/s. Its current heading (yaw) is 1.64 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 8.0 meters away at (-2.7, -7.6). A vehicle with ID 9 is 15.7 meters away at (15.4, 3.0). A pedestrian with ID 12 is 17.2 meters away at (16.8, 3.4). A pedestrian with ID 10 is 36.3 meters away at (-13.0, -33.8). A vehicle with ID 8 is 39.0 meters away at (2.7, 38.9). A pedestrian with ID 2 is 42.9 meters away at (7.0, 42.3). A unknown object with ID 6 is 56.5 meters away at (-9.1, 55.8). A vehicle with ID 1 is 72.5 meters away at (1.6, 72.5).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00188425  0.00933284] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.13209185 -0.21157335] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.01661411  0.00073007] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.01571491  0.00502927] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-2.6863966 -7.55101  ], 8.014641761779785 meters away.)"}
{"file_name": "images/scenario_1132_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 7.3) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 19.4 meters away at (16.1, -10.8). A pedestrian with ID 12 is 20.4 meters away at (17.2, -11.0). A pedestrian with ID 11 is 21.6 meters away at (-1.9, -21.5). A vehicle with ID 8 is 25.1 meters away at (3.3, 24.8). A pedestrian with ID 2 is 29.4 meters away at (7.7, 28.4). A unknown object with ID 6 is 42.7 meters away at (-8.5, 41.9). A vehicle with ID 1 is 58.6 meters away at (2.2, 58.5).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.01197037 -0.07445268] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00022518  0.00177322] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.02577371 -0.00695742] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 16.145508 -10.843178], 19.448699951171875 meters away.)"}
{"file_name": "images/scenario_1133_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -3.4) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A pedestrian with ID 41 is 7.1 meters away at (-1.7, -6.9). A pedestrian with ID 42 is 7.7 meters away at (-5.5, -5.4). A pedestrian with ID 43 is 7.8 meters away at (-4.9, -6.0). A unknown object with ID 44 is 9.1 meters away at (-5.4, -7.4). A unknown object with ID 47 is 9.7 meters away at (-3.7, -8.9). A vehicle with ID 50 is 9.8 meters away at (9.7, -0.3). A unknown object with ID 45 is 11.9 meters away at (-7.4, -9.3). A unknown object with ID 46 is 12.0 meters away at (-7.5, -9.3). A vehicle with ID 53 is 13.9 meters away at (13.9, -0.4). A vehicle with ID 49 is 14.1 meters away at (-14.0, 1.3).", "velocity_description": "The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.5632158 -1.4949253] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.92729515 0.7278228 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.8666723 0.8308191] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [4.8986816 3.8057904] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.811359   5.794063 ]\n [ 9.818958   4.090997 ]\n [12.793614   5.469561 ]\n [ 9.71097    4.015468 ]\n [10.058091   4.2693124]\n [15.039681   8.37344  ]]", "nav_goal": "(237.32858276367188, -178.565673828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-1.6695089 -6.9480615], 7.145825386047363 meters away.)"}
{"file_name": "images/scenario_1133_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -5.5) m/s. Its current heading (yaw) is -0.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 41 is 8.1 meters away at (-8.1, -0.7). A vehicle with ID 50 is 9.1 meters away at (2.1, 8.8). A vehicle with ID 53 is 10.8 meters away at (6.2, 8.9). A unknown object with ID 47 is 11.5 meters away at (-11.5, 0.4). A pedestrian with ID 43 is 12.1 meters away at (-11.5, 3.7). A pedestrian with ID 42 is 12.3 meters away at (-11.5, 4.2). A unknown object with ID 44 is 13.3 meters away at (-13.2, 2.0). A vehicle with ID 52 is 14.9 meters away at (7.3, 13.0). A unknown object with ID 46 is 15.3 meters away at (-15.3, 0.1). A vehicle with ID 49 is 22.5 meters away at (-11.3, 19.4).", "velocity_description": "The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.77693886 -1.2651083 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.7742511 -0.4722448] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.910414  -0.4052252] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [5.512577 5.003926] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.811359   5.794063 ]\n [ 9.818958   4.090997 ]\n [12.793614   5.469561 ]\n [ 9.71097    4.015468 ]\n [10.058091   4.2693124]\n [15.039681   8.37344  ]]", "nav_goal": "(237.32858276367188, -178.565673828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-8.0587635  -0.66882515], 8.086469650268555 meters away.)"}
{"file_name": "images/scenario_1133_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -6.5) m/s. Its current heading (yaw) is -0.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 8.0 meters away at (7.7, 2.3). A vehicle with ID 68 is 14.5 meters away at (8.0, 12.1). A pedestrian with ID 41 is 19.3 meters away at (-17.1, 9.0). A vehicle with ID 53 is 21.5 meters away at (-4.2, 21.1). A vehicle with ID 50 is 22.6 meters away at (-8.3, 21.1). A pedestrian with ID 42 is 24.7 meters away at (-20.0, 14.5). A pedestrian with ID 43 is 25.0 meters away at (-20.6, 14.1). A unknown object with ID 47 is 25.3 meters away at (-21.9, 12.6). A vehicle with ID 52 is 25.4 meters away at (-3.0, 25.2). A unknown object with ID 44 is 27.6 meters away at (-23.7, 14.3).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [-5.715316   5.3985567] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-2.431893   2.7668605] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.827366  -1.2591727] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.86065394 -1.0658667 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.8361532 -1.0380459] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.811359   5.794063 ]\n [ 9.818958   4.090997 ]\n [-5.471987   8.171909 ]\n [12.793614   5.469561 ]\n [ 9.71097    4.015468 ]\n [-3.5495226  5.6351805]\n [10.058091   4.2693124]\n [15.039681   8.37344  ]]", "nav_goal": "(237.32858276367188, -178.565673828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [7.655464 2.302269], 7.994158744812012 meters away.)"}
{"file_name": "images/scenario_1133_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -6.7) m/s. Its current heading (yaw) is -0.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 14.6 meters away at (13.1, 6.4). A vehicle with ID 35 is 28.7 meters away at (-14.6, 24.6). A vehicle with ID 68 is 31.2 meters away at (-9.4, 29.8). A pedestrian with ID 16 is 31.9 meters away at (19.5, -25.3). A pedestrian with ID 41 is 35.1 meters away at (-29.0, 19.7). A vehicle with ID 53 is 38.6 meters away at (-17.8, 34.3). A vehicle with ID 50 is 40.7 meters away at (-21.9, 34.3). A vehicle with ID 52 is 41.8 meters away at (-16.5, 38.3). A pedestrian with ID 42 is 43.0 meters away at (-33.2, 27.2). A pedestrian with ID 43 is 43.8 meters away at (-33.9, 27.8).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [-5.095677  4.59889 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.7328203  3.1961415] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-1.5241026  1.7617002] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.1079859 -0.8007778] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.89808035 -1.0293821 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.24678686  0.9817048 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.1604148 1.048318 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[12.811359   5.794063 ]\n [ 9.818958   4.090997 ]\n [-5.471987   8.171909 ]\n [12.793614   5.469561 ]\n [ 9.71097    4.015468 ]\n [-3.5495226  5.6351805]\n [10.058091   4.2693124]\n [15.039681   8.37344  ]]", "nav_goal": "(237.32858276367188, -178.565673828125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [13.111656   6.4273624], 14.602277755737305 meters away.)"}
{"file_name": "images/scenario_1134_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -6.4) m/s. Its current heading (yaw) is -1.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 20.2 meters away at (1.0, -20.2). A vehicle with ID 25 is 27.8 meters away at (-1.9, -27.7). A vehicle with ID 26 is 52.9 meters away at (20.7, -48.7). A vehicle with ID 27 is 59.1 meters away at (19.7, -55.7). A vehicle with ID 19 is 66.8 meters away at (19.0, -64.1). A pedestrian with ID 20 is 74.3 meters away at (-54.0, 51.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 1.1274025 -8.840669 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.04046609  0.8494699 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.10134952 -0.53555435] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.1386214 -1.0797853] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.123111724853516, -279.78326416015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  1.0480714 -20.20756  ], 20.23472023010254 meters away.)"}
{"file_name": "images/scenario_1134_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -6.3) m/s. Its current heading (yaw) is -1.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 15.0 meters away at (-4.9, -14.1). A vehicle with ID 3 is 25.4 meters away at (-0.3, -25.4). A vehicle with ID 26 is 40.8 meters away at (17.7, -36.7). A vehicle with ID 27 is 46.5 meters away at (16.7, -43.4). A vehicle with ID 19 is 54.4 meters away at (16.1, -52.0).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0.0394379  0.62740624] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.4824095 -8.831948 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.123111724853516, -279.78326416015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -4.9152365 -14.132614 ], 14.96296501159668 meters away.)"}
{"file_name": "images/scenario_1134_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -7.6) m/s. Its current heading (yaw) is -1.46 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 7.1 meters away at (-6.8, 2.3). A vehicle with ID 26 is 27.5 meters away at (15.5, -22.7). A vehicle with ID 3 is 29.5 meters away at (-2.6, -29.4). A vehicle with ID 27 is 32.8 meters away at (14.6, -29.4). A vehicle with ID 19 is 40.5 meters away at (14.1, -38.0). A vehicle with ID 1 is 58.1 meters away at (3.4, -58.0).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0.76738214 1.5763856 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.41584787 -9.495228  ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.23308443 -0.27548227] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.123111724853516, -279.78326416015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-6.758787   2.2866783], 7.135131359100342 meters away.)"}
{"file_name": "images/scenario_1134_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -8.1) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 23 is 15.0 meters away at (13.6, -6.5). A vehicle with ID 26 is 16.3 meters away at (14.8, -6.8). A pedestrian with ID 8 is 18.1 meters away at (11.9, -13.7). A pedestrian with ID 9 is 19.2 meters away at (12.2, -14.8). A vehicle with ID 27 is 19.4 meters away at (13.9, -13.5). A vehicle with ID 25 is 20.7 meters away at (-4.0, 20.3). A vehicle with ID 19 is 26.7 meters away at (13.4, -23.1). A vehicle with ID 3 is 33.6 meters away at (-4.6, -33.3). A vehicle with ID 1 is 42.5 meters away at (2.7, -42.4).", "velocity_description": "The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.04149665  0.56304204] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.03600505 -0.01776127] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.03333737 -0.0127443 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [2.92114   0.3226654] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.01085126 -0.53621227] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ -0.5743533 -10.425967 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(60.123111724853516, -279.78326416015625)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [13.568616  -6.4939613], 15.04256820678711 meters away.)"}
{"file_name": "images/scenario_1135_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, -10.0) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 15.3 meters away at (4.8, 14.6). A vehicle with ID 59 is 22.2 meters away at (-21.5, 5.6). A vehicle with ID 56 is 22.4 meters away at (-15.8, 15.9). A vehicle with ID 45 is 23.2 meters away at (-3.0, 23.0). A vehicle with ID 46 is 29.0 meters away at (0.4, 29.0). A vehicle with ID 53 is 29.8 meters away at (-7.9, 28.7). A cyclist with ID 47 is 30.8 meters away at (24.5, 18.7). A vehicle with ID 55 is 32.3 meters away at (-11.8, 30.0). A vehicle with ID 49 is 40.3 meters away at (-0.8, 40.3). A vehicle with ID 52 is 44.1 meters away at (-3.0, 44.0).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ -6.1635203 -10.5244665] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [3.4601262 6.7046676] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [3.9864886 6.973695 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [4.528368  7.1493382] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [-0.5882907 -2.771557 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [4.7744756 7.950097 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [4.9450665 7.2666893] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [5.5215206 8.447445 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.8761616  18.49541  ]\n [  0.668086   -1.5963144]\n [-16.472925   21.876715 ]\n [-12.855993   21.296753 ]\n [ -8.988911   20.172943 ]]", "nav_goal": "(-116.13001251220703, -270.93048095703125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.8078275 14.560646 ], 15.333871841430664 meters away.)"}
{"file_name": "images/scenario_1135_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -10.6) m/s. Its current heading (yaw) is -1.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 13.1 meters away at (2.7, 12.8). A pedestrian with ID 35 is 26.8 meters away at (-2.3, -26.7). A unknown object with ID 33 is 32.9 meters away at (-5.8, -32.4). A unknown object with ID 32 is 33.9 meters away at (-6.6, -33.2). A unknown object with ID 15 is 35.8 meters away at (-7.2, -35.1). A vehicle with ID 59 is 40.5 meters away at (-4.0, 40.3). A vehicle with ID 45 is 43.8 meters away at (6.7, 43.3). A cyclist with ID 7 is 49.1 meters away at (-19.2, -45.1). A vehicle with ID 46 is 50.5 meters away at (10.2, 49.4). A vehicle with ID 56 is 51.2 meters away at (2.7, 51.1).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ -5.548895 -11.444203] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.01206689 -0.0139993 ] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [4.310329 7.61698 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ -3.29072  -11.968221] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [4.788651  7.8007236] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.8761616  18.49541  ]\n [-16.472925   21.876715 ]\n [-12.855993   21.296753 ]\n [-10.143483   33.694935 ]\n [ -8.988911   20.172943 ]\n [-10.512668   32.719997 ]\n [-16.091286   31.577166 ]]", "nav_goal": "(-116.13001251220703, -270.93048095703125)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.6542454 12.848707 ], 13.119996070861816 meters away.)"}
{"file_name": "images/scenario_1135_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -10.5) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 35 is 8.2 meters away at (5.9, -5.8). A vehicle with ID 5 is 11.2 meters away at (0.5, 11.2). A unknown object with ID 38 is 11.6 meters away at (6.6, -9.5). A unknown object with ID 33 is 11.6 meters away at (2.3, -11.4). A unknown object with ID 32 is 12.3 meters away at (1.6, -12.2). A unknown object with ID 15 is 14.1 meters away at (1.0, -14.1). A unknown object with ID 23 is 16.1 meters away at (0.4, -16.1). A unknown object with ID 20 is 21.7 meters away at (-1.3, -21.6). A unknown object with ID 42 is 23.6 meters away at (-1.9, -23.5). A unknown object with ID 36 is 25.6 meters away at (-2.5, -25.5).", "velocity_description": "The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.0274219 -0.023462 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -4.697627 -11.59954 ] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-4.8761616 18.49541  ]]", "nav_goal": "(-116.13001251220703, -270.93048095703125)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 5.8646603 -5.755951 ], 8.217371940612793 meters away.)"}
{"file_name": "images/scenario_1135_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -9.9) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 5.1 meters away at (4.9, -1.2). A unknown object with ID 42 is 5.5 meters away at (4.5, -3.1). A unknown object with ID 36 is 6.4 meters away at (3.9, -5.1). A unknown object with ID 43 is 7.8 meters away at (3.2, -7.2). A unknown object with ID 23 is 8.1 meters away at (6.8, 4.5). A vehicle with ID 5 is 8.7 meters away at (-1.9, 8.5). A unknown object with ID 18 is 9.4 meters away at (2.3, -9.1). A unknown object with ID 15 is 9.7 meters away at (7.4, 6.4). A unknown object with ID 32 is 11.4 meters away at (8.0, 8.2). A pedestrian with ID 35 is 19.1 meters away at (12.3, 14.6).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -3.7362032 -11.389362 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.01935655 -0.01529253] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -61.921207 -178.62225 ]\n [ -63.614937 -174.47224 ]\n [ -65.26007  -168.80052 ]]", "nav_goal": "(-116.13001251220703, -270.93048095703125)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 4.9305573 -1.2018204], 5.074915409088135 meters away.)"}
{"file_name": "images/scenario_1136_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, -4.8) m/s. Its current heading (yaw) is -2.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 12.7 meters away at (-12.7, -0.6). A vehicle with ID 44 is 22.4 meters away at (-17.9, 13.6). A vehicle with ID 41 is 24.0 meters away at (-4.4, 23.6). A vehicle with ID 42 is 34.1 meters away at (8.4, 33.0). A pedestrian with ID 33 is 35.3 meters away at (-32.3, 14.3). A unknown object with ID 20 is 43.7 meters away at (38.1, 21.5). A pedestrian with ID 45 is 50.6 meters away at (40.7, 30.1). A vehicle with ID 47 is 62.1 meters away at (21.0, 58.4). A vehicle with ID 48 is 71.3 meters away at (70.0, 13.5). A vehicle with ID 28 is 74.5 meters away at (25.5, 70.0).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [-10.950048  -7.375973] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.0276834 0.7315269] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.1601302  -0.00905478] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.75528246  0.81876576] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 6.306621   -0.77281547] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.555079 45.47895 ]\n [ 9.163576 35.747448]\n [15.254452 32.223152]\n [12.086306 34.03488 ]]", "nav_goal": "(-199.6234130859375, -183.1708984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-12.652829   -0.6003475], 12.66706371307373 meters away.)"}
{"file_name": "images/scenario_1136_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, -5.0) m/s. Its current heading (yaw) is -2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 22.2 meters away at (-21.4, -6.0). A vehicle with ID 44 is 24.4 meters away at (-2.5, 24.2). A pedestrian with ID 33 is 29.2 meters away at (-15.9, 24.5). A vehicle with ID 41 is 35.2 meters away at (10.2, 33.7). A unknown object with ID 35 is 40.0 meters away at (-31.6, -24.5). A unknown object with ID 24 is 41.0 meters away at (-33.3, -23.8). A pedestrian with ID 29 is 42.8 meters away at (-33.6, -26.4). A unknown object with ID 22 is 43.0 meters away at (-35.1, -24.8). A vehicle with ID 42 is 48.9 meters away at (23.0, 43.1). A unknown object with ID 20 is 61.4 meters away at (52.7, 31.6).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [-12.378971  -8.026096] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.8803324 0.5712727] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.00355708 -0.00258111] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 9.163576 35.747448]\n [15.254452 32.223152]\n [12.086306 34.03488 ]]", "nav_goal": "(-199.6234130859375, -183.1708984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-21.416157   -5.9845886], 22.236616134643555 meters away.)"}
{"file_name": "images/scenario_1136_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -5.1) m/s. Its current heading (yaw) is -2.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 35 is 21.3 meters away at (-15.3, -14.8). A unknown object with ID 21 is 21.3 meters away at (-15.8, -14.4). A unknown object with ID 36 is 21.6 meters away at (-14.5, -15.9). A unknown object with ID 24 is 22.3 meters away at (-17.5, -13.8). A unknown object with ID 32 is 23.5 meters away at (-16.1, -17.2). A pedestrian with ID 29 is 24.3 meters away at (-17.9, -16.4). A unknown object with ID 22 is 24.3 meters away at (-19.3, -14.7). A vehicle with ID 40 is 33.9 meters away at (-31.6, -12.3). A pedestrian with ID 33 is 35.9 meters away at (1.5, 35.9). A vehicle with ID 44 is 37.0 meters away at (13.4, 34.5).", "velocity_description": "The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.08165774  0.05205322] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-13.637556  -8.504438] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.84267783 0.6388131 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 9.163576 35.747448]\n [15.254452 32.223152]\n [12.086306 34.03488 ]]", "nav_goal": "(-199.6234130859375, -183.1708984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-15.31105  -14.780333], 21.281129837036133 meters away.)"}
{"file_name": "images/scenario_1136_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -5.0) m/s. Its current heading (yaw) is -2.59 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 3.9 meters away at (-1.5, -3.6). A unknown object with ID 21 is 4.2 meters away at (0.2, -4.2). A unknown object with ID 22 is 5.7 meters away at (-3.2, -4.6). A unknown object with ID 36 is 6.0 meters away at (1.5, -5.8). A pedestrian with ID 29 is 6.4 meters away at (-1.8, -6.2). A unknown object with ID 32 is 7.2 meters away at (-0.0, -7.2). A vehicle with ID 40 is 47.7 meters away at (-43.5, -19.7). A pedestrian with ID 33 is 51.1 meters away at (19.4, 47.3). A vehicle with ID 44 is 53.6 meters away at (29.6, 44.7). A vehicle with ID 30 is 63.3 meters away at (-60.8, -17.6).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.03593669 -0.00220639] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-14.203421  -8.992521] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.9596792  0.76429194] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [13.326386  8.740856] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-199.6234130859375, -183.1708984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-1.4816933 -3.6395988], 3.929643154144287 meters away.)"}
{"file_name": "images/scenario_1137_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 0.7) m/s. Its current heading (yaw) is 2.98 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 11.9 meters away at (-7.3, 9.5). A vehicle with ID 40 is 12.7 meters away at (-12.7, 0.2). A vehicle with ID 42 is 19.8 meters away at (-15.0, -12.9). A vehicle with ID 44 is 20.7 meters away at (-17.2, -11.5). A vehicle with ID 39 is 20.9 meters away at (14.8, -14.7). A vehicle with ID 46 is 22.5 meters away at (-21.0, -8.2). A vehicle with ID 37 is 23.2 meters away at (21.9, 7.5). A vehicle with ID 48 is 23.5 meters away at (-22.7, -6.2). A unknown object with ID 49 is 26.6 meters away at (-16.0, -21.2). A vehicle with ID 41 is 28.9 meters away at (23.8, -16.4).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.256716   -13.714865  ]\n [ -0.81668645 -10.325398  ]\n [-10.204196   -11.096116  ]\n [  1.7660197   -8.293424  ]]", "nav_goal": "(-206.23794555664062, 2.893495798110962)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.2891703  9.466566 ], 11.947714805603027 meters away.)"}
{"file_name": "images/scenario_1137_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 4.0) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 4.5 meters away at (1.7, 4.2). A vehicle with ID 40 is 6.3 meters away at (-3.8, -5.0). A vehicle with ID 48 is 17.9 meters away at (-13.7, -11.4). A vehicle with ID 46 is 18.1 meters away at (-12.0, -13.5). A vehicle with ID 44 is 18.9 meters away at (-8.4, -16.9). A vehicle with ID 42 is 19.1 meters away at (-6.1, -18.1). A unknown object with ID 49 is 27.4 meters away at (-7.1, -26.5). A vehicle with ID 51 is 29.5 meters away at (-17.3, -23.8). A vehicle with ID 37 is 31.1 meters away at (31.0, 2.1). A vehicle with ID 39 is 31.2 meters away at (23.8, -20.2).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.256716   -13.714865  ]\n [ -0.81668645 -10.325398  ]\n [-10.204196   -11.096116  ]\n [  1.7660197   -8.293424  ]]", "nav_goal": "(-206.23794555664062, 2.893495798110962)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.7263403 4.169017 ], 4.512310981750488 meters away.)"}
{"file_name": "images/scenario_1137_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.7) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 14.2 meters away at (12.9, -5.9). A vehicle with ID 40 is 16.6 meters away at (7.3, -14.9). A vehicle with ID 48 is 21.6 meters away at (-2.7, -21.4). A vehicle with ID 46 is 23.4 meters away at (-0.9, -23.4). A vehicle with ID 44 is 27.0 meters away at (2.7, -26.9). A vehicle with ID 42 is 28.5 meters away at (5.0, -28.1). A pedestrian with ID 10 is 28.9 meters away at (-14.2, 25.2). A vehicle with ID 51 is 34.3 meters away at (-6.2, -33.7). A unknown object with ID 49 is 36.8 meters away at (4.1, -36.5). A vehicle with ID 56 is 39.2 meters away at (-13.0, -37.0).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00835203 -0.0819415 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.256716   -13.714865  ]\n [ -0.81668645 -10.325398  ]\n [-10.204196   -11.096116  ]\n [  1.7660197   -8.293424  ]]", "nav_goal": "(-206.23794555664062, 2.893495798110962)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.939666  -5.8671603], 14.20769214630127 meters away.)"}
{"file_name": "images/scenario_1137_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 6.5) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 12.1 meters away at (0.7, 12.1). A vehicle with ID 29 is 21.1 meters away at (-19.0, -9.1). A vehicle with ID 17 is 28.3 meters away at (-24.5, -14.3). A vehicle with ID 36 is 29.9 meters away at (-28.1, 10.4). A vehicle with ID 16 is 32.2 meters away at (-27.8, 16.2). A vehicle with ID 38 is 33.0 meters away at (27.3, -18.5). A vehicle with ID 40 is 34.8 meters away at (21.5, -27.4). A vehicle with ID 48 is 35.8 meters away at (11.6, -33.8). A vehicle with ID 46 is 38.3 meters away at (13.6, -35.8). A vehicle with ID 5 is 38.4 meters away at (-26.1, 28.1).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.05954476 -0.09625621] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 9.903242 -8.651707] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.256716   -13.714865  ]\n [ -0.81668645 -10.325398  ]\n [-10.204196   -11.096116  ]\n [  1.7660197   -8.293424  ]]", "nav_goal": "(-206.23794555664062, 2.893495798110962)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 0.66252136 12.077383  ], 12.095541000366211 meters away.)"}
{"file_name": "images/scenario_1138_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 2.3) m/s. Its current heading (yaw) is 0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 9.8 meters away at (-8.1, -5.5). A vehicle with ID 29 is 34.2 meters away at (-4.7, 33.9). A unknown object with ID 6 is 80.2 meters away at (-55.6, -57.7).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [1.9164771 1.3888638] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 1.3711101 -1.7869858] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 3.4482675 20.525724 ]\n [ 7.697235  23.285131 ]\n [ 5.0675864 21.347118 ]]", "nav_goal": "(-157.8038330078125, 237.2989044189453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.084885  -5.5201864], 9.789678573608398 meters away.)"}
{"file_name": "images/scenario_1138_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.9) m/s. Its current heading (yaw) is 1.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 12.3 meters away at (-8.0, -9.3). A vehicle with ID 29 is 26.4 meters away at (-9.3, 24.7). A vehicle with ID 22 is 28.4 meters away at (-13.4, 25.0). A vehicle with ID 9 is 43.8 meters away at (-19.5, 39.2). A vehicle with ID 24 is 55.5 meters away at (-29.3, 47.1). A vehicle with ID 10 is 56.7 meters away at (-27.2, 49.7). A pedestrian with ID 8 is 70.6 meters away at (-32.4, 62.7).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [3.9672637 2.959857 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 2.1836696 -2.9513247] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.1602956 -1.6131891] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 3.7720094 -5.1536584] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.395685  -3.3161798] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.1501611 -0.530953 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 3.4482675 20.525724 ]\n [ 7.697235  23.285131 ]\n [ 5.0675864 21.347118 ]]", "nav_goal": "(-157.8038330078125, 237.2989044189453)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-8.019266 -9.345508], 12.314510345458984 meters away.)"}
{"file_name": "images/scenario_1138_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 7.3) m/s. Its current heading (yaw) is 1.86 ", "actor_description": " The most relevant actors are: A unknown object with ID 25 is 11.2 meters away at (-11.0, -1.6). A vehicle with ID 22 is 13.0 meters away at (-10.4, 7.8). A vehicle with ID 29 is 14.6 meters away at (-9.2, 11.3). A vehicle with ID 1 is 14.7 meters away at (0.2, -14.7). A vehicle with ID 9 is 29.0 meters away at (-17.5, 23.1). A vehicle with ID 24 is 33.3 meters away at (-22.6, 24.5). A vehicle with ID 10 is 38.5 meters away at (-23.0, 30.9). A vehicle with ID 16 is 53.7 meters away at (-32.5, 42.8). A vehicle with ID 26 is 65.8 meters away at (-40.5, 51.8).", "velocity_description": "The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.5883457 -0.744341 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.103088 5.585482] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 0.65086466 -0.9200548 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.994094 -4.201492] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 1.3369573 -1.7343186] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 3.3142126 -4.3826566] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 3.931937 -4.107163] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 3.4482675 20.525724 ]\n [ 7.697235  23.285131 ]\n [ 5.0675864 21.347118 ]]", "nav_goal": "(-157.8038330078125, 237.2989044189453)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-11.044504   -1.5614338], 11.154333114624023 meters away.)"}
{"file_name": "images/scenario_1138_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 7.8) m/s. Its current heading (yaw) is 2.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 4.1 meters away at (-1.3, -3.9). A vehicle with ID 22 is 8.0 meters away at (-2.2, -7.6). A vehicle with ID 24 is 9.3 meters away at (-9.1, 1.8). A vehicle with ID 9 is 10.9 meters away at (-8.6, 6.6). A unknown object with ID 25 is 17.2 meters away at (-3.1, -16.9). A vehicle with ID 1 is 19.3 meters away at (10.2, -16.4). A vehicle with ID 10 is 19.9 meters away at (-14.0, 14.1). A vehicle with ID 16 is 29.8 meters away at (-20.0, 22.1). A vehicle with ID 20 is 40.4 meters away at (-26.6, 30.4). A vehicle with ID 18 is 53.1 meters away at (-34.1, 40.8).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.1987019 -3.039569 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 0.35259357 -0.49911964] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-1.330336   7.6002927] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.4518757 -1.9455025] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 2.4894795 -3.0344386] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 2.7155104 -3.4513705] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 3.4482675 20.525724 ]\n [ 7.697235  23.285131 ]\n [ 5.0675864 21.347118 ]]", "nav_goal": "(-157.8038330078125, 237.2989044189453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.258678  -3.8801956], 4.0792388916015625 meters away.)"}
{"file_name": "images/scenario_1139_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 1.2) m/s. Its current heading (yaw) is 2.93 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 13.3 meters away at (-10.8, -7.7). A unknown object with ID 18 is 13.9 meters away at (-11.5, -7.8). A vehicle with ID 17 is 19.9 meters away at (11.6, -16.2). A vehicle with ID 3 is 29.2 meters away at (-26.2, -12.8). A vehicle with ID 16 is 34.6 meters away at (-30.0, -17.2). A unknown object with ID 11 is 38.8 meters away at (-29.9, 24.7). A vehicle with ID 19 is 42.4 meters away at (20.5, -37.1). A vehicle with ID 20 is 43.7 meters away at (23.8, -36.7). A vehicle with ID 21 is 46.0 meters away at (-43.9, 13.8).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.7773042  2.9591448] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.83004760742188, -125.75183868408203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-10.785759   -7.7292185], 13.269265174865723 meters away.)"}
{"file_name": "images/scenario_1139_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.3) m/s. Its current heading (yaw) is 2.95 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 9.6 meters away at (-3.3, -9.0). A unknown object with ID 18 is 10.2 meters away at (-4.2, -9.3). A vehicle with ID 3 is 23.8 meters away at (-19.0, -14.3). A vehicle with ID 17 is 26.0 meters away at (19.0, -17.8). A vehicle with ID 16 is 29.2 meters away at (-22.4, -18.9). A unknown object with ID 11 is 32.4 meters away at (-22.7, 23.1). A vehicle with ID 21 is 47.7 meters away at (-44.5, 17.2). A vehicle with ID 19 is 47.7 meters away at (27.9, -38.7). A vehicle with ID 20 is 49.4 meters away at (31.1, -38.4).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.97703    2.1062176] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.83004760742188, -125.75183868408203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.289688 -8.977188], 9.560959815979004 meters away.)"}
{"file_name": "images/scenario_1139_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.95 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 9.5 meters away at (-2.3, -9.2). A unknown object with ID 18 is 10.0 meters away at (-3.3, -9.5). A vehicle with ID 3 is 23.1 meters away at (-17.9, -14.6). A vehicle with ID 17 is 27.0 meters away at (20.0, -18.0). A vehicle with ID 16 is 28.6 meters away at (-21.3, -19.1). A unknown object with ID 11 is 31.6 meters away at (-21.8, 23.0). A unknown object with ID 9 is 32.5 meters away at (29.1, -14.3). A vehicle with ID 19 is 48.4 meters away at (28.8, -38.9). A vehicle with ID 20 is 50.2 meters away at (32.1, -38.6). A vehicle with ID 21 is 55.1 meters away at (-51.3, 20.1).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.3046303  0.7204666] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.83004760742188, -125.75183868408203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-2.2647858 -9.225423 ], 9.499351501464844 meters away.)"}
{"file_name": "images/scenario_1139_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 0.7) m/s. Its current heading (yaw) is 2.92 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 10.1 meters away at (0.3, -10.1). A unknown object with ID 18 is 10.1 meters away at (-0.5, -10.1). A unknown object with ID 13 is 17.0 meters away at (-0.3, 17.0). A vehicle with ID 3 is 21.5 meters away at (-15.2, -15.2). A vehicle with ID 16 is 27.2 meters away at (-18.9, -19.5). A unknown object with ID 7 is 29.3 meters away at (-18.9, 22.3). A vehicle with ID 17 is 29.4 meters away at (22.8, -18.7). A vehicle with ID 19 is 50.6 meters away at (31.6, -39.6). A vehicle with ID 20 is 52.5 meters away at (34.8, -39.3). A vehicle with ID 21 is 57.8 meters away at (-54.1, 20.2).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.8396442   0.16265345] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-203.83004760742188, -125.75183868408203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [  0.34435654 -10.103567  ], 10.109434127807617 meters away.)"}
{"file_name": "images/scenario_1140_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.7) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A unknown object with ID 11 is 23.1 meters away at (-20.8, -10.0). A pedestrian with ID 19 is 34.7 meters away at (34.7, -0.1).", "velocity_description": "The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.5798177 -0.3343706] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.03715515136719, -41.644256591796875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-20.828756  -9.953275], 23.08473014831543 meters away.)"}
{"file_name": "images/scenario_1140_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -1.7) m/s. Its current heading (yaw) is -2.50 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 17.7 meters away at (-16.3, -6.8). A unknown object with ID 11 is 19.9 meters away at (-18.4, -7.6). A pedestrian with ID 19 is 38.3 meters away at (38.2, 1.9).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.7533104  -0.26631525] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.03715515136719, -41.644256591796875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-16.321356  -6.820758], 17.689245223999023 meters away.)"}
{"file_name": "images/scenario_1140_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 0.4) m/s. Its current heading (yaw) is 3.05 ", "actor_description": " The most relevant actors are: A unknown object with ID 12 is 10.5 meters away at (-9.2, -5.0). A unknown object with ID 10 is 44.5 meters away at (-38.6, -22.1). A pedestrian with ID 19 is 46.6 meters away at (46.5, 2.8).", "velocity_description": "The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.73089194 -0.89081115] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.03715515136719, -41.644256591796875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-9.249222  -4.9797053], 10.504549980163574 meters away.)"}
{"file_name": "images/scenario_1140_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -0.2) m/s. Its current heading (yaw) is -3.10 ", "actor_description": " The most relevant actors are: A pedestrian with ID 19 is 56.7 meters away at (56.7, 1.0). A vehicle with ID 1 is 60.6 meters away at (-25.9, -54.8). A vehicle with ID 2 is 69.6 meters away at (-43.0, -54.7). A vehicle with ID 3 is 70.1 meters away at (-45.2, -53.6). A vehicle with ID 9 is 71.2 meters away at (-47.7, -52.8).", "velocity_description": "The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.09334534 -0.04304055] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-46.03715515136719, -41.644256591796875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [56.692307   0.9588218], 56.70041275024414 meters away.)"}
{"file_name": "images/scenario_1141_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.9) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 10.9 meters away at (8.3, -7.1). A unknown object with ID 32 is 39.9 meters away at (-39.0, -8.6). A vehicle with ID 33 is 46.1 meters away at (41.4, -20.3). A vehicle with ID 34 is 48.1 meters away at (48.0, 1.3).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.5560362  0.5032354] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.256152 -7.148454], 10.92082691192627 meters away.)"}
{"file_name": "images/scenario_1141_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 2.9) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 14.7 meters away at (11.2, -9.6). A unknown object with ID 32 is 36.6 meters away at (-34.4, -12.5). A unknown object with ID 17 is 38.7 meters away at (-35.9, -14.5). A vehicle with ID 33 is 51.8 meters away at (45.9, -24.1). A vehicle with ID 28 is 52.0 meters away at (-37.1, -36.4). A vehicle with ID 34 is 52.8 meters away at (52.7, -2.4). A vehicle with ID 9 is 58.4 meters away at (-47.1, -34.4).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.3834255  1.2050918] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.190512  -9.6001835], 14.74418830871582 meters away.)"}
{"file_name": "images/scenario_1141_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.3) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 20.5 meters away at (15.6, -13.4). A unknown object with ID 32 is 32.6 meters away at (-26.0, -19.7). A unknown object with ID 17 is 35.0 meters away at (-27.4, -21.8). A unknown object with ID 23 is 48.3 meters away at (11.4, -46.9). A vehicle with ID 28 is 51.9 meters away at (-28.5, -43.4). A vehicle with ID 5 is 55.6 meters away at (-55.6, 1.9). A vehicle with ID 34 is 61.8 meters away at (61.1, -9.7). A vehicle with ID 33 is 62.7 meters away at (54.3, -31.4).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.1024375  1.7694641] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 15.564435 -13.378305], 20.52390480041504 meters away.)"}
{"file_name": "images/scenario_1141_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 5.4) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 6 is 31.7 meters away at (23.9, -20.7). A vehicle with ID 26 is 34.0 meters away at (-30.1, -15.7). A vehicle with ID 5 is 44.7 meters away at (-43.9, -8.3). A vehicle with ID 28 is 55.5 meters away at (-17.2, -52.8). A vehicle with ID 16 is 70.7 meters away at (-27.5, -65.1). A vehicle with ID 34 is 75.1 meters away at (72.5, -19.6). A vehicle with ID 33 is 77.6 meters away at (65.8, -41.1).", "velocity_description": "The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.4014773  1.1278545] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 23.946123 -20.710188], 31.659576416015625 meters away.)"}
{"file_name": "images/scenario_1142_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 1.3) m/s. Its current heading (yaw) is 0.65 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are active red lights at the following coordinates: [[15.0715885 13.044517 ]]", "nav_goal": "(-144.83470153808594, 235.8867645263672)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_1142_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 35.9 meters away at (-2.0, 35.8). A unknown object with ID 2 is 77.8 meters away at (-50.6, -59.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 2.0559802 -2.737001 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[15.0715885 13.044517 ]]", "nav_goal": "(-144.83470153808594, 235.8867645263672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.0296307 35.809967 ], 35.86743927001953 meters away.)"}
{"file_name": "images/scenario_1142_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 30.4 meters away at (1.9, 30.4).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 2.6606224 -3.5973172] m/s.", "light_description": "There are active red lights at the following coordinates: [[15.0715885 13.044517 ]]", "nav_goal": "(-144.83470153808594, 235.8867645263672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.9046564 30.36306  ], 30.422739028930664 meters away.)"}
{"file_name": "images/scenario_1142_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 22.8 meters away at (8.9, 21.0).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.346146  -5.7211037] m/s.", "light_description": "There are active red lights at the following coordinates: [[15.0715885 13.044517 ]]", "nav_goal": "(-144.83470153808594, 235.8867645263672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.869919 21.044462], 22.837356567382812 meters away.)"}
{"file_name": "images/scenario_1143_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.4) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 4.4 meters away at (-1.5, 4.1). A vehicle with ID 3 is 9.9 meters away at (6.7, 7.3). A vehicle with ID 15 is 11.7 meters away at (5.0, 10.6). A vehicle with ID 69 is 13.2 meters away at (-13.0, 2.3). A cyclist with ID 70 is 15.6 meters away at (0.0, 15.6). A vehicle with ID 17 is 19.6 meters away at (13.2, 14.4). A vehicle with ID 22 is 20.0 meters away at (10.8, 16.8). A vehicle with ID 72 is 30.1 meters away at (-1.8, -30.1). A cyclist with ID 77 is 33.6 meters away at (-31.6, -11.6). A vehicle with ID 68 is 34.1 meters away at (-1.1, -34.1).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.41017002 -0.431631  ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.7850443 -0.8320648] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [-4.985471 -4.975558] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-2.9640522  1.6473467] m/s.The cyclist with ID 77 is traveling at a (x, y) velocity of [4.6080475 7.919941 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-5.5960445  2.2620783] m/s.", "light_description": "There are active red lights at the following coordinates: [[-47.44026   -19.060621 ]\n [-41.11082    -7.242401 ]\n [-43.82333   -19.640583 ]\n [-47.058624   -9.360169 ]\n [-17.337887   -8.980597 ]\n [-39.95625   -20.764393 ]\n [-13.602      -9.688551 ]\n [-41.480003   -8.217338 ]\n [ -8.8559475 -10.243099 ]\n [-20.438587   -5.5382524]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.4928199  4.1429987], 4.403742790222168 meters away.)"}
{"file_name": "images/scenario_1143_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -4.7) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 8.2 meters away at (1.3, 8.1). A vehicle with ID 69 is 11.9 meters away at (-7.2, 9.5). A vehicle with ID 3 is 13.2 meters away at (8.6, 10.0). A cyclist with ID 70 is 16.2 meters away at (-0.9, 16.1). A cyclist with ID 77 is 18.8 meters away at (-11.8, 14.6). A vehicle with ID 72 is 20.4 meters away at (-0.4, -20.4). A vehicle with ID 15 is 20.9 meters away at (10.9, 17.8). A cyclist with ID 79 is 21.1 meters away at (-16.9, 12.5). A pedestrian with ID 75 is 23.5 meters away at (-10.3, -21.2). A pedestrian with ID 76 is 24.2 meters away at (-11.2, -21.5).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.5490038 -2.8423066] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.0161564 -3.3919482] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [-2.4860837 -2.3993332] m/s.The cyclist with ID 77 is traveling at a (x, y) velocity of [ 8.542308 10.016719] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-1.8454947  0.9854302] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 79 is traveling at a (x, y) velocity of [ 8.82544  10.712157] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.5045952  1.0153269] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.5084888  0.9348991] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.350893  -25.239752 ]\n [-41.11082    -7.242401 ]\n [-47.058624   -9.360169 ]\n [-30.299252  -42.53365  ]\n [-16.783197  -22.827005 ]\n [-41.480003   -8.217338 ]\n [-20.438587   -5.5382524]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.336844 8.079776], 8.189623832702637 meters away.)"}
{"file_name": "images/scenario_1143_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -6.3) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A pedestrian with ID 75 is 9.3 meters away at (-2.3, -9.0). A vehicle with ID 72 is 10.1 meters away at (6.1, -8.0). A pedestrian with ID 76 is 10.2 meters away at (-3.3, -9.7). A vehicle with ID 1 is 11.6 meters away at (3.2, 11.1). A vehicle with ID 68 is 15.0 meters away at (-2.5, -14.8). A vehicle with ID 3 is 15.4 meters away at (9.7, 12.0). A vehicle with ID 78 is 18.6 meters away at (-12.9, 13.4). A unknown object with ID 44 is 19.6 meters away at (8.5, -17.7). A vehicle with ID 69 is 20.7 meters away at (1.7, 20.6). A vehicle with ID 82 is 22.8 meters away at (-21.3, 8.1).", "velocity_description": "The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.06802646  0.04218352] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.5258417   0.24802117] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.10083497  0.05773488] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.49371   -5.5225186] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-2.320196   -0.72540885] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7614083 -5.783299 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [5.9844756 7.595223 ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [4.945273 6.924834] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.350893  -25.239752 ]\n [-41.11082    -7.242401 ]\n [-47.058624   -9.360169 ]\n [-30.299252  -42.53365  ]\n [-16.783197  -22.827005 ]\n [-41.480003   -8.217338 ]\n [-20.438587   -5.5382524]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-2.2515163 -8.996607 ], 9.274064064025879 meters away.)"}
{"file_name": "images/scenario_1143_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -7.3) m/s. Its current heading (yaw) is -2.17 ", "actor_description": " The most relevant actors are: A vehicle with ID 68 is 5.6 meters away at (5.2, -2.1). A pedestrian with ID 76 is 7.6 meters away at (6.6, 3.9). A pedestrian with ID 75 is 8.4 meters away at (7.2, 4.3). A pedestrian with ID 65 is 11.7 meters away at (8.6, -7.9). A vehicle with ID 1 is 11.9 meters away at (3.0, 11.5). A vehicle with ID 3 is 15.4 meters away at (9.2, 12.3). A vehicle with ID 72 is 16.8 meters away at (15.9, 5.4). A vehicle with ID 84 is 17.9 meters away at (-14.1, 11.1). A unknown object with ID 44 is 18.8 meters away at (18.3, -4.3). A vehicle with ID 87 is 20.0 meters away at (-20.0, 1.4).", "velocity_description": "The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.0029591  0.05757331] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.31266677  0.03424446] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.6921313 1.3141654] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.6307745 -7.655207 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.478148  -7.3638744] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [4.2039194 6.683897 ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [3.4605968 5.4441433] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.350893  -25.239752 ]\n [-41.11082    -7.242401 ]\n [-47.058624   -9.360169 ]\n [-30.299252  -42.53365  ]\n [-16.783197  -22.827005 ]\n [-41.480003   -8.217338 ]\n [-20.438587   -5.5382524]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 5.164448  -2.0674553], 5.56290340423584 meters away.)"}
{"file_name": "images/scenario_1144_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.3) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 3.9 meters away at (-3.9, -0.3). A unknown object with ID 12 is 15.8 meters away at (-13.6, 8.0). A unknown object with ID 13 is 17.0 meters away at (-16.6, 3.7). A vehicle with ID 20 is 18.5 meters away at (-11.3, 14.7). A unknown object with ID 18 is 20.8 meters away at (-15.3, 14.1). A pedestrian with ID 17 is 20.8 meters away at (-14.5, 15.0). A unknown object with ID 5 is 25.3 meters away at (-11.5, 22.6). A vehicle with ID 16 is 26.2 meters away at (-17.7, -19.3). A unknown object with ID 1 is 26.7 meters away at (-10.7, 24.5). A unknown object with ID 22 is 26.9 meters away at (-7.2, 26.0).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.3623331 1.1097276] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-5.471396   -0.48575655] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.820725    -6.5050297 ]\n [ -0.45850354  -0.31766474]\n [-31.256418   -17.155094  ]\n [-31.256638   -17.151335  ]\n [-31.50071    -17.275581  ]\n [-31.25293    -17.220951  ]\n [-31.250679   -17.274242  ]\n [ -6.606576    -6.33208   ]\n [  1.6897538   -1.1042978 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.8950465 -0.2917779], 3.9059596061706543 meters away.)"}
{"file_name": "images/scenario_1144_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.3) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 3.7 meters away at (-3.7, 0.4). A unknown object with ID 6 is 9.7 meters away at (-1.1, 9.6). A unknown object with ID 12 is 16.0 meters away at (-13.4, 8.7). A vehicle with ID 20 is 19.1 meters away at (-11.0, 15.6). A unknown object with ID 18 is 21.2 meters away at (-15.0, 14.9). A unknown object with ID 22 is 27.6 meters away at (-6.9, 26.8). A vehicle with ID 16 is 34.6 meters away at (-28.6, -19.6). A vehicle with ID 25 is 42.2 meters away at (-38.7, -16.8). A vehicle with ID 19 is 46.1 meters away at (-41.5, -20.0). A vehicle with ID 28 is 48.9 meters away at (-45.8, -17.2).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-5.768565  -0.4345757] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.785843   -0.46421555] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.820725    -6.5050297 ]\n [ -0.45850354  -0.31766474]\n [-31.256418   -17.155094  ]\n [-31.256638   -17.151335  ]\n [-31.50071    -17.275581  ]\n [-31.25293    -17.220951  ]\n [-31.250679   -17.274242  ]\n [ -6.606576    -6.33208   ]\n [  1.6897538   -1.1042978 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6548862  0.4407876], 3.681370258331299 meters away.)"}
{"file_name": "images/scenario_1144_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 3.7 meters away at (-3.6, 0.5). A unknown object with ID 12 is 16.0 meters away at (-13.4, 8.7). A vehicle with ID 20 is 19.0 meters away at (-11.0, 15.5). A unknown object with ID 22 is 27.7 meters away at (-6.9, 26.9). A vehicle with ID 25 is 42.1 meters away at (-38.7, -16.7). A vehicle with ID 16 is 45.0 meters away at (-40.2, -20.3). A vehicle with ID 28 is 48.9 meters away at (-45.8, -17.1). A unknown object with ID 23 is 55.6 meters away at (-0.5, 55.6). A vehicle with ID 19 is 57.6 meters away at (-53.8, -20.7). A pedestrian with ID 27 is 73.6 meters away at (1.7, 73.6).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.00189    -0.20989403] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-6.4129143  -0.31600863] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.1865405 -1.3788077] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.820725    -6.5050297 ]\n [ -0.45850354  -0.31766474]\n [-31.256418   -17.155094  ]\n [-31.256638   -17.151335  ]\n [-31.50071    -17.275581  ]\n [-31.25293    -17.220951  ]\n [-31.250679   -17.274242  ]\n [ -6.606576    -6.33208   ]\n [  1.6897538   -1.1042978 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6223211   0.51154655], 3.6582632064819336 meters away.)"}
{"file_name": "images/scenario_1144_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 3.7 meters away at (-3.6, 0.5). A unknown object with ID 12 is 16.0 meters away at (-13.4, 8.7). A vehicle with ID 20 is 18.7 meters away at (-11.1, 15.0). A unknown object with ID 4 is 27.4 meters away at (-10.4, 25.4). A unknown object with ID 22 is 27.7 meters away at (-6.9, 26.8). A vehicle with ID 25 is 42.1 meters away at (-38.7, -16.7). A vehicle with ID 28 is 48.9 meters away at (-45.8, -17.1). A unknown object with ID 23 is 55.6 meters away at (-0.5, 55.6). A vehicle with ID 16 is 56.2 meters away at (-52.2, -20.7). A vehicle with ID 19 is 69.9 meters away at (-66.6, -21.2).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.074996   -0.16680339] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-6.6512103  -0.42794746] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -6.820725    -6.5050297 ]\n [ -0.45850354  -0.31766474]\n [-31.256418   -17.155094  ]\n [-31.256638   -17.151335  ]\n [-31.50071    -17.275581  ]\n [-31.25293    -17.220951  ]\n [-31.250679   -17.274242  ]\n [ -6.606576    -6.33208   ]\n [  1.6897538   -1.1042978 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6348584   0.49359316], 3.6682188510894775 meters away.)"}
{"file_name": "images/scenario_1145_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.7) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 5.0 meters away at (-1.7, 4.7). A vehicle with ID 60 is 5.5 meters away at (5.4, 0.8). A vehicle with ID 63 is 9.2 meters away at (7.1, 5.8). A vehicle with ID 64 is 9.6 meters away at (-0.3, 9.6). A vehicle with ID 65 is 14.8 meters away at (1.4, 14.8). A vehicle with ID 66 is 15.1 meters away at (1.8, -15.0). A vehicle with ID 75 is 18.1 meters away at (-18.0, -2.1). A vehicle with ID 21 is 19.8 meters away at (-18.1, -8.1). A vehicle with ID 67 is 21.3 meters away at (3.4, 21.0). A vehicle with ID 47 is 23.8 meters away at (-23.8, -0.0).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 7.1258917 -2.267061 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(96.19684600830078, 63.69414520263672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.7398536  4.719453 ], 5.029942989349365 meters away.)"}
{"file_name": "images/scenario_1145_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -3.6) m/s. Its current heading (yaw) is -1.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 60 is 7.8 meters away at (5.7, 5.2). A vehicle with ID 58 is 9.3 meters away at (-1.4, 9.2). A vehicle with ID 63 is 12.7 meters away at (7.5, 10.3). A vehicle with ID 64 is 14.1 meters away at (0.1, 14.1). A vehicle with ID 75 is 17.9 meters away at (-17.7, 2.6). A vehicle with ID 21 is 18.1 meters away at (-17.8, -3.5). A vehicle with ID 65 is 19.3 meters away at (1.8, 19.3). A vehicle with ID 62 is 22.0 meters away at (13.2, -17.6). A vehicle with ID 47 is 23.8 meters away at (-23.4, 4.6). A vehicle with ID 72 is 24.0 meters away at (-17.3, -16.7).", "velocity_description": "The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(96.19684600830078, 63.69414520263672)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [5.7415934 5.224212 ], 7.76262092590332 meters away.)"}
{"file_name": "images/scenario_1145_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -3.7) m/s. Its current heading (yaw) is -0.85 ", "actor_description": " The most relevant actors are: A vehicle with ID 60 is 13.3 meters away at (2.2, 13.1). A vehicle with ID 62 is 13.7 meters away at (9.7, -9.6). A vehicle with ID 58 is 17.8 meters away at (-4.9, 17.1). A vehicle with ID 59 is 18.6 meters away at (14.7, -11.5). A vehicle with ID 63 is 18.6 meters away at (4.0, 18.2). A vehicle with ID 18 is 18.7 meters away at (18.3, -3.4). A vehicle with ID 21 is 19.9 meters away at (-19.6, 3.7). A vehicle with ID 74 is 20.9 meters away at (-16.0, -13.4). A vehicle with ID 64 is 22.2 meters away at (-3.5, 22.0). A vehicle with ID 72 is 22.5 meters away at (-20.8, -8.8).", "velocity_description": "The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 2.2607608  -0.84106594] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(96.19684600830078, 63.69414520263672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.2032692 13.090418 ], 13.274540901184082 meters away.)"}
{"file_name": "images/scenario_1145_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -2.1) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 3.9 meters away at (1.0, -3.8). A vehicle with ID 59 is 8.2 meters away at (5.9, -5.7). A vehicle with ID 18 is 9.9 meters away at (9.6, 2.4). A vehicle with ID 57 is 14.0 meters away at (11.7, -7.6). A vehicle with ID 12 is 14.4 meters away at (14.4, 0.8). A pedestrian with ID 11 is 17.0 meters away at (12.3, -11.7). A vehicle with ID 56 is 19.3 meters away at (16.8, -9.4). A vehicle with ID 60 is 20.0 meters away at (-6.6, 18.8). A vehicle with ID 21 is 22.2 meters away at (-21.2, 6.9). A vehicle with ID 63 is 24.5 meters away at (-4.8, 24.0).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00374998  0.01537546] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 4.8973145 -1.7662073] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(96.19684600830078, 63.69414520263672)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.9885063 -3.8093338], 3.9355010986328125 meters away.)"}
{"file_name": "images/scenario_1146_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -5.8) m/s. Its current heading (yaw) is -2.29 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 7.3 meters away at (0.7, -7.2). A vehicle with ID 3 is 13.0 meters away at (4.0, 12.3). A cyclist with ID 6 is 19.0 meters away at (-10.3, -15.9). A unknown object with ID 14 is 26.1 meters away at (20.1, 16.7). A vehicle with ID 21 is 31.2 meters away at (3.4, 31.0). A vehicle with ID 22 is 33.2 meters away at (-4.2, 33.0). A vehicle with ID 19 is 40.7 meters away at (35.5, -20.0). A vehicle with ID 24 is 48.8 meters away at (-14.7, 46.5). A vehicle with ID 9 is 60.1 meters away at (49.8, -33.6). A vehicle with ID 11 is 62.7 meters away at (51.5, -35.8).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.72311544 -6.881946  ] m/s.The cyclist with ID 6 is traveling at a (x, y) velocity of [-6.1003456e-04 -2.9038596e+00] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-11.008428   13.8922615] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [  9.073306 -11.958477] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [  9.706142 -13.371537] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [  8.775144 -11.132198] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.014394 11.717382] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.751558 11.405356] m/s.", "light_description": "There are active red lights at the following coordinates: [[  4.5467973 -12.776702 ]]", "nav_goal": "(52.535499572753906, -244.87899780273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.7452464 -7.2250853], 7.263418674468994 meters away.)"}
{"file_name": "images/scenario_1146_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, -5.2) m/s. Its current heading (yaw) is -2.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 14.0 meters away at (13.6, 3.5). A vehicle with ID 3 is 15.8 meters away at (12.5, 9.7). A vehicle with ID 22 is 33.0 meters away at (26.9, 19.0). A vehicle with ID 24 is 37.1 meters away at (16.0, 33.5). A unknown object with ID 14 is 42.9 meters away at (32.7, 27.7). A vehicle with ID 11 is 46.5 meters away at (46.5, -1.5). A vehicle with ID 18 is 49.9 meters away at (4.4, 49.7).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.084569 -5.922764] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [  9.058885 -12.462008] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [  8.851756 -12.486074] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.600703 11.654031] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [  8.307098 -11.443356] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 18.516455  -14.185324 ]\n [  4.5467973 -12.776702 ]]", "nav_goal": "(52.535499572753906, -244.87899780273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [13.570757   3.4653206], 14.006209373474121 meters away.)"}
{"file_name": "images/scenario_1146_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, -6.7) m/s. Its current heading (yaw) is -2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 17.2 meters away at (13.7, 10.3). A vehicle with ID 20 is 32.2 meters away at (28.5, 15.1). A vehicle with ID 18 is 52.7 meters away at (37.0, 37.5). A vehicle with ID 24 is 52.8 meters away at (48.8, 20.3). A vehicle with ID 11 is 55.6 meters away at (44.5, 33.2). A vehicle with ID 22 is 60.2 meters away at (59.9, 5.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.5628066 -5.3744407] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [  9.063186 -12.245991] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [  9.131879 -12.455562] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.222795 10.976903] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [  8.912436 -12.301542] m/s.", "light_description": "There are active red lights at the following coordinates: [[  4.5467973 -12.776702 ]]", "nav_goal": "(52.535499572753906, -244.87899780273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [13.747463 10.332706], 17.197603225708008 meters away.)"}
{"file_name": "images/scenario_1146_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -8.6) m/s. Its current heading (yaw) is -2.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 18.2 meters away at (11.2, 14.3). A vehicle with ID 20 is 50.8 meters away at (40.8, 30.3). A vehicle with ID 8 is 71.1 meters away at (54.1, 46.1). A vehicle with ID 13 is 77.0 meters away at (58.0, 50.6).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.6697183 -6.3723745] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [  9.611894 -13.05374 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-10.139957  14.046489] m/s.", "light_description": "There are active red lights at the following coordinates: [[  4.5467973 -12.776702 ]]", "nav_goal": "(52.535499572753906, -244.87899780273438)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.237839 14.266739], 18.161190032958984 meters away.)"}
{"file_name": "images/scenario_1147_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 5.2) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 28.6 meters away at (-20.4, 20.1). A vehicle with ID 41 is 32.6 meters away at (26.9, -18.3). A vehicle with ID 48 is 34.6 meters away at (-25.5, 23.3). A vehicle with ID 47 is 39.4 meters away at (-21.2, -33.2). A vehicle with ID 51 is 39.5 meters away at (-29.6, 26.1). A vehicle with ID 49 is 47.4 meters away at (-33.5, -33.5). A vehicle with ID 45 is 49.2 meters away at (39.6, -29.3). A vehicle with ID 52 is 53.6 meters away at (-37.5, -38.3). A vehicle with ID 53 is 56.3 meters away at (-31.9, -46.4). A vehicle with ID 44 is 58.5 meters away at (42.1, -40.6).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [1.341813  0.8922168] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.2466297 -5.639311 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-36.760860443115234, 29.044843673706055)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-20.36097   20.073149], 28.591962814331055 meters away.)"}
{"file_name": "images/scenario_1147_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 5.5) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A unknown object with ID 20 is 4.0 meters away at (0.0, 4.0). A vehicle with ID 46 is 10.9 meters away at (-6.2, 8.9). A vehicle with ID 48 is 16.6 meters away at (-11.2, 12.2). A vehicle with ID 51 is 21.5 meters away at (-15.3, 15.0). A pedestrian with ID 37 is 24.4 meters away at (-16.7, 17.8). A pedestrian with ID 14 is 35.2 meters away at (31.8, -15.1). A unknown object with ID 32 is 36.3 meters away at (-20.2, 30.2). A vehicle with ID 47 is 42.2 meters away at (-4.6, -42.0). A vehicle with ID 23 is 44.2 meters away at (-33.0, 29.4). A vehicle with ID 33 is 47.3 meters away at (-36.9, 29.6).", "velocity_description": "The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00069698  0.01694031] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.01405957 -0.02814226] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0.95635444 1.4374362 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-36.760860443115234, 29.044843673706055)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [0.01163483 3.9601173 ], 3.960134506225586 meters away.)"}
{"file_name": "images/scenario_1147_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, 5.7) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 4.1 meters away at (1.7, 3.7). A vehicle with ID 48 is 5.8 meters away at (5.7, 1.0). A cyclist with ID 31 is 6.8 meters away at (-4.2, 5.3). A vehicle with ID 46 is 10.9 meters away at (10.7, -2.3). A unknown object with ID 32 is 19.0 meters away at (-2.9, 18.8). A vehicle with ID 23 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 33 is 27.0 meters away at (-19.7, 18.4). A vehicle with ID 11 is 36.4 meters away at (-27.4, -24.0). A unknown object with ID 18 is 49.0 meters away at (45.5, -18.1). A vehicle with ID 29 is 50.8 meters away at (13.2, -49.1).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 0.04039408 -0.04872276] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.04392254 0.29680988] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 6.019102  -4.4316254] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-1.559389   2.3892167] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-36.760860443115234, 29.044843673706055)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.704773 3.725834], 4.097326755523682 meters away.)"}
{"file_name": "images/scenario_1147_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, 5.4) m/s. Its current heading (yaw) is 2.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 23 is 6.9 meters away at (1.7, 6.7). A vehicle with ID 33 is 8.5 meters away at (-1.4, 8.4). A vehicle with ID 36 is 14.2 meters away at (-6.1, 12.8). A vehicle with ID 12 is 19.7 meters away at (-12.4, 15.3). A unknown object with ID 34 is 19.8 meters away at (16.9, 10.3). A vehicle with ID 51 is 20.6 meters away at (19.2, -7.6). A vehicle with ID 48 is 25.5 meters away at (23.3, -10.4). A vehicle with ID 46 is 31.4 meters away at (28.2, -13.7). A vehicle with ID 7 is 43.1 meters away at (-32.5, -28.3). A vehicle with ID 11 is 44.2 meters away at (2.3, -44.1).", "velocity_description": "The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 5.2788467 -4.002638 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-36.760860443115234, 29.044843673706055)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.6771889 6.725601 ], 6.931570529937744 meters away.)"}
{"file_name": "images/scenario_1148_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.7) m/s. Its current heading (yaw) is 0.92 ", "actor_description": " The most relevant actors are: A unknown object with ID 99 is 5.5 meters away at (5.2, -1.7). A unknown object with ID 100 is 5.6 meters away at (5.5, -1.0). A unknown object with ID 101 is 5.8 meters away at (5.8, -0.1). A unknown object with ID 102 is 6.3 meters away at (6.2, 1.0). A unknown object with ID 104 is 7.1 meters away at (6.8, 2.1). A unknown object with ID 105 is 7.7 meters away at (7.2, 2.9). A unknown object with ID 107 is 8.6 meters away at (7.7, 3.8). A unknown object with ID 108 is 9.4 meters away at (8.1, 4.7). A unknown object with ID 106 is 10.0 meters away at (10.0, 0.6). A unknown object with ID 109 is 10.3 meters away at (8.6, 5.7).", "velocity_description": "The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 5.22153   -1.7395725], 5.5036797523498535 meters away.)"}
{"file_name": "images/scenario_1148_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 5.3) m/s. Its current heading (yaw) is 0.90 ", "actor_description": " The most relevant actors are: A unknown object with ID 114 is 2.5 meters away at (2.4, -0.8). A unknown object with ID 112 is 2.6 meters away at (1.9, -1.8). A unknown object with ID 45 is 2.8 meters away at (2.7, -0.5). A unknown object with ID 115 is 2.8 meters away at (2.8, -0.2). A unknown object with ID 29 is 2.9 meters away at (1.5, -2.5). A unknown object with ID 111 is 3.5 meters away at (1.0, -3.4). A unknown object with ID 116 is 3.8 meters away at (3.5, 1.3). A unknown object with ID 74 is 4.1 meters away at (3.9, -1.4). A unknown object with ID 85 is 4.4 meters away at (4.1, -1.6). A unknown object with ID 110 is 4.4 meters away at (0.5, -4.4).", "velocity_description": "The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.3694363 -0.7713146], 2.4918174743652344 meters away.)"}
{"file_name": "images/scenario_1148_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 5.1) m/s. Its current heading (yaw) is 0.90 ", "actor_description": " The most relevant actors are: A unknown object with ID 30 is 1.9 meters away at (1.6, -1.1). A unknown object with ID 55 is 2.6 meters away at (2.6, 0.1). A unknown object with ID 122 is 2.9 meters away at (-0.0, -2.9). A unknown object with ID 123 is 3.3 meters away at (3.2, 0.9). A unknown object with ID 54 is 3.7 meters away at (3.5, 1.3). A unknown object with ID 120 is 4.7 meters away at (-1.3, -4.5). A unknown object with ID 124 is 4.8 meters away at (4.3, 2.2). A unknown object with ID 119 is 6.6 meters away at (-2.4, -6.1). A unknown object with ID 125 is 6.7 meters away at (5.5, 3.8). A unknown object with ID 31 is 7.6 meters away at (-6.4, -4.2).", "velocity_description": "The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[73.336   93.87774]\n [74.77695 93.02843]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 1.5512009 -1.095108 ], 1.8988115787506104 meters away.)"}
{"file_name": "images/scenario_1148_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.8) m/s. Its current heading (yaw) is 0.90 ", "actor_description": " The most relevant actors are: A unknown object with ID 15 is 1.7 meters away at (1.5, -0.8). A unknown object with ID 16 is 1.7 meters away at (0.9, -1.5). A unknown object with ID 50 is 2.8 meters away at (0.0, -2.8). A unknown object with ID 14 is 3.2 meters away at (3.0, 0.9). A unknown object with ID 126 is 4.6 meters away at (-1.2, -4.5). A unknown object with ID 63 is 5.2 meters away at (4.5, 2.6). A unknown object with ID 125 is 6.4 meters away at (-2.3, -5.9). A pedestrian with ID 28 is 6.7 meters away at (5.3, -4.1). A unknown object with ID 13 is 6.9 meters away at (5.6, 4.0). A vehicle with ID 88 is 7.0 meters away at (6.5, 2.6).", "velocity_description": "The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.04044428 0.84051883] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[73.336   93.87774]\n [74.77695 93.02843]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [ 1.5420494 -0.7834854], 1.7296721935272217 meters away.)"}
{"file_name": "images/scenario_1149_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 47 is 10.1 meters away at (0.1, -10.1). A vehicle with ID 48 is 10.6 meters away at (-2.6, -10.3). A vehicle with ID 49 is 11.4 meters away at (-5.5, -9.9). A vehicle with ID 50 is 13.2 meters away at (-8.5, -10.1). A vehicle with ID 51 is 17.3 meters away at (-13.8, -10.5). A cyclist with ID 29 is 39.9 meters away at (-39.9, 1.0). A vehicle with ID 56 is 50.2 meters away at (-49.3, -9.7). A vehicle with ID 57 is 53.2 meters away at (-52.2, -9.9). A vehicle with ID 59 is 59.4 meters away at (-58.6, -9.4).", "velocity_description": "The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [-5.2561255   0.06762892] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  0.14575768 -10.132367  ], 10.133415222167969 meters away.)"}
{"file_name": "images/scenario_1149_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 11.4 meters away at (4.2, -10.6). A vehicle with ID 50 is 13.8 meters away at (9.4, -10.1). A vehicle with ID 49 is 15.8 meters away at (12.4, -9.9). A vehicle with ID 48 is 18.4 meters away at (15.3, -10.3). A vehicle with ID 47 is 20.8 meters away at (18.1, -10.1). A cyclist with ID 29 is 32.7 meters away at (-32.6, 1.4). A vehicle with ID 56 is 32.7 meters away at (-31.2, -9.7). A vehicle with ID 57 is 35.6 meters away at (-34.1, -9.9). A vehicle with ID 59 is 41.7 meters away at (-40.6, -9.6). A pedestrian with ID 31 is 62.2 meters away at (61.9, 7.0).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [-4.9725876 -0.1068526] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [1.092642   0.08413333] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  4.160263 -10.565571], 11.355134010314941 meters away.)"}
{"file_name": "images/scenario_1149_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, -0.0) m/s. Its current heading (yaw) is -3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 17.6 meters away at (-14.6, -9.8). A vehicle with ID 57 is 20.2 meters away at (-17.5, -10.0). A vehicle with ID 51 is 23.3 meters away at (20.7, -10.6). A vehicle with ID 59 is 25.8 meters away at (-23.9, -9.7). A cyclist with ID 29 is 27.3 meters away at (-27.2, 1.2). A vehicle with ID 50 is 27.9 meters away at (25.9, -10.2). A vehicle with ID 49 is 30.6 meters away at (29.0, -9.8). A vehicle with ID 48 is 33.7 meters away at (32.0, -10.4). A vehicle with ID 47 is 36.2 meters away at (34.8, -10.1). A vehicle with ID 32 is 47.6 meters away at (-45.4, 14.4).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [-5.615381    0.04926265] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-14.649879  -9.761521], 17.604154586791992 meters away.)"}
{"file_name": "images/scenario_1149_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 0.0) m/s. Its current heading (yaw) is 3.14 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 9.8 meters away at (0.5, -9.8). A vehicle with ID 57 is 10.4 meters away at (-2.3, -10.1). A vehicle with ID 59 is 13.2 meters away at (-8.7, -9.9). A vehicle with ID 40 is 15.6 meters away at (-11.6, -10.5). A cyclist with ID 29 is 23.2 meters away at (-23.1, 1.2). A vehicle with ID 32 is 33.4 meters away at (-30.1, 14.3). A vehicle with ID 30 is 34.7 meters away at (-33.2, -10.0). A vehicle with ID 51 is 37.6 meters away at (36.0, -10.7). A vehicle with ID 50 is 42.5 meters away at (41.2, -10.2). A vehicle with ID 49 is 45.3 meters away at (44.3, -9.8).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [-5.544063    0.02078365] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.5393219 -9.793284 ], 9.808123588562012 meters away.)"}
{"file_name": "images/scenario_1150_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -0.5) m/s. Its current heading (yaw) is -0.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 11.4 meters away at (10.5, 4.6). A vehicle with ID 41 is 15.3 meters away at (-5.7, 14.2). A vehicle with ID 80 is 22.3 meters away at (-21.0, 7.5). A vehicle with ID 79 is 25.0 meters away at (-20.8, 13.8). A vehicle with ID 24 is 25.4 meters away at (24.3, -7.5). A pedestrian with ID 86 is 28.4 meters away at (-17.7, 22.2). A pedestrian with ID 73 is 28.6 meters away at (-17.1, 22.9). A vehicle with ID 85 is 29.9 meters away at (-28.3, 9.7). A pedestrian with ID 87 is 32.0 meters away at (-21.8, 23.5). A pedestrian with ID 88 is 32.9 meters away at (-21.7, 24.7).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-2.6130807e-03 -4.3068371e+00] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-4.711387   1.7810231] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.1406674 -1.9132023] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.05878193 -0.06864389] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.0771593 -0.2406907] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.0257645  -0.02638095] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.03159957 -0.0757853 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-5.511995   6.39901  ]\n [ 4.8855014 11.802941 ]\n [-4.3331113  8.268615 ]]", "nav_goal": "(249.5865020751953, -144.064208984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [10.481821  4.585389], 11.44090747833252 meters away.)"}
{"file_name": "images/scenario_1150_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -2.0) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 7.3 meters away at (-0.4, 7.3). A vehicle with ID 41 is 17.0 meters away at (-14.5, 9.0). A vehicle with ID 24 is 29.1 meters away at (27.7, -8.9). A vehicle with ID 78 is 30.3 meters away at (30.3, 1.8). A vehicle with ID 80 is 33.5 meters away at (-31.8, 10.5). A pedestrian with ID 46 is 37.3 meters away at (37.0, 4.3). A vehicle with ID 77 is 37.3 meters away at (37.3, -0.6). A vehicle with ID 85 is 41.0 meters away at (-39.0, 12.6). A pedestrian with ID 88 is 42.9 meters away at (-32.7, 27.7). A vehicle with ID 79 is 45.0 meters away at (-40.5, 19.6).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 2.0416336 -3.7743094] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 7.4191914 -2.3139179] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.1925055  -0.48111975] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.6307779   0.14107253] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-3.906405   1.0356698] m/s.", "light_description": "There are active red lights at the following coordinates: [[-5.511995   6.39901  ]\n [ 4.8855014 11.802941 ]\n [-4.3331113  8.268615 ]]", "nav_goal": "(249.5865020751953, -144.064208984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.3557396  7.264231 ], 7.2729363441467285 meters away.)"}
{"file_name": "images/scenario_1150_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -2.7) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 16.9 meters away at (15.7, 6.3). A vehicle with ID 81 is 19.0 meters away at (-15.0, 11.7). A vehicle with ID 77 is 23.1 meters away at (22.8, 3.9). A vehicle with ID 41 is 24.2 meters away at (-23.0, 7.5). A pedestrian with ID 46 is 26.1 meters away at (24.8, 8.0). A vehicle with ID 24 is 29.1 meters away at (27.8, -8.9). A pedestrian with ID 82 is 36.6 meters away at (32.0, -17.7). A pedestrian with ID 83 is 36.9 meters away at (31.9, -18.6). A vehicle with ID 47 is 37.8 meters away at (34.4, -15.6). A vehicle with ID 76 is 44.1 meters away at (44.0, -2.9).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 4.18287   -2.5685256] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.194178   -0.38630107] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 7.317541  -2.4908051] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.2768143   0.24967818] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.304518  0.249727] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-5.511995   6.39901  ]\n [ 4.8855014 11.802941 ]\n [-4.3331113  8.268615 ]]", "nav_goal": "(249.5865020751953, -144.064208984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [15.676388  6.289556], 16.89105224609375 meters away.)"}
{"file_name": "images/scenario_1150_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -3.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 77 is 11.0 meters away at (6.0, 9.2). A vehicle with ID 78 is 11.5 meters away at (-1.1, 11.5). A pedestrian with ID 46 is 16.2 meters away at (10.3, 12.5). A pedestrian with ID 82 is 17.2 meters away at (12.5, -11.8). A pedestrian with ID 83 is 17.7 meters away at (12.5, -12.6). A vehicle with ID 47 is 20.4 meters away at (17.6, -10.4). A vehicle with ID 62 is 26.0 meters away at (26.0, -1.5). A vehicle with ID 24 is 27.1 meters away at (25.8, -8.3). A vehicle with ID 76 is 27.2 meters away at (27.1, 2.4). A pedestrian with ID 45 is 31.5 meters away at (25.9, -17.9).", "velocity_description": "The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.3130541  -0.61306846] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.2463733  0.2782231] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.2711618   0.26057512] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-10.5025625   3.1591554] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 7.787139  -2.7393336] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.87419075 -0.37670353] m/s.", "light_description": "There are active red lights at the following coordinates: [[-5.511995    6.39901   ]\n [ 3.3767745   3.4326415 ]\n [ 0.4177344   5.5870986 ]\n [-0.96678627  5.83131   ]\n [ 4.8855014  11.802941  ]\n [-4.3331113   8.268615  ]]", "nav_goal": "(249.5865020751953, -144.064208984375)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [5.982933 9.178487], 10.956281661987305 meters away.)"}
{"file_name": "images/scenario_1151_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.8) m/s. Its current heading (yaw) is 2.47 ", "actor_description": " The most relevant actors are: A unknown object with ID 67 is 5.9 meters away at (5.6, -1.9). A unknown object with ID 68 is 6.5 meters away at (6.5, -0.7). A unknown object with ID 70 is 13.9 meters away at (-2.2, 13.8). A unknown object with ID 65 is 23.0 meters away at (-15.3, 17.2). A vehicle with ID 72 is 23.2 meters away at (6.8, -22.2). A unknown object with ID 74 is 27.0 meters away at (-18.4, 19.7). A vehicle with ID 73 is 27.3 meters away at (-22.6, -15.3). A unknown object with ID 76 is 27.4 meters away at (-25.8, 9.3). A vehicle with ID 69 is 27.5 meters away at (-27.0, -4.8). A unknown object with ID 75 is 28.4 meters away at (3.6, -28.2).", "velocity_description": "The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-177.70669555664062, -15.947538375854492)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 5.6106787 -1.859939 ], 5.9109296798706055 meters away.)"}
{"file_name": "images/scenario_1151_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 2.6) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 70 is 10.5 meters away at (2.2, 10.3). A unknown object with ID 67 is 11.2 meters away at (9.9, -5.3). A unknown object with ID 68 is 11.6 meters away at (10.8, -4.1). A unknown object with ID 65 is 17.6 meters away at (-11.0, 13.7). A unknown object with ID 74 is 21.5 meters away at (-14.1, 16.3). A vehicle with ID 66 is 23.7 meters away at (-21.6, 9.8). A vehicle with ID 69 is 24.2 meters away at (-22.7, -8.2). A vehicle with ID 73 is 26.2 meters away at (-18.3, -18.8). A vehicle with ID 72 is 28.2 meters away at (10.7, -26.1). A vehicle with ID 71 is 30.4 meters away at (-27.1, -13.8).", "velocity_description": "The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.36818284 -0.3444149 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-177.70669555664062, -15.947538375854492)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 2.200382 10.273873], 10.50686264038086 meters away.)"}
{"file_name": "images/scenario_1151_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.8) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 65 is 8.1 meters away at (-3.1, 7.5). A unknown object with ID 70 is 10.8 meters away at (10.1, 3.9). A unknown object with ID 74 is 11.7 meters away at (-6.2, 10.0). A vehicle with ID 66 is 14.2 meters away at (-13.7, 3.5). A unknown object with ID 21 is 18.6 meters away at (-11.7, 14.5). A unknown object with ID 57 is 19.5 meters away at (17.5, -8.5). A vehicle with ID 69 is 20.8 meters away at (-14.9, -14.6). A unknown object with ID 67 is 21.2 meters away at (17.8, -11.6). A unknown object with ID 68 is 21.5 meters away at (18.8, -10.4). A vehicle with ID 26 is 23.1 meters away at (13.6, 18.7).", "velocity_description": "The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-177.70669555664062, -15.947538375854492)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-3.0777206  7.474163 ], 8.083036422729492 meters away.)"}
{"file_name": "images/scenario_1151_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.6) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A unknown object with ID 74 is 4.3 meters away at (3.8, 1.8). A vehicle with ID 66 is 5.9 meters away at (-3.7, -4.6). A unknown object with ID 21 is 6.6 meters away at (-1.7, 6.3). A unknown object with ID 65 is 7.0 meters away at (7.0, -0.7). A unknown object with ID 20 is 10.1 meters away at (-9.9, -2.2). A unknown object with ID 81 is 12.3 meters away at (-6.6, 10.4). A unknown object with ID 16 is 17.8 meters away at (-17.4, 3.9). A unknown object with ID 39 is 19.2 meters away at (-12.2, 14.9). A vehicle with ID 69 is 23.2 meters away at (-4.8, -22.7). A unknown object with ID 14 is 26.6 meters away at (-24.7, 9.9).", "velocity_description": "The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-177.70669555664062, -15.947538375854492)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [3.8409595 1.8233166], 4.251759052276611 meters away.)"}
{"file_name": "images/scenario_1152_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.2) m/s. Its current heading (yaw) is -2.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 22 is 9.1 meters away at (-9.1, 0.2). A unknown object with ID 8 is 11.0 meters away at (2.1, -10.8). A vehicle with ID 32 is 11.3 meters away at (-10.3, -4.5). A unknown object with ID 38 is 11.4 meters away at (9.2, 6.6). A vehicle with ID 30 is 12.0 meters away at (-2.8, -11.7). A vehicle with ID 42 is 12.0 meters away at (10.9, 5.1). A vehicle with ID 31 is 13.6 meters away at (-11.9, -6.6). A unknown object with ID 7 is 14.2 meters away at (14.0, -2.1). A vehicle with ID 51 is 14.4 meters away at (4.4, 13.8). A vehicle with ID 44 is 15.2 meters away at (15.0, 2.0).", "velocity_description": "The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.481405  0.8778094] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-50.87892150878906, 68.1863784790039)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-9.106365    0.19180703], 9.10838508605957 meters away.)"}
{"file_name": "images/scenario_1152_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -3.1) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 6.0 meters away at (-5.9, 1.0). A vehicle with ID 30 is 6.4 meters away at (1.6, -6.2). A vehicle with ID 31 is 7.6 meters away at (-7.5, -1.0). A unknown object with ID 8 is 8.5 meters away at (6.6, -5.3). A vehicle with ID 28 is 9.6 meters away at (-9.1, -3.0). A vehicle with ID 55 is 11.1 meters away at (2.5, -10.8). A vehicle with ID 60 is 14.3 meters away at (-0.4, -14.3). A vehicle with ID 43 is 15.5 meters away at (-13.7, 7.2). A vehicle with ID 41 is 16.1 meters away at (-15.2, 5.2). A vehicle with ID 27 is 16.1 meters away at (-13.7, -8.4).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-50.87892150878906, 68.1863784790039)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.915634    0.99277115], 5.9983601570129395 meters away.)"}
{"file_name": "images/scenario_1152_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.5) m/s. Its current heading (yaw) is -2.23 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 5.3 meters away at (-4.0, 3.5). A vehicle with ID 31 is 5.9 meters away at (-2.4, 5.4). A vehicle with ID 30 is 6.6 meters away at (6.6, 0.3). A vehicle with ID 32 is 7.5 meters away at (-0.8, 7.4). A vehicle with ID 27 is 8.8 meters away at (-8.6, -1.9). A vehicle with ID 55 is 8.8 meters away at (7.7, -4.3). A vehicle with ID 60 is 9.1 meters away at (4.7, -7.8). A vehicle with ID 40 is 15.1 meters away at (-11.5, 9.9). A vehicle with ID 41 is 15.2 meters away at (-9.7, 11.7). A vehicle with ID 62 is 15.9 meters away at (-14.7, 6.3).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-50.87892150878906, 68.1863784790039)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.9945555  3.4963608], 5.308578968048096 meters away.)"}
{"file_name": "images/scenario_1152_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.5) m/s. Its current heading (yaw) is -2.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 6.0 meters away at (-3.1, 5.1). A vehicle with ID 26 is 7.9 meters away at (-0.0, -7.9). A vehicle with ID 60 is 10.3 meters away at (10.2, -0.8). A vehicle with ID 28 is 10.7 meters away at (1.5, 10.6). A vehicle with ID 29 is 11.2 meters away at (-10.4, -4.2). A vehicle with ID 31 is 12.9 meters away at (3.1, 12.5). A vehicle with ID 55 is 13.5 meters away at (13.2, 2.7). A vehicle with ID 30 is 14.3 meters away at (12.2, 7.3). A vehicle with ID 32 is 15.3 meters away at (4.7, 14.6). A vehicle with ID 35 is 15.4 meters away at (-12.1, 9.5).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-50.87892150878906, 68.1863784790039)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.0730572  5.0967064], 5.951478481292725 meters away.)"}
{"file_name": "images/scenario_1153_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.4) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 12.4 meters away at (-8.4, -9.1). A vehicle with ID 21 is 15.2 meters away at (-9.0, -12.2). A vehicle with ID 23 is 15.3 meters away at (4.6, -14.6). A vehicle with ID 22 is 20.1 meters away at (-10.1, -17.4). A pedestrian with ID 24 is 25.6 meters away at (20.5, 15.3). A unknown object with ID 25 is 32.8 meters away at (29.8, -13.6). A vehicle with ID 26 is 33.7 meters away at (-12.8, -31.1). A unknown object with ID 9 is 37.9 meters away at (29.5, 23.7). A vehicle with ID 20 is 38.8 meters away at (25.1, 29.6). A unknown object with ID 27 is 50.5 meters away at (-9.2, 49.7).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.95768744 -0.72305346] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.29248046875, 44.57422637939453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.429781 -9.080832], 12.390427589416504 meters away.)"}
{"file_name": "images/scenario_1153_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 0.8) m/s. Its current heading (yaw) is 2.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 12.2 meters away at (-7.0, -10.0). A vehicle with ID 21 is 15.2 meters away at (-7.7, -13.1). A vehicle with ID 23 is 16.7 meters away at (6.0, -15.6). A vehicle with ID 22 is 20.3 meters away at (-8.5, -18.4). A pedestrian with ID 24 is 27.3 meters away at (23.9, 13.1). A vehicle with ID 26 is 34.0 meters away at (-11.5, -32.0). A unknown object with ID 9 is 38.4 meters away at (30.9, 22.9). A vehicle with ID 20 is 39.1 meters away at (26.5, 28.7). A unknown object with ID 27 is 49.3 meters away at (-7.9, 48.7). A vehicle with ID 18 is 52.1 meters away at (-46.8, 22.8).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 1.1790731  -0.68969667] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.29248046875, 44.57422637939453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.0310416 -9.983463 ], 12.210859298706055 meters away.)"}
{"file_name": "images/scenario_1153_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 2.1) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A unknown object with ID 13 is 12.7 meters away at (2.2, -12.5). A vehicle with ID 19 is 13.1 meters away at (-2.6, -12.8). A vehicle with ID 21 is 16.2 meters away at (-3.4, -15.9). A unknown object with ID 4 is 20.1 meters away at (0.5, -20.1). A vehicle with ID 23 is 21.2 meters away at (10.4, -18.5). A vehicle with ID 22 is 21.6 meters away at (-4.0, -21.2). A pedestrian with ID 24 is 31.8 meters away at (30.5, 9.1). A vehicle with ID 26 is 35.5 meters away at (-7.1, -34.8). A vehicle with ID 20 is 40.4 meters away at (30.9, 25.9). A unknown object with ID 27 is 46.0 meters away at (-3.4, 45.9).", "velocity_description": "The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 1.0273454 -0.6026803] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.29248046875, 44.57422637939453)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  2.1663628 -12.501599 ], 12.687911987304688 meters away.)"}
{"file_name": "images/scenario_1153_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 2.8) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 18.3 meters away at (5.2, -17.6). A vehicle with ID 21 is 21.1 meters away at (4.4, -20.7). A vehicle with ID 22 is 26.3 meters away at (3.7, -26.1). A vehicle with ID 23 is 29.6 meters away at (18.3, -23.3). A vehicle with ID 18 is 37.6 meters away at (-34.4, 15.1). A vehicle with ID 26 is 39.6 meters away at (0.8, -39.6). A pedestrian with ID 24 is 40.4 meters away at (40.3, 3.2). A unknown object with ID 27 is 41.3 meters away at (4.5, 41.1). A vehicle with ID 20 is 44.3 meters away at (38.9, 21.1). A pedestrian with ID 14 is 45.1 meters away at (-42.0, 16.5).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9701368 -0.4959287] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.30442902 -0.79876643] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-79.29248046875, 44.57422637939453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  5.2149954 -17.585726 ], 18.342679977416992 meters away.)"}
{"file_name": "images/scenario_1154_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.5) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 3.1 meters away at (-2.6, -1.6). A pedestrian with ID 21 is 12.2 meters away at (-7.8, 9.4). A pedestrian with ID 4 is 17.7 meters away at (-6.5, 16.4).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.5565976  0.8668158] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.31900746  1.0982634 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.615639  -1.6347885], 3.084493637084961 meters away.)"}
{"file_name": "images/scenario_1154_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 5.2) m/s. Its current heading (yaw) is 1.54 ", "actor_description": " The most relevant actors are: A pedestrian with ID 4 is 10.9 meters away at (-6.1, 9.0). A vehicle with ID 19 is 11.8 meters away at (-2.2, -11.6). A pedestrian with ID 10 is 20.8 meters away at (-9.8, 18.3). A unknown object with ID 14 is 22.2 meters away at (-11.2, 19.1).", "velocity_description": "The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00565674  1.3101952 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00122616  0.00371233] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-6.1441445  8.959991 ], 10.864251136779785 meters away.)"}
{"file_name": "images/scenario_1154_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 5.1) m/s. Its current heading (yaw) is 1.51 ", "actor_description": " The most relevant actors are: A pedestrian with ID 4 is 6.9 meters away at (-6.8, 1.2). A vehicle with ID 19 is 22.0 meters away at (-2.7, -21.8).", "velocity_description": "The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.18527254  1.2724465 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-6.8323154  1.2079544], 6.938276767730713 meters away.)"}
{"file_name": "images/scenario_1154_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 4.1) m/s. Its current heading (yaw) is 1.52 ", "actor_description": " The most relevant actors are: A pedestrian with ID 4 is 9.3 meters away at (-7.5, -5.6). A pedestrian with ID 3 is 19.4 meters away at (-9.2, -17.0). A vehicle with ID 19 is 31.3 meters away at (-3.3, -31.2).", "velocity_description": "The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.02126798  1.2666581 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.0086945  0.00992712] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-7.4821014 -5.594002 ], 9.342092514038086 meters away.)"}
{"file_name": "images/scenario_1155_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 2.3) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 8.2 meters away at (0.4, -8.1). A vehicle with ID 71 is 10.0 meters away at (-1.3, -9.9). A vehicle with ID 73 is 12.1 meters away at (-3.0, -11.7). A vehicle with ID 72 is 16.6 meters away at (-5.8, -15.6). A vehicle with ID 74 is 17.5 meters away at (6.4, -16.3). A vehicle with ID 60 is 18.3 meters away at (15.4, 10.0). A vehicle with ID 87 is 18.9 meters away at (-7.5, -17.3). A vehicle with ID 81 is 18.9 meters away at (4.8, -18.3). A vehicle with ID 75 is 21.2 meters away at (-8.9, -19.2). A vehicle with ID 77 is 22.2 meters away at (1.8, -22.2).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.29559326171875, 73.11541748046875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.41762972 -8.145158  ], 8.155858039855957 meters away.)"}
{"file_name": "images/scenario_1155_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 2.9) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A pedestrian with ID 30 is 11.8 meters away at (-8.7, 8.0). A vehicle with ID 60 is 12.3 meters away at (11.3, 4.9). A vehicle with ID 63 is 13.7 meters away at (-3.6, -13.2). A vehicle with ID 71 is 15.9 meters away at (-5.4, -15.0). A vehicle with ID 73 is 18.1 meters away at (-7.1, -16.7). A vehicle with ID 67 is 18.9 meters away at (18.8, -1.3). A vehicle with ID 58 is 19.3 meters away at (16.0, 10.8). A vehicle with ID 66 is 20.4 meters away at (20.3, 0.7). A vehicle with ID 74 is 21.4 meters away at (2.3, -21.3). A vehicle with ID 72 is 22.9 meters away at (-9.9, -20.6).", "velocity_description": "The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.56080395 0.3297167 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.29559326171875, 73.11541748046875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-8.663078   7.9883356], 11.783989906311035 meters away.)"}
{"file_name": "images/scenario_1155_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 4.1) m/s. Its current heading (yaw) is 0.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 60 is 6.0 meters away at (5.6, -2.2). A vehicle with ID 58 is 10.9 meters away at (10.3, 3.7). A vehicle with ID 57 is 14.9 meters away at (13.0, 7.3). A vehicle with ID 67 is 15.6 meters away at (13.1, -8.4). A vehicle with ID 66 is 15.8 meters away at (14.5, -6.3). A vehicle with ID 64 is 18.1 meters away at (17.9, -3.0). A vehicle with ID 59 is 21.9 meters away at (17.8, 12.8). A vehicle with ID 63 is 22.4 meters away at (-9.4, -20.4). A unknown object with ID 93 is 24.1 meters away at (18.3, -15.8). A vehicle with ID 65 is 24.3 meters away at (23.8, 4.7).", "velocity_description": "The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.29559326171875, 73.11541748046875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.556365  -2.2267113], 5.985936641693115 meters away.)"}
{"file_name": "images/scenario_1155_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.3) m/s. Its current heading (yaw) is 0.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 6.0 meters away at (3.8, -4.6). A vehicle with ID 57 is 6.6 meters away at (6.5, -1.0). A vehicle with ID 60 is 10.5 meters away at (-0.9, -10.5). A vehicle with ID 59 is 12.2 meters away at (11.3, 4.5). A vehicle with ID 64 is 16.0 meters away at (11.4, -11.3). A vehicle with ID 66 is 16.9 meters away at (8.2, -14.7). A vehicle with ID 65 is 17.6 meters away at (17.3, -3.6). A vehicle with ID 67 is 18.0 meters away at (6.6, -16.7). A vehicle with ID 18 is 19.0 meters away at (18.9, -1.7). A vehicle with ID 10 is 19.1 meters away at (3.8, 18.7).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-41.29559326171875, 73.11541748046875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.7678833 -4.606655 ], 5.951320648193359 meters away.)"}
{"file_name": "images/scenario_1156_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.6) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 12.7 meters away at (10.7, 6.8). A vehicle with ID 3 is 15.0 meters away at (-13.7, 5.9). A pedestrian with ID 41 is 18.7 meters away at (-15.4, 10.6). A vehicle with ID 42 is 18.8 meters away at (-18.8, -0.3). A cyclist with ID 39 is 19.2 meters away at (-14.1, -13.1). A cyclist with ID 40 is 19.5 meters away at (-16.5, -10.3). A pedestrian with ID 43 is 20.1 meters away at (-16.5, 11.4). A pedestrian with ID 45 is 21.0 meters away at (-17.7, 11.2). A vehicle with ID 48 is 35.3 meters away at (-35.2, -2.5). A vehicle with ID 50 is 38.7 meters away at (35.2, -16.2).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.99094445 -0.58463556] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.567744  -2.9600432] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.00725713 -0.06757041] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 3.365408  -3.8552086] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-1.0821521 -5.59395  ] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [ 0.31499577 -5.6584687 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.01215249 -0.00811146] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.00241373 -0.01346877] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-4.5813885  3.6852837] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [10.356477  -4.9522104] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [10.661531  6.811204], 12.651511192321777 meters away.)"}
{"file_name": "images/scenario_1156_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -2.4) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A pedestrian with ID 38 is 11.5 meters away at (-3.0, 11.1). A vehicle with ID 3 is 13.9 meters away at (-12.8, 5.3). A vehicle with ID 42 is 26.1 meters away at (-25.6, -5.1). A pedestrian with ID 41 is 30.8 meters away at (-26.7, 15.5). A pedestrian with ID 14 is 31.9 meters away at (-27.8, 15.6). A pedestrian with ID 43 is 32.2 meters away at (-27.7, 16.3). A pedestrian with ID 45 is 33.2 meters away at (-29.0, 16.1). A cyclist with ID 40 is 34.4 meters away at (-29.5, -17.7). A cyclist with ID 39 is 36.7 meters away at (-29.9, -21.3). A unknown object with ID 27 is 48.4 meters away at (-42.7, -23.0).", "velocity_description": "The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.2138091  -0.35690978] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.745891  -2.6114285] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 0.9728061 -5.527843 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.00193304  0.00144997] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.03129897 -0.05130064] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.00226905 -0.0106702 ] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.00639582 -0.00349879] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [-1.6292756 -6.479757 ] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-3.2099316 -7.2460947] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-2.9976482 11.07243  ], 11.471033096313477 meters away.)"}
{"file_name": "images/scenario_1156_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -2.0) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 13.7 meters away at (-12.7, 5.1). A cyclist with ID 26 is 21.3 meters away at (-15.2, 14.9). A pedestrian with ID 38 is 21.3 meters away at (-15.1, 15.0). A vehicle with ID 42 is 38.3 meters away at (-36.5, -11.5). A pedestrian with ID 41 is 42.2 meters away at (-37.2, 19.9). A pedestrian with ID 14 is 43.3 meters away at (-38.5, 19.9). A pedestrian with ID 43 is 43.5 meters away at (-38.3, 20.7). A pedestrian with ID 45 is 44.5 meters away at (-39.5, 20.4). A cyclist with ID 40 is 52.5 meters away at (-45.1, -27.0). A cyclist with ID 39 is 57.7 meters away at (-47.5, -32.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 4.9327016 -2.1213326] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [-0.85243386 -0.5397373 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.46585962 -0.15424307] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-0.9973914 -5.104881 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.00640475 -0.00287919] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.01347872 0.00022538] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.01003609 0.00126802] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-2.7286769e-05 -2.1950947e-03] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [-2.9082718 -6.977178 ] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-3.872454 -8.03385 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.682007    5.0654573], 13.65621280670166 meters away.)"}
{"file_name": "images/scenario_1156_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -1.4) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 13.5 meters away at (-12.5, 4.9). A unknown object with ID 15 is 26.0 meters away at (26.0, -2.0). A cyclist with ID 26 is 30.4 meters away at (-24.3, 18.2). A pedestrian with ID 38 is 30.4 meters away at (-24.4, 18.1). A vehicle with ID 42 is 50.6 meters away at (-47.7, -17.0). A pedestrian with ID 41 is 51.3 meters away at (-45.7, 23.3). A pedestrian with ID 14 is 52.3 meters away at (-46.8, 23.4). A pedestrian with ID 43 is 52.6 meters away at (-46.7, 24.2). A pedestrian with ID 45 is 53.5 meters away at (-47.9, 23.9). A unknown object with ID 29 is 66.2 meters away at (61.6, -24.0).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.4705493 -1.4277725] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [-0.07889317 -0.0312915 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.08671699  0.08182769] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.3218402 -3.433461 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.02728066 -0.02499093] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.01236101 -0.01245138] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.00143741 -0.01175039] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.01330369 -0.01095304] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-12.539938   4.922265], 13.471405029296875 meters away.)"}
{"file_name": "images/scenario_1157_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 5.5) m/s. Its current heading (yaw) is 2.46 ", "actor_description": " The most relevant actors are: A unknown object with ID 99 is 13.4 meters away at (0.3, 13.4). A vehicle with ID 109 is 31.7 meters away at (-18.5, -25.8). A pedestrian with ID 76 is 32.3 meters away at (-26.4, -18.6). A unknown object with ID 124 is 37.4 meters away at (14.2, -34.6). A vehicle with ID 89 is 38.0 meters away at (-28.6, -25.0).", "velocity_description": "The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.88718855 -1.1111144 ] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.642633    3.8679054]\n [-14.960245   -0.7998145]\n [-22.273151   11.9695635]\n [-28.591301    3.4333727]\n [-24.96506     9.506753 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 0.25646877 13.42015   ], 13.422600746154785 meters away.)"}
{"file_name": "images/scenario_1157_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 6.4) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A vehicle with ID 102 is 34.6 meters away at (-29.4, 18.3). A vehicle with ID 109 is 37.8 meters away at (-4.8, -37.5). A unknown object with ID 54 is 38.5 meters away at (-26.1, 28.3). A unknown object with ID 51 is 42.2 meters away at (-28.8, 30.9). A vehicle with ID 104 is 46.0 meters away at (-37.5, 26.7). A vehicle with ID 45 is 67.0 meters away at (-46.4, 48.4). A vehicle with ID 107 is 78.0 meters away at (-60.9, 48.8). A pedestrian with ID 91 is 80.6 meters away at (63.5, -49.7).", "velocity_description": "The vehicle with ID 102 is traveling at a (x, y) velocity of [ 2.1418178 -2.0857234] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [ 5.1414633 -4.2421265] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [ 6.0556397 -5.865565 ] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1827505  1.0223063] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.642633    3.8679054]\n [-14.960245   -0.7998145]\n [-22.273151   11.9695635]\n [-28.591301    3.4333727]\n [-24.96506     9.506753 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-29.407028  18.323128], 34.648380279541016 meters away.)"}
{"file_name": "images/scenario_1157_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 6.2) m/s. Its current heading (yaw) is 2.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 83 is 12.0 meters away at (-12.0, -0.7). A vehicle with ID 102 is 13.0 meters away at (-12.7, 2.8). A unknown object with ID 58 is 13.9 meters away at (-13.8, 0.9). A vehicle with ID 104 is 14.7 meters away at (-13.2, 6.6). A unknown object with ID 55 is 16.4 meters away at (-9.7, 13.3). A unknown object with ID 72 is 19.6 meters away at (-6.7, 18.4). A unknown object with ID 54 is 19.8 meters away at (-12.1, 15.6). A unknown object with ID 51 is 23.4 meters away at (-14.8, 18.2). A vehicle with ID 79 is 28.6 meters away at (-26.3, 11.4). A vehicle with ID 107 is 44.4 meters away at (-35.9, 26.2).", "velocity_description": "The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [ 4.5181046 -3.584673 ] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [ 4.317951 -3.416136] m/s.", "light_description": "There are active red lights at the following coordinates: [[-26.642633    3.8679054]\n [-14.960245   -0.7998145]\n [  4.555264    1.6791302]\n [-22.273151   11.9695635]\n [-28.591301    3.4333727]\n [-24.96506     9.506753 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-12.023342    -0.71969223], 12.044862747192383 meters away.)"}
{"file_name": "images/scenario_1157_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 6.2) m/s. Its current heading (yaw) is 2.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 54 is 3.4 meters away at (1.2, 3.2). A unknown object with ID 55 is 3.8 meters away at (3.7, 0.9). A unknown object with ID 51 is 5.9 meters away at (-1.4, 5.7). A unknown object with ID 125 is 8.7 meters away at (-4.6, -7.4). A unknown object with ID 110 is 8.9 meters away at (-4.3, -7.8). A vehicle with ID 102 is 9.7 meters away at (0.8, -9.6). A unknown object with ID 58 is 11.4 meters away at (-0.3, -11.4). A vehicle with ID 104 is 13.9 meters away at (7.3, -11.9). A unknown object with ID 82 is 18.7 meters away at (-18.4, 3.1). A vehicle with ID 107 is 19.3 meters away at (-16.7, 9.7).", "velocity_description": "The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [ 2.3743174 -2.1483464] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [ 1.8254414 -1.324554 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-14.960245   -0.7998145]\n [-22.273151   11.9695635]\n [-24.96506     9.506753 ]\n [-18.292517   14.966925 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [1.2413597 3.199524 ], 3.431898593902588 meters away.)"}
{"file_name": "images/scenario_1158_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -0.0) m/s. Its current heading (yaw) is -0.01 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 6.6 meters away at (0.5, 6.6). A pedestrian with ID 33 is 9.5 meters away at (-9.0, 3.1). A pedestrian with ID 34 is 10.1 meters away at (-8.9, -4.7). A unknown object with ID 25 is 19.0 meters away at (17.4, -7.5). A unknown object with ID 17 is 21.1 meters away at (19.4, -8.2). A vehicle with ID 35 is 21.2 meters away at (-16.7, -13.0). A pedestrian with ID 36 is 36.5 meters away at (35.3, -9.3). A pedestrian with ID 28 is 39.8 meters away at (-39.0, 8.2). A vehicle with ID 37 is 42.0 meters away at (-41.2, -8.4). A vehicle with ID 32 is 44.9 meters away at (-42.2, -15.3).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.2447184  -0.08481409] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3991069   0.60583156] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 9.469835  -3.8650758] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.1593683 -0.9242509] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.3267641  0.3661113] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.49029    -1.6940235]\n [-51.508423   -4.88618  ]\n [-50.537945   -1.7941244]\n [-48.01712   -10.091316 ]\n [-47.804688  -10.231738 ]\n [-48.416008  -11.729709 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [0.5295005 6.5842314], 6.605488300323486 meters away.)"}
{"file_name": "images/scenario_1158_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -0.4) m/s. Its current heading (yaw) is -0.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 7.6 meters away at (5.1, -5.7). A unknown object with ID 25 is 13.6 meters away at (11.7, -7.0). A unknown object with ID 17 is 15.7 meters away at (13.6, -7.8). A pedestrian with ID 33 is 17.5 meters away at (-17.0, 3.9). A unknown object with ID 20 is 17.6 meters away at (15.4, -8.6). A pedestrian with ID 34 is 17.8 meters away at (-17.5, -3.0). A unknown object with ID 22 is 19.6 meters away at (17.2, -9.4). A vehicle with ID 35 is 20.9 meters away at (-3.0, -20.6). A pedestrian with ID 36 is 33.7 meters away at (31.9, -10.8). A cyclist with ID 18 is 35.7 meters away at (-35.6, 2.9).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.0513978   0.15526292] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.2667108   0.53633934] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [10.436917  -4.4383674] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.245646  -0.9945551] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [ 5.4166765e-08 -6.4582387e-08] m/s.", "light_description": "There are active red lights at the following coordinates: [[-50.49029    -1.6940235]\n [-51.508423   -4.88618  ]\n [-50.537945   -1.7941244]\n [-48.01712   -10.091316 ]\n [-47.804688  -10.231738 ]\n [-48.416008  -11.729709 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ 5.083912 -5.696536], 7.635226726531982 meters away.)"}
{"file_name": "images/scenario_1158_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -1.0) m/s. Its current heading (yaw) is -0.29 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 4.5 meters away at (-1.5, -4.3). A unknown object with ID 25 is 7.7 meters away at (5.2, -5.7). A unknown object with ID 17 is 9.5 meters away at (6.9, -6.4). A unknown object with ID 26 is 16.8 meters away at (13.2, -10.3). A pedestrian with ID 34 is 26.8 meters away at (-26.8, -0.6). A pedestrian with ID 36 is 30.0 meters away at (28.0, -10.8). A vehicle with ID 35 is 31.2 meters away at (12.3, -28.7). A vehicle with ID 8 is 33.3 meters away at (-9.1, -32.0). A unknown object with ID 9 is 36.2 meters away at (31.1, -18.4). A vehicle with ID 19 is 54.8 meters away at (-53.1, -13.7).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3149536   0.46240392] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.3219855 -0.5828434] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [11.355469 -4.867194] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-8.508317   3.5758786] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.508423  -4.88618 ]\n [-48.01712  -10.091316]\n [-47.804688 -10.231738]\n [-48.416008 -11.729709]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-1.4547577 -4.3082542], 4.547237873077393 meters away.)"}
{"file_name": "images/scenario_1158_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -1.4) m/s. Its current heading (yaw) is -0.41 ", "actor_description": " The most relevant actors are: A unknown object with ID 10 is 8.0 meters away at (-7.7, -2.0). A unknown object with ID 26 is 10.6 meters away at (7.0, -8.0). A pedestrian with ID 1 is 22.7 meters away at (21.9, -5.8). A pedestrian with ID 36 is 25.4 meters away at (23.9, -8.5). A vehicle with ID 8 is 38.8 meters away at (-31.1, -23.2). A unknown object with ID 23 is 57.9 meters away at (49.7, -29.7). A vehicle with ID 19 is 61.2 meters away at (-60.1, -11.2).", "velocity_description": "The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.02688039  0.2058351 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.95880044 0.20201738] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-7.0352874  2.8845875] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-51.508423  -4.88618 ]\n [-48.01712  -10.091316]\n [-47.804688 -10.231738]\n [-48.416008 -11.729709]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-7.7334566 -2.0216866], 7.993345260620117 meters away.)"}
{"file_name": "images/scenario_1159_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -4.8) m/s. Its current heading (yaw) is -0.70 ", "actor_description": " The most relevant actors are: A cyclist with ID 4 is 6.7 meters away at (-3.8, -5.5). A pedestrian with ID 15 is 11.9 meters away at (-6.8, -9.8). A vehicle with ID 19 is 11.9 meters away at (-11.8, 1.7). A cyclist with ID 21 is 16.3 meters away at (1.1, -16.2). A pedestrian with ID 13 is 22.9 meters away at (-11.7, -19.7). A vehicle with ID 20 is 28.8 meters away at (-25.2, 13.9).", "velocity_description": "The cyclist with ID 4 is traveling at a (x, y) velocity of [-0.60072356  0.76469266] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.03509012 -0.00563811] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.05758773 0.03481643] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02909777  0.06745044] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-3.797183  -5.5293016], 6.7075910568237305 meters away.)"}
{"file_name": "images/scenario_1159_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -4.6) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A cyclist with ID 21 is 12.0 meters away at (-9.7, -7.1). A cyclist with ID 4 is 17.0 meters away at (-14.6, 8.7). A pedestrian with ID 15 is 17.6 meters away at (-17.6, -0.5). A pedestrian with ID 13 is 24.7 meters away at (-22.3, -10.6). A vehicle with ID 19 is 25.1 meters away at (-22.6, 11.0). A vehicle with ID 20 is 42.8 meters away at (-36.0, 23.1).", "velocity_description": "The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.03754536 -0.11227515] m/s.The cyclist with ID 4 is traveling at a (x, y) velocity of [1.6977812 2.2980535] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.03162977 -0.01035115] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.03658406 -0.01090362] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-9.738194  -7.0827236], 12.041486740112305 meters away.)"}
{"file_name": "images/scenario_1159_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -5.1) m/s. Its current heading (yaw) is -0.72 ", "actor_description": " The most relevant actors are: A pedestrian with ID 11 is 21.9 meters away at (-21.8, 2.3). A cyclist with ID 4 is 25.8 meters away at (-18.2, 18.3). A pedestrian with ID 15 is 29.9 meters away at (-28.5, 9.2). A vehicle with ID 8 is 39.5 meters away at (-33.5, 20.9). A vehicle with ID 19 is 39.6 meters away at (-33.6, 20.9). A vehicle with ID 20 is 57.4 meters away at (-47.0, 33.0).", "velocity_description": "The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.71924853  0.14590354] m/s.The cyclist with ID 4 is traveling at a (x, y) velocity of [ 4.2878895 -2.3306174] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.00561545 0.00616377] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-21.776264   2.307438], 21.89817237854004 meters away.)"}
{"file_name": "images/scenario_1159_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.4) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A cyclist with ID 4 is 27.7 meters away at (-19.9, 19.2). A pedestrian with ID 11 is 37.2 meters away at (-35.1, 12.3). A pedestrian with ID 15 is 44.0 meters away at (-39.8, 18.8). A vehicle with ID 19 is 54.5 meters away at (-45.1, 30.6). A vehicle with ID 18 is 61.8 meters away at (-0.9, -61.8). A vehicle with ID 20 is 72.2 meters away at (-58.3, 42.6).", "velocity_description": "The cyclist with ID 4 is traveling at a (x, y) velocity of [ 5.3568535 -5.494993 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0016092  0.2259015] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01958279 -0.01760239] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a cyclist at [-19.932882  19.249678], 27.710464477539062 meters away.)"}
{"file_name": "images/scenario_1160_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -2.9) m/s. Its current heading (yaw) is -1.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 16.3 meters away at (11.9, -11.2). A unknown object with ID 57 is 18.2 meters away at (16.5, -7.6). A cyclist with ID 58 is 36.0 meters away at (-32.5, 15.6). A pedestrian with ID 60 is 54.3 meters away at (-49.0, 23.4). A pedestrian with ID 61 is 57.3 meters away at (-53.8, 19.6). A unknown object with ID 43 is 59.8 meters away at (-55.5, 22.4).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [ 7.1931977 -3.1529028] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 58 is traveling at a (x, y) velocity of [0.03975726 0.06114803] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.01445584 0.00384038] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.63354623 -0.4610485 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 11.895515 -11.195972], 16.33563804626465 meters away.)"}
{"file_name": "images/scenario_1160_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -2.9) m/s. Its current heading (yaw) is -0.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 27.7 meters away at (25.0, -11.8). A cyclist with ID 58 is 40.9 meters away at (-34.4, 22.2). A unknown object with ID 42 is 51.9 meters away at (-49.9, 14.4). A pedestrian with ID 61 is 60.0 meters away at (-54.6, 24.9). A unknown object with ID 43 is 64.3 meters away at (-57.2, 29.3). A pedestrian with ID 32 is 66.2 meters away at (64.0, -17.1). A vehicle with ID 38 is 80.6 meters away at (72.2, -35.7).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [ 8.061778  -3.6437354] m/s.The cyclist with ID 58 is traveling at a (x, y) velocity of [-0.12727514  0.02150257] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.2587664 -1.1399038] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.61923313 -0.42067558] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.4746623 -2.309619 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 25.048298 -11.764394], 27.673419952392578 meters away.)"}
{"file_name": "images/scenario_1160_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -2.1) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A vehicle with ID 56 is 36.8 meters away at (33.8, -14.5). A unknown object with ID 12 is 38.2 meters away at (24.9, -29.0). A unknown object with ID 10 is 39.6 meters away at (26.4, -29.5). A unknown object with ID 9 is 41.1 meters away at (27.9, -30.2). A cyclist with ID 58 is 50.0 meters away at (-42.4, 26.5). A pedestrian with ID 32 is 59.2 meters away at (57.7, -13.2). A pedestrian with ID 61 is 68.2 meters away at (-62.4, 27.4). A cyclist with ID 28 is 70.5 meters away at (-56.0, 42.9). A pedestrian with ID 3 is 72.8 meters away at (68.8, -24.0). A unknown object with ID 43 is 73.5 meters away at (-65.4, 33.4).", "velocity_description": "The vehicle with ID 56 is traveling at a (x, y) velocity of [ 8.40568  -3.772104] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 58 is traveling at a (x, y) velocity of [0.00531042 0.09702755] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.669136  -1.2144686] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.18119739 -0.73198104] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-0.02766618  0.06842285] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.1373374  0.1581757] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 78.3995   -44.647327]\n [ 81.49098  -46.76842 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 33.797123 -14.469676], 36.76434326171875 meters away.)"}
{"file_name": "images/scenario_1160_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -2.6) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A unknown object with ID 40 is 18.3 meters away at (-0.9, -18.3). A unknown object with ID 51 is 20.0 meters away at (2.9, -19.8). A unknown object with ID 29 is 21.9 meters away at (6.2, -21.0). A unknown object with ID 16 is 24.0 meters away at (8.9, -22.3). A unknown object with ID 14 is 25.8 meters away at (11.2, -23.2). A unknown object with ID 12 is 27.7 meters away at (13.5, -24.2). A unknown object with ID 10 is 29.0 meters away at (14.9, -24.9). A unknown object with ID 9 is 30.3 meters away at (16.4, -25.5). A unknown object with ID 11 is 30.4 meters away at (14.0, -27.0). A vehicle with ID 36 is 31.2 meters away at (19.8, -24.1).", "velocity_description": "The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-9.035397  4.845528] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 78.3995   -44.647327]\n [ 81.49098  -46.76842 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [ -0.94051933 -18.252094  ], 18.276309967041016 meters away.)"}
{"file_name": "images/scenario_1161_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.3) m/s. Its current heading (yaw) is 2.72 ", "actor_description": " The most relevant actors are: A unknown object with ID 85 is 5.6 meters away at (-2.8, -4.9). A unknown object with ID 87 is 6.1 meters away at (-4.4, -4.2). A unknown object with ID 88 is 6.8 meters away at (-5.7, -3.6). A unknown object with ID 45 is 8.3 meters away at (-5.4, -6.4). A unknown object with ID 91 is 8.4 meters away at (-8.0, -2.6). A unknown object with ID 93 is 10.4 meters away at (-10.3, -1.7). A vehicle with ID 78 is 10.6 meters away at (10.6, 0.5). A unknown object with ID 94 is 13.0 meters away at (-13.0, -0.4). A unknown object with ID 71 is 13.9 meters away at (4.2, -13.2). A unknown object with ID 80 is 14.6 meters away at (6.1, -13.3).", "velocity_description": "The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 13.956999    -0.798641  ]\n [ 15.750611     2.1669047 ]\n [ 29.260891   -17.922602  ]\n [ -6.228867    -0.83647764]\n [ 29.87221    -16.424631  ]\n [ 26.168476   -11.079073  ]\n [ 29.659777   -16.284208  ]\n [ 16.789131     5.6529117 ]\n [ 15.865255     2.398416  ]]", "nav_goal": "(-257.0438232421875, 186.1800079345703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.8339977 -4.8793354], 5.642646312713623 meters away.)"}
{"file_name": "images/scenario_1161_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 3.6) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 96 is 6.0 meters away at (-0.5, -6.0). A unknown object with ID 103 is 6.2 meters away at (-4.3, -4.5). A unknown object with ID 94 is 7.8 meters away at (2.8, -7.3). A unknown object with ID 107 is 8.5 meters away at (-7.9, -3.0). A unknown object with ID 93 is 10.2 meters away at (5.5, -8.6). A unknown object with ID 91 is 12.3 meters away at (7.8, -9.5). A unknown object with ID 88 is 14.6 meters away at (10.1, -10.5). A unknown object with ID 87 is 16.0 meters away at (11.5, -11.2). A unknown object with ID 45 is 17.0 meters away at (10.6, -13.3). A unknown object with ID 85 is 17.5 meters away at (13.0, -11.8).", "velocity_description": "The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 13.956999    -0.798641  ]\n [ 15.750611     2.1669047 ]\n [ 29.260891   -17.922602  ]\n [ -6.228867    -0.83647764]\n [ 29.87221    -16.424631  ]\n [ 26.168476   -11.079073  ]\n [ 29.659777   -16.284208  ]\n [ 16.789131     5.6529117 ]\n [ 15.865255     2.398416  ]]", "nav_goal": "(-257.0438232421875, 186.1800079345703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-0.5052395 -6.00489  ], 6.0261077880859375 meters away.)"}
{"file_name": "images/scenario_1161_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, 3.8) m/s. Its current heading (yaw) is 2.73 ", "actor_description": " The most relevant actors are: A unknown object with ID 107 is 14.1 meters away at (9.2, -10.6). A unknown object with ID 41 is 14.7 meters away at (-14.7, 0.2). A unknown object with ID 103 is 17.7 meters away at (12.9, -12.1). A unknown object with ID 29 is 19.9 meters away at (-19.8, 1.2). A vehicle with ID 6 is 20.3 meters away at (17.3, -10.7). A unknown object with ID 96 is 21.6 meters away at (16.8, -13.6). A unknown object with ID 94 is 25.0 meters away at (20.0, -14.9). A unknown object with ID 93 is 27.9 meters away at (22.8, -16.2). A unknown object with ID 91 is 30.3 meters away at (25.0, -17.1). A unknown object with ID 88 is 32.8 meters away at (27.3, -18.1).", "velocity_description": "The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.732677   4.0898924] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[13.956999   -0.798641  ]\n [15.750611    2.1669047 ]\n [-6.228867   -0.83647764]\n [15.865255    2.398416  ]]", "nav_goal": "(-257.0438232421875, 186.1800079345703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  9.234837 -10.634134], 14.084281921386719 meters away.)"}
{"file_name": "images/scenario_1161_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.8) m/s. Its current heading (yaw) is 2.74 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 7.0 meters away at (-2.2, -6.6). A unknown object with ID 41 is 8.1 meters away at (2.9, -7.6). A vehicle with ID 24 is 15.5 meters away at (-3.6, 15.1). A vehicle with ID 6 is 17.7 meters away at (14.8, -9.8). A vehicle with ID 61 is 20.8 meters away at (12.4, 16.7). A pedestrian with ID 58 is 24.6 meters away at (-2.4, 24.5). A vehicle with ID 26 is 28.2 meters away at (1.3, 28.1). A vehicle with ID 23 is 30.3 meters away at (-4.4, 30.0). A vehicle with ID 20 is 31.8 meters away at (28.2, -14.8). A unknown object with ID 107 is 32.6 meters away at (27.0, -18.4).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-10.61892     4.5038743] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.5748107  0.6441436] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-10.399505    3.7652078] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-257.0438232421875, 186.1800079345703)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.172577  -6.6220226], 6.969309329986572 meters away.)"}
{"file_name": "images/scenario_1162_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -2.5) m/s. Its current heading (yaw) is -0.46 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 11.7 meters away at (11.7, -0.3). A unknown object with ID 24 is 12.7 meters away at (12.7, 0.8). A vehicle with ID 31 is 17.5 meters away at (-13.9, 10.6). A vehicle with ID 35 is 20.6 meters away at (-18.3, -9.6). A vehicle with ID 26 is 21.3 meters away at (-21.1, -3.0). A vehicle with ID 29 is 23.0 meters away at (-17.9, -14.4). A unknown object with ID 34 is 24.0 meters away at (-9.2, 22.2). A vehicle with ID 39 is 25.0 meters away at (4.8, 24.5). A vehicle with ID 23 is 25.2 meters away at (-23.1, -10.0). A vehicle with ID 30 is 26.6 meters away at (-25.4, -7.9).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 1.2266537 -2.9070015] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [3.3638988 3.6285906] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.559976  -5.3477564] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(117.32725524902344, 34.7366943359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [11.734346  -0.3432476], 11.739365577697754 meters away.)"}
{"file_name": "images/scenario_1162_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -5.3) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A unknown object with ID 22 is 8.4 meters away at (1.2, 8.3). A unknown object with ID 24 is 9.7 meters away at (2.2, 9.4). A unknown object with ID 12 is 16.4 meters away at (0.2, -16.4). A vehicle with ID 35 is 23.5 meters away at (-22.9, 5.3). A vehicle with ID 18 is 24.0 meters away at (-23.6, 4.8). A vehicle with ID 6 is 26.5 meters away at (-15.7, -21.4). A vehicle with ID 31 is 27.1 meters away at (-23.6, 13.2). A vehicle with ID 8 is 28.1 meters away at (28.0, -2.6). A vehicle with ID 25 is 29.4 meters away at (26.5, -12.7). A vehicle with ID 39 is 33.6 meters away at (-5.6, 33.2).", "velocity_description": "The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [2.6963904 2.7576153] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [2.3033502 2.3864675] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-0.62048805 -2.8583252 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(117.32725524902344, 34.7366943359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [1.2145367 8.278169 ], 8.366789817810059 meters away.)"}
{"file_name": "images/scenario_1162_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -4.7) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 8.2 meters away at (-5.0, -6.5). A unknown object with ID 12 is 11.5 meters away at (-9.7, -6.2). A vehicle with ID 25 is 16.8 meters away at (16.6, -2.5). A vehicle with ID 8 is 19.8 meters away at (18.2, 7.7). A unknown object with ID 22 is 20.4 meters away at (-8.6, 18.5). A unknown object with ID 24 is 21.1 meters away at (-7.7, 19.7). A vehicle with ID 27 is 21.2 meters away at (20.4, -5.7). A vehicle with ID 32 is 26.7 meters away at (25.0, -9.5). A vehicle with ID 6 is 28.0 meters away at (-25.7, -11.1). A vehicle with ID 42 is 32.3 meters away at (29.3, -13.6).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(117.32725524902344, 34.7366943359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-4.9680233 -6.50881  ], 8.188154220581055 meters away.)"}
{"file_name": "images/scenario_1162_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.8) m/s. Its current heading (yaw) is -0.74 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 10.2 meters away at (8.9, 5.0). A unknown object with ID 19 is 12.5 meters away at (-12.4, 1.1). A vehicle with ID 27 is 12.8 meters away at (12.7, 1.8). A vehicle with ID 32 is 17.3 meters away at (17.2, -2.0). A vehicle with ID 42 is 22.4 meters away at (21.6, -6.0). A vehicle with ID 1 is 27.0 meters away at (13.8, -23.2). A unknown object with ID 22 is 30.7 meters away at (-16.4, 26.0). A unknown object with ID 24 is 31.2 meters away at (-15.4, 27.2). A vehicle with ID 3 is 38.0 meters away at (34.1, -17.0). A vehicle with ID 4 is 45.8 meters away at (38.5, -24.8).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-8.335072  7.07793 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(117.32725524902344, 34.7366943359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.904758  4.9830246], 10.204178810119629 meters away.)"}
{"file_name": "images/scenario_1163_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.8) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 28.3 meters away at (-26.8, -9.4). A pedestrian with ID 49 is 30.1 meters away at (-24.7, -17.3). A unknown object with ID 39 is 34.8 meters away at (-33.5, -9.1). A unknown object with ID 50 is 38.2 meters away at (-17.2, -34.1). A unknown object with ID 30 is 41.8 meters away at (-33.6, -24.8). A pedestrian with ID 51 is 44.3 meters away at (-44.3, -0.4). A vehicle with ID 52 is 45.0 meters away at (-39.3, -21.8). A pedestrian with ID 54 is 45.1 meters away at (-45.1, -0.8). A pedestrian with ID 53 is 45.2 meters away at (-45.1, -3.6). A pedestrian with ID 46 is 46.2 meters away at (-46.2, 0.3).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [2.1482742 2.7632678] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.2427833  -0.28434694] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [0.02935271 0.00973558] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.05177679 -0.05070479] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.13956358  0.32966277] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.04641593 -0.02534767] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-26.753633  -9.354508], 28.341907501220703 meters away.)"}
{"file_name": "images/scenario_1163_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 3.4) m/s. Its current heading (yaw) is 2.42 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 18.2 meters away at (-16.4, -8.1). A pedestrian with ID 51 is 39.1 meters away at (-38.7, -5.3). A pedestrian with ID 54 is 39.3 meters away at (-38.8, -6.5). A unknown object with ID 50 is 40.3 meters away at (-11.9, -38.5). A pedestrian with ID 53 is 40.8 meters away at (-40.1, -7.5). A pedestrian with ID 46 is 41.3 meters away at (-41.1, -4.0). A pedestrian with ID 47 is 42.7 meters away at (-42.3, -5.2). A vehicle with ID 52 is 43.1 meters away at (-34.2, -26.2). A vehicle with ID 48 is 44.2 meters away at (-43.3, -9.3). A pedestrian with ID 56 is 44.3 meters away at (-43.8, -6.8).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [2.4637392 2.5661352] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.56534684 -0.56513244] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.79068005 -0.51997   ] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.12105381  0.15511855] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.00338242 -0.02500614] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.6829568 -0.5305109] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.7127659   0.29354677] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-16.36284   -8.067408], 18.24350929260254 meters away.)"}
{"file_name": "images/scenario_1163_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 4.8) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 14 is 12.4 meters away at (-3.1, -12.0). A unknown object with ID 42 is 29.0 meters away at (-19.0, -21.9). A unknown object with ID 43 is 30.0 meters away at (-19.5, -22.8). A pedestrian with ID 51 is 31.0 meters away at (-27.0, -15.3). A pedestrian with ID 54 is 31.8 meters away at (-27.3, -16.3). A vehicle with ID 15 is 33.4 meters away at (-22.8, 24.3). A pedestrian with ID 46 is 34.0 meters away at (-31.6, -12.5). A pedestrian with ID 53 is 34.9 meters away at (-31.5, -14.9). A pedestrian with ID 47 is 36.2 meters away at (-33.6, -13.5). A vehicle with ID 48 is 38.1 meters away at (-33.9, -17.5).", "velocity_description": "The vehicle with ID 14 is traveling at a (x, y) velocity of [1.1965864 1.6709534] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 1.1778679 -0.6612284] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 1.0974383 -0.7754161] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.02375335 -0.08198948] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.5964644   0.78820914] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.77127635 -0.31237057] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -3.0825586 -11.975885 ], 12.366244316101074 meters away.)"}
{"file_name": "images/scenario_1163_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 5.7) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 17.4 meters away at (-10.7, 13.7). A vehicle with ID 14 is 21.9 meters away at (10.8, -19.0). A pedestrian with ID 46 is 30.4 meters away at (-20.6, -22.3). A vehicle with ID 12 is 30.4 meters away at (-25.0, 17.4). A pedestrian with ID 54 is 32.0 meters away at (-13.4, -29.1). A pedestrian with ID 53 is 32.3 meters away at (-21.0, -24.6). A pedestrian with ID 47 is 32.9 meters away at (-23.2, -23.4). A pedestrian with ID 56 is 34.1 meters away at (-23.3, -24.9). A vehicle with ID 48 is 35.6 meters away at (-21.7, -28.2). A vehicle with ID 10 is 39.5 meters away at (-36.2, -15.8).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0.5425403 2.6687753] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.95197123  0.5890868 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.812965  -4.3314404] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.86891824 -1.1027181 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.8594259   0.06534949] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.482187   0.4186779] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.2900465  0.05368772] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.704109  13.723295], 17.404218673706055 meters away.)"}
{"file_name": "images/scenario_1164_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.2) m/s. Its current heading (yaw) is -1.99 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 4.0 meters away at (-3.8, -1.1). A vehicle with ID 18 is 4.8 meters away at (-1.6, 4.5). A pedestrian with ID 5 is 15.9 meters away at (15.9, 0.6). A vehicle with ID 26 is 16.7 meters away at (3.1, 16.4). A pedestrian with ID 35 is 19.4 meters away at (-19.0, -3.9). A pedestrian with ID 29 is 22.3 meters away at (-21.9, 4.3). A pedestrian with ID 24 is 25.1 meters away at (-9.2, 23.3). A unknown object with ID 34 is 28.3 meters away at (-3.5, 28.1). A unknown object with ID 39 is 31.8 meters away at (21.6, 23.4). A vehicle with ID 33 is 35.5 meters away at (-35.4, -3.0).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.06976151 -1.0021237 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.9278437 -2.1342623] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.0140851 -1.2867084] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.44000688 -0.8585925 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.43923444 -1.2586279 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 3.50061  -1.627778] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.746891 -17.697357]\n [-11.058522 -15.465131]\n [-10.941437 -15.244245]\n [-10.838371 -15.576262]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.7912345 -1.1129518], 3.9512176513671875 meters away.)"}
{"file_name": "images/scenario_1164_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 3.5 meters away at (-3.5, -0.4). A vehicle with ID 18 is 5.3 meters away at (-1.2, 5.2). A unknown object with ID 17 is 7.6 meters away at (-7.2, -2.4). A unknown object with ID 19 is 10.2 meters away at (-10.0, -2.2). A vehicle with ID 26 is 14.1 meters away at (2.1, 13.9). A pedestrian with ID 5 is 16.9 meters away at (16.9, -0.7). A pedestrian with ID 35 is 20.3 meters away at (-19.3, -6.4). A pedestrian with ID 29 is 20.7 meters away at (-20.5, 3.3). A pedestrian with ID 21 is 20.8 meters away at (-15.2, 14.2). A unknown object with ID 34 is 28.9 meters away at (-3.2, 28.8).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.33349353 -0.85863423] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.3395623 -0.9130461] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.22233544 -1.4795203 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.775916  -0.8251764] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.37274823 -1.1618255 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.746891 -17.697357]\n [-21.615036 -18.291187]\n [-19.821423 -15.325641]\n [-11.058522 -15.465131]\n [-10.941437 -15.244245]\n [-10.838371 -15.576262]\n [-19.70678  -15.09413 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.4774036  -0.39887905], 3.5002057552337646 meters away.)"}
{"file_name": "images/scenario_1164_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 3.5 meters away at (-3.4, -0.3). A vehicle with ID 18 is 5.4 meters away at (-1.2, 5.3). A unknown object with ID 17 is 7.6 meters away at (-7.2, -2.3). A unknown object with ID 19 is 10.1 meters away at (-9.9, -2.0). A vehicle with ID 26 is 13.3 meters away at (1.8, 13.2). A pedestrian with ID 5 is 17.8 meters away at (17.6, -2.5). A cyclist with ID 32 is 18.2 meters away at (-15.3, -9.8). A pedestrian with ID 29 is 19.2 meters away at (-19.2, 1.8). A pedestrian with ID 21 is 20.0 meters away at (-16.1, 11.9). A pedestrian with ID 35 is 21.9 meters away at (-19.8, -9.3).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.47757313 -0.904499  ] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [2.8413901 7.566941 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.62312895 -0.94725096] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.6334769 -1.3080511] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.291664  -1.4849006] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.746891 -17.697357]\n [-21.615036 -18.291187]\n [-19.821423 -15.325641]\n [-11.058522 -15.465131]\n [-10.941437 -15.244245]\n [-18.782902 -11.839634]\n [-10.838371 -15.576262]\n [-19.70678  -15.09413 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.4480858  -0.33227158], 3.4640581607818604 meters away.)"}
{"file_name": "images/scenario_1164_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 3.4 meters away at (-3.4, -0.3). A vehicle with ID 18 is 5.4 meters away at (-1.2, 5.3). A unknown object with ID 17 is 7.5 meters away at (-7.2, -2.2). A unknown object with ID 19 is 10.1 meters away at (-9.9, -2.0). A cyclist with ID 32 is 11.1 meters away at (-8.2, 7.5). A vehicle with ID 26 is 13.3 meters away at (1.8, 13.2). A pedestrian with ID 29 is 18.1 meters away at (-18.1, 0.1). A vehicle with ID 36 is 18.6 meters away at (-0.4, -18.6). A pedestrian with ID 5 is 19.0 meters away at (18.4, -4.4). A pedestrian with ID 21 is 19.8 meters away at (-17.5, 9.3).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [3.8306072 8.915732 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.3993481 -1.3375026] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [7.1725516  0.25431308] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.44023183 -0.91608596] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.695094  -1.2795285] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.746891 -17.697357]\n [-21.615036 -18.291187]\n [-19.821423 -15.325641]\n [-11.058522 -15.465131]\n [-10.941437 -15.244245]\n [-18.782902 -11.839634]\n [-10.838371 -15.576262]\n [-19.70678  -15.09413 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.4235923  -0.31622887], 3.4381659030914307 meters away.)"}
{"file_name": "images/scenario_1165_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 5.0 meters away at (4.9, 0.9). A unknown object with ID 43 is 12.3 meters away at (10.2, -6.9). A vehicle with ID 42 is 15.0 meters away at (-12.8, 7.7). A vehicle with ID 46 is 22.3 meters away at (-19.9, 10.1). A vehicle with ID 28 is 29.0 meters away at (-3.3, -28.8). A vehicle with ID 47 is 36.1 meters away at (33.7, -12.9). A vehicle with ID 45 is 38.1 meters away at (9.8, 36.8). A vehicle with ID 27 is 38.1 meters away at (-14.7, -35.1). A vehicle with ID 62 is 38.3 meters away at (-9.9, -37.0). A vehicle with ID 48 is 42.2 meters away at (39.5, -14.6).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [1.9202563 5.720206 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 0.3086497  -0.32413447] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [2.9061012 7.6132936] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -5.4689255  -9.729022 ]\n [ -6.647809  -11.598626 ]]", "nav_goal": "(133.84579467773438, -190.6531982421875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.9377337 0.943593 ], 5.027084827423096 meters away.)"}
{"file_name": "images/scenario_1165_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.7) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 7.9 meters away at (0.9, -7.8). A vehicle with ID 28 is 15.4 meters away at (1.5, -15.3). A unknown object with ID 43 is 16.3 meters away at (14.9, 6.7). A vehicle with ID 42 is 22.8 meters away at (-8.1, 21.3). A vehicle with ID 27 is 23.7 meters away at (-10.0, -21.5). A vehicle with ID 46 is 28.1 meters away at (-15.1, 23.7). A pedestrian with ID 35 is 30.6 meters away at (0.6, -30.6). A vehicle with ID 44 is 32.2 meters away at (14.3, 28.9). A vehicle with ID 37 is 38.0 meters away at (-26.7, -27.0). A vehicle with ID 26 is 39.2 meters away at (-14.8, -36.3).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [3.0477087 7.7678833] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00301876 -0.00668766] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [2.8363712 8.588662 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -5.4689255  -9.729022 ]\n [ -6.647809  -11.598626 ]]", "nav_goal": "(133.84579467773438, -190.6531982421875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.8999653 -7.79825  ], 7.850008964538574 meters away.)"}
{"file_name": "images/scenario_1165_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.5) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (5.7, -2.2). A vehicle with ID 27 is 10.2 meters away at (-5.7, -8.5). A vehicle with ID 62 is 23.6 meters away at (10.9, 20.9). A vehicle with ID 26 is 25.5 meters away at (-10.5, -23.2). A vehicle with ID 37 is 26.5 meters away at (-22.5, -14.0). A vehicle with ID 36 is 27.3 meters away at (-5.9, -26.7). A vehicle with ID 25 is 31.5 meters away at (-12.6, -28.9). A pedestrian with ID 24 is 39.8 meters away at (-3.0, -39.7). A vehicle with ID 2 is 42.9 meters away at (-8.2, -42.1). A vehicle with ID 1 is 49.2 meters away at (-10.5, -48.1).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [2.7516465 7.8350224] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [3.2277734 8.64934  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.34428987 -1.4413122 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.84579467773438, -190.6531982421875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.6778383 -2.249405 ], 6.107181549072266 meters away.)"}
{"file_name": "images/scenario_1165_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -7.0) m/s. Its current heading (yaw) is -1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 4.9 meters away at (-1.3, 4.7). A vehicle with ID 36 is 5.8 meters away at (4.5, 3.6). A vehicle with ID 31 is 5.8 meters away at (4.5, 3.6). A vehicle with ID 26 is 11.6 meters away at (-6.1, -9.9). A vehicle with ID 28 is 14.9 meters away at (10.1, 11.0). A vehicle with ID 25 is 17.5 meters away at (-8.2, -15.4). A vehicle with ID 37 is 18.1 meters away at (-18.0, -0.6). A vehicle with ID 2 is 28.9 meters away at (-3.9, -28.7). A pedestrian with ID 24 is 28.9 meters away at (0.7, -28.9). A vehicle with ID 34 is 34.9 meters away at (-32.7, 12.1).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [2.8125806 8.066255 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [2.7803948 8.1335535] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.47232056 -1.273224  ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(133.84579467773438, -190.6531982421875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.3168316  4.6770287], 4.858872413635254 meters away.)"}
{"file_name": "images/scenario_1166_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.8) m/s. Its current heading (yaw) is 2.12 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 3.9 meters away at (3.9, 0.7). A vehicle with ID 27 is 6.8 meters away at (-0.9, 6.8). A vehicle with ID 30 is 8.2 meters away at (-4.9, 6.6). A vehicle with ID 26 is 9.3 meters away at (7.8, -5.0). A vehicle with ID 39 is 10.6 meters away at (-10.5, -1.1). A vehicle with ID 38 is 15.3 meters away at (-8.7, 12.6). A vehicle with ID 28 is 15.5 meters away at (0.5, -15.5). A vehicle with ID 33 is 15.6 meters away at (11.7, -10.3). A vehicle with ID 47 is 16.6 meters away at (-14.2, 8.6). A unknown object with ID 6 is 21.9 meters away at (-9.9, -19.6).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 6.671564 -7.999529] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 5.6053267 -8.183878 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 6.1138616 -8.02826  ] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-19.339766  22.398994]\n [-15.360006  25.45758 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.8551283 0.6696465], 3.912855625152588 meters away.)"}
{"file_name": "images/scenario_1166_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.1 meters away at (4.0, 0.4). A vehicle with ID 27 is 6.6 meters away at (-0.7, 6.5). A vehicle with ID 47 is 7.2 meters away at (-2.2, -6.9). A vehicle with ID 30 is 7.8 meters away at (-4.7, 6.3). A vehicle with ID 26 is 9.6 meters away at (8.0, -5.3). A vehicle with ID 38 is 15.0 meters away at (-8.5, 12.3). A vehicle with ID 33 is 15.9 meters away at (11.9, -10.6). A vehicle with ID 39 is 17.6 meters away at (3.2, -17.3). A vehicle with ID 40 is 22.3 meters away at (15.7, -15.9). A unknown object with ID 45 is 23.7 meters away at (-11.2, -20.8).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 5.67631   -7.7923284] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 6.759723 -8.06152 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.91321   19.107956]\n [-35.481148  20.428234]\n [-37.3844    22.930223]\n [-19.339766  22.398994]\n [-37.469166  26.816519]\n [-15.360006  25.45758 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.0354257 0.4106102], 4.056262016296387 meters away.)"}
{"file_name": "images/scenario_1166_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 4.0 meters away at (4.0, 0.4). A vehicle with ID 27 is 6.5 meters away at (-0.7, 6.5). A vehicle with ID 30 is 7.8 meters away at (-4.7, 6.2). A vehicle with ID 26 is 9.6 meters away at (8.0, -5.3). A vehicle with ID 60 is 13.6 meters away at (6.1, -12.2). A vehicle with ID 38 is 14.9 meters away at (-8.5, 12.3). A vehicle with ID 33 is 15.9 meters away at (11.9, -10.6). A vehicle with ID 40 is 22.3 meters away at (15.6, -15.9). A unknown object with ID 45 is 23.8 meters away at (-11.2, -21.0). A vehicle with ID 47 is 25.0 meters away at (9.5, -23.1).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-5.9533863  6.8887773] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 6.0538526 -8.352214 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.91321   19.107956]\n [-35.481148  20.428234]\n [-29.81352   35.526382]\n [-37.3844    22.930223]\n [-26.699308  37.186802]\n [-19.339766  22.398994]\n [-37.469166  26.816519]\n [-15.360006  25.45758 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.0250425 0.413754 ], 4.046252727508545 meters away.)"}
{"file_name": "images/scenario_1166_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 60 is 3.3 meters away at (-3.1, -1.1). A vehicle with ID 24 is 4.1 meters away at (4.0, 0.4). A vehicle with ID 27 is 6.6 meters away at (-0.8, 6.6). A vehicle with ID 30 is 7.8 meters away at (-4.7, 6.2). A vehicle with ID 26 is 9.6 meters away at (8.0, -5.3). A vehicle with ID 38 is 15.0 meters away at (-8.6, 12.3). A vehicle with ID 33 is 15.9 meters away at (11.9, -10.6). A unknown object with ID 10 is 16.7 meters away at (-13.4, -10.0). A vehicle with ID 40 is 22.3 meters away at (15.7, -15.9). A vehicle with ID 23 is 22.5 meters away at (11.4, -19.4).", "velocity_description": "The vehicle with ID 60 is traveling at a (x, y) velocity of [-3.3429117  4.1598864] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-5.469984   7.0681562] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.91321   19.107956]\n [-35.481148  20.428234]\n [-29.81352   35.526382]\n [-37.3844    22.930223]\n [-26.699308  37.186802]\n [-19.339766  22.398994]\n [-37.469166  26.816519]\n [-15.360006  25.45758 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.126073  -1.1023772], 3.3147499561309814 meters away.)"}
{"file_name": "images/scenario_1167_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.3) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A unknown object with ID 91 is 12.7 meters away at (12.1, -4.0). A vehicle with ID 99 is 14.4 meters away at (-4.9, -13.5). A vehicle with ID 98 is 14.4 meters away at (-7.3, -12.4). A vehicle with ID 97 is 14.6 meters away at (-9.4, -11.1). A vehicle with ID 96 is 15.0 meters away at (-11.8, -9.3). A vehicle with ID 100 is 15.6 meters away at (-2.8, -15.3). A vehicle with ID 95 is 16.2 meters away at (-14.2, -7.9). A vehicle with ID 102 is 17.0 meters away at (0.1, -17.0). A vehicle with ID 94 is 17.9 meters away at (-16.6, -6.6). A vehicle with ID 101 is 20.5 meters away at (3.7, -20.2).", "velocity_description": "The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [12.06581  -4.004971], 12.713126182556152 meters away.)"}
{"file_name": "images/scenario_1167_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 97 is 14.5 meters away at (-8.1, -12.0). A vehicle with ID 98 is 14.5 meters away at (-6.0, -13.2). A vehicle with ID 96 is 14.6 meters away at (-10.5, -10.1). A vehicle with ID 99 is 14.8 meters away at (-3.6, -14.3). A vehicle with ID 95 is 15.6 meters away at (-12.9, -8.7). A vehicle with ID 100 is 16.2 meters away at (-1.5, -16.2). A vehicle with ID 94 is 17.0 meters away at (-15.2, -7.4). A vehicle with ID 102 is 17.9 meters away at (1.4, -17.9). A vehicle with ID 93 is 20.2 meters away at (-19.8, -4.2). A vehicle with ID 65 is 21.4 meters away at (5.3, -20.7).", "velocity_description": "The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -8.079195 -12.007787], 14.47274398803711 meters away.)"}
{"file_name": "images/scenario_1167_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 1.3) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 96 is 14.2 meters away at (-8.7, -11.2). A vehicle with ID 97 is 14.5 meters away at (-6.3, -13.1). A vehicle with ID 95 is 14.7 meters away at (-11.0, -9.8). A vehicle with ID 98 is 14.9 meters away at (-4.1, -14.3). A vehicle with ID 99 is 15.5 meters away at (-1.8, -15.4). A vehicle with ID 94 is 15.9 meters away at (-13.4, -8.5). A unknown object with ID 45 is 16.4 meters away at (15.3, -5.9). A vehicle with ID 100 is 17.2 meters away at (0.4, -17.2). A vehicle with ID 93 is 18.7 meters away at (-18.0, -5.3). A vehicle with ID 102 is 19.2 meters away at (3.3, -18.9).", "velocity_description": "The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -8.6596155 -11.2235565], 14.175935745239258 meters away.)"}
{"file_name": "images/scenario_1167_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 2.8) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 94 is 14.0 meters away at (-6.2, -12.6). A vehicle with ID 93 is 14.2 meters away at (-10.7, -9.3). A vehicle with ID 95 is 14.4 meters away at (-3.7, -13.9). A vehicle with ID 96 is 15.3 meters away at (-1.5, -15.3). A vehicle with ID 97 is 17.2 meters away at (1.0, -17.1). A vehicle with ID 98 is 18.6 meters away at (3.1, -18.3). A vehicle with ID 31 is 18.7 meters away at (-16.8, -8.3). A vehicle with ID 99 is 20.3 meters away at (5.5, -19.5). A vehicle with ID 100 is 22.7 meters away at (7.7, -21.3). A vehicle with ID 102 is 25.4 meters away at (10.6, -23.0).", "velocity_description": "The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -6.180296 -12.592926], 14.027752876281738 meters away.)"}
{"file_name": "images/scenario_1168_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -2.8) m/s. Its current heading (yaw) is -0.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (4.4, 1.0). A vehicle with ID 15 is 4.9 meters away at (-0.4, 4.9). A unknown object with ID 16 is 7.8 meters away at (-7.7, -0.6). A vehicle with ID 17 is 10.4 meters away at (-5.1, 9.1). A vehicle with ID 14 is 11.0 meters away at (-10.4, 3.6). A unknown object with ID 19 is 12.9 meters away at (11.6, -5.7). A vehicle with ID 20 is 18.7 meters away at (-11.5, 14.7). A pedestrian with ID 6 is 25.2 meters away at (-13.8, -21.1). A vehicle with ID 21 is 30.5 meters away at (-25.6, 16.5). A vehicle with ID 22 is 37.0 meters away at (-30.6, 20.8).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.8133222 -1.2391539] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(3.197941541671753, -15.215991020202637)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.4299464 0.9677191], 4.5344133377075195 meters away.)"}
{"file_name": "images/scenario_1168_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -2.4) m/s. Its current heading (yaw) is -0.68 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 5.4 meters away at (5.4, -0.8). A vehicle with ID 18 is 6.1 meters away at (-1.6, 5.8). A vehicle with ID 15 is 11.3 meters away at (-6.2, 9.5). A unknown object with ID 16 is 14.6 meters away at (-13.9, 4.3). A vehicle with ID 17 is 18.1 meters away at (-11.3, 14.1). A vehicle with ID 14 is 18.7 meters away at (-16.6, 8.6). A vehicle with ID 20 is 26.6 meters away at (-17.8, 19.7). A pedestrian with ID 6 is 26.7 meters away at (-19.3, -18.6). A vehicle with ID 21 is 38.4 meters away at (-31.8, 21.5). A vehicle with ID 22 is 45.0 meters away at (-36.9, 25.9).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.29584795 -1.2858291 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(3.197941541671753, -15.215991020202637)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 5.3655224 -0.7901478], 5.4233903884887695 meters away.)"}
{"file_name": "images/scenario_1168_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -2.9) m/s. Its current heading (yaw) is -1.25 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 4.6 meters away at (1.3, 4.5). A vehicle with ID 18 is 12.5 meters away at (-5.8, 11.1). A vehicle with ID 15 is 18.0 meters away at (-10.4, 14.7). A unknown object with ID 16 is 20.4 meters away at (-18.1, 9.5). A vehicle with ID 17 is 24.6 meters away at (-15.5, 19.2). A vehicle with ID 14 is 25.0 meters away at (-20.8, 13.8). A pedestrian with ID 6 is 28.4 meters away at (-23.4, -16.0). A vehicle with ID 20 is 33.2 meters away at (-22.0, 24.9). A vehicle with ID 21 is 44.9 meters away at (-36.2, 26.7). A vehicle with ID 22 is 51.4 meters away at (-41.1, 30.9).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.40924913 -1.2059897 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(3.197941541671753, -15.215991020202637)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [1.265728  4.4582567], 4.634449481964111 meters away.)"}
{"file_name": "images/scenario_1168_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -2.8) m/s. Its current heading (yaw) is -1.79 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 10.5 meters away at (0.9, 10.4). A vehicle with ID 18 is 18.1 meters away at (-6.1, 17.0). A vehicle with ID 15 is 23.2 meters away at (-10.7, 20.6). A unknown object with ID 16 is 24.1 meters away at (-18.4, 15.5). A vehicle with ID 14 is 28.9 meters away at (-21.1, 19.7). A vehicle with ID 17 is 29.7 meters away at (-15.8, 25.2). A vehicle with ID 20 is 38.1 meters away at (-22.3, 30.9). A vehicle with ID 21 is 48.9 meters away at (-36.5, 32.6). A vehicle with ID 22 is 55.4 meters away at (-41.6, 36.6). A vehicle with ID 24 is 67.8 meters away at (-45.1, 50.6).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(3.197941541671753, -15.215991020202637)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 0.8712406 10.430822 ], 10.467144966125488 meters away.)"}
{"file_name": "images/scenario_1169_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.2) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.4, 1.8). A vehicle with ID 17 is 5.4 meters away at (-0.3, 5.3). A vehicle with ID 21 is 8.0 meters away at (-6.1, 5.1). A vehicle with ID 20 is 10.5 meters away at (-4.9, 9.3). A pedestrian with ID 24 is 17.1 meters away at (-16.4, -4.9). A vehicle with ID 23 is 17.7 meters away at (-10.8, 14.1). A vehicle with ID 26 is 18.6 meters away at (16.6, -8.3). A vehicle with ID 30 is 21.1 meters away at (-16.4, 13.2). A vehicle with ID 29 is 24.2 meters away at (-16.0, 18.2). A vehicle with ID 34 is 26.7 meters away at (23.0, -13.4).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9972663 -0.9505225] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-46.203873  38.73488 ]\n [-47.68917   39.89904 ]\n [-46.552032  38.899715]\n [-45.22373   38.25462 ]]", "nav_goal": "(114.72435760498047, 217.77381896972656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.4078255 1.812968 ], 4.766107082366943 meters away.)"}
{"file_name": "images/scenario_1169_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.5, 1.7). A vehicle with ID 17 is 5.2 meters away at (-0.2, 5.2). A vehicle with ID 21 is 8.0 meters away at (-6.1, 5.1). A vehicle with ID 20 is 10.4 meters away at (-4.8, 9.2). A pedestrian with ID 24 is 15.8 meters away at (-14.3, -6.7). A vehicle with ID 23 is 17.5 meters away at (-10.6, 13.9). A vehicle with ID 26 is 18.7 meters away at (16.7, -8.5). A vehicle with ID 30 is 20.9 meters away at (-16.3, 13.1). A vehicle with ID 29 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 34 is 26.8 meters away at (23.1, -13.6).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9793122 -0.6660685] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-46.203873  38.73488 ]\n [-47.68917   39.89904 ]\n [-46.552032  38.899715]\n [-45.22373   38.25462 ]]", "nav_goal": "(114.72435760498047, 217.77381896972656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.5340977 1.6812656], 4.835772514343262 meters away.)"}
{"file_name": "images/scenario_1169_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.5, 1.7). A vehicle with ID 17 is 5.2 meters away at (-0.1, 5.2). A vehicle with ID 21 is 8.2 meters away at (-6.3, 5.2). A vehicle with ID 20 is 10.3 meters away at (-4.7, 9.2). A pedestrian with ID 24 is 14.7 meters away at (-12.3, -8.1). A vehicle with ID 23 is 17.5 meters away at (-10.6, 13.9). A vehicle with ID 26 is 18.7 meters away at (16.7, -8.5). A vehicle with ID 30 is 21.3 meters away at (-16.6, 13.4). A vehicle with ID 29 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 34 is 26.8 meters away at (23.1, -13.6).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9732534  -0.79573554] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-46.203873  38.73488 ]\n [-47.68917   39.89904 ]\n [-46.552032  38.899715]\n [-45.22373   38.25462 ]]", "nav_goal": "(114.72435760498047, 217.77381896972656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.548232  1.6689247], 4.844762325286865 meters away.)"}
{"file_name": "images/scenario_1169_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.5, 1.7). A vehicle with ID 17 is 5.2 meters away at (-0.1, 5.2). A vehicle with ID 21 is 8.7 meters away at (-6.7, 5.6). A vehicle with ID 20 is 10.3 meters away at (-4.8, 9.2). A pedestrian with ID 24 is 14.2 meters away at (-10.3, -9.8). A vehicle with ID 23 is 17.5 meters away at (-10.6, 13.9). A vehicle with ID 26 is 18.8 meters away at (16.7, -8.5). A vehicle with ID 30 is 21.8 meters away at (-17.0, 13.7). A vehicle with ID 29 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 34 is 26.8 meters away at (23.1, -13.6).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.31474388  0.25047842] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.97908115 -0.79965085] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-46.203873  38.73488 ]\n [-47.68917   39.89904 ]\n [-46.552032  38.899715]\n [-45.22373   38.25462 ]]", "nav_goal": "(114.72435760498047, 217.77381896972656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [4.5454063 1.6755222], 4.844388008117676 meters away.)"}
{"file_name": "images/scenario_1170_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.9) m/s. Its current heading (yaw) is 2.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 5.2 meters away at (5.2, -1.0). A vehicle with ID 64 is 9.7 meters away at (-0.4, -9.7). A vehicle with ID 61 is 10.1 meters away at (9.0, -4.5). A vehicle with ID 63 is 12.7 meters away at (1.0, 12.7). A vehicle with ID 65 is 13.3 meters away at (3.3, -12.9). A vehicle with ID 71 is 16.0 meters away at (11.2, -11.4). A vehicle with ID 27 is 17.1 meters away at (4.5, 16.5). A vehicle with ID 66 is 17.8 meters away at (7.1, -16.3). A vehicle with ID 77 is 18.9 meters away at (-17.2, -7.8). A vehicle with ID 69 is 20.0 meters away at (16.4, -11.5).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-3.8109143  3.6033099] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.155979  -0.9505067], 5.242860317230225 meters away.)"}
{"file_name": "images/scenario_1170_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 2.4) m/s. Its current heading (yaw) is 2.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 8.9 meters away at (7.8, -4.3). A vehicle with ID 63 is 10.1 meters away at (3.6, 9.4). A vehicle with ID 71 is 12.0 meters away at (7.8, -9.1). A vehicle with ID 64 is 13.1 meters away at (2.2, -12.9). A vehicle with ID 61 is 13.9 meters away at (11.5, -7.7). A vehicle with ID 27 is 15.1 meters away at (7.1, 13.3). A vehicle with ID 67 is 16.4 meters away at (-1.2, 16.4). A vehicle with ID 65 is 17.2 meters away at (6.0, -16.2). A vehicle with ID 77 is 18.4 meters away at (-14.5, -11.2). A vehicle with ID 81 is 19.9 meters away at (-19.5, -3.8).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-2.1063755  1.9678422] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 7.8206654 -4.2709613], 8.910887718200684 meters away.)"}
{"file_name": "images/scenario_1170_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 3.6) m/s. Its current heading (yaw) is 1.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 63 is 5.8 meters away at (4.8, 3.2). A vehicle with ID 67 is 10.2 meters away at (0.1, 10.2). A vehicle with ID 27 is 10.9 meters away at (8.3, 7.2). A vehicle with ID 71 is 11.8 meters away at (4.4, -11.0). A vehicle with ID 62 is 13.8 meters away at (9.1, -10.4). A vehicle with ID 26 is 14.4 meters away at (3.6, 13.9). A vehicle with ID 25 is 16.3 meters away at (11.9, 11.1). A vehicle with ID 61 is 18.8 meters away at (12.9, -13.7). A vehicle with ID 64 is 19.4 meters away at (3.4, -19.1). A vehicle with ID 22 is 20.5 meters away at (8.4, 18.8).", "velocity_description": "The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-3.1087618  2.852519 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [4.8313417 3.2430716], 5.818881034851074 meters away.)"}
{"file_name": "images/scenario_1170_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 4.3) m/s. Its current heading (yaw) is 0.96 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 4.3 meters away at (-3.5, 2.4). A vehicle with ID 63 is 4.8 meters away at (1.3, -4.6). A vehicle with ID 27 is 4.8 meters away at (4.7, -0.7). A vehicle with ID 26 is 6.0 meters away at (-0.1, 6.0). A vehicle with ID 25 is 8.9 meters away at (8.4, 3.1). A vehicle with ID 22 is 11.9 meters away at (4.8, 10.9). A vehicle with ID 71 is 13.7 meters away at (-7.4, -11.5). A vehicle with ID 21 is 14.2 meters away at (12.4, 7.0). A vehicle with ID 20 is 17.5 meters away at (8.6, 15.2). A vehicle with ID 19 is 19.6 meters away at (16.0, 11.5).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-5.027719  4.509029] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-3.5121799  2.4061317], 4.2573323249816895 meters away.)"}
{"file_name": "images/scenario_1171_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 3.4) m/s. Its current heading (yaw) is 1.95 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 22.4 meters away at (7.3, 21.2). A vehicle with ID 17 is 27.2 meters away at (13.3, 23.7). A vehicle with ID 10 is 39.5 meters away at (26.8, 29.0). A vehicle with ID 6 is 54.4 meters away at (41.5, 35.2).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.62384033203125, 139.21566772460938)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 7.283216 21.175243], 22.392770767211914 meters away.)"}
{"file_name": "images/scenario_1171_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.8) m/s. Its current heading (yaw) is 1.97 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 19.3 meters away at (8.9, 17.1). A vehicle with ID 17 is 24.8 meters away at (15.1, 19.7). A vehicle with ID 2 is 34.8 meters away at (-33.9, -8.0). A vehicle with ID 10 is 37.9 meters away at (28.5, 24.9). A vehicle with ID 1 is 40.8 meters away at (-39.5, -10.1). A vehicle with ID 6 is 53.3 meters away at (43.2, 31.2).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.62384033203125, 139.21566772460938)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 8.908922 17.078678], 19.26266098022461 meters away.)"}
{"file_name": "images/scenario_1171_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.8) m/s. Its current heading (yaw) is 2.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 18.6 meters away at (9.5, 16.0). A vehicle with ID 17 is 24.2 meters away at (15.6, 18.5). A vehicle with ID 2 is 34.7 meters away at (-33.5, -8.9). A vehicle with ID 10 is 37.5 meters away at (29.1, 23.7). A vehicle with ID 1 is 40.6 meters away at (-39.2, -10.7). A vehicle with ID 6 is 53.0 meters away at (43.7, 29.9).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.62384033203125, 139.21566772460938)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 9.485588 16.032759], 18.628625869750977 meters away.)"}
{"file_name": "images/scenario_1171_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 1.2) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 18 is 18.7 meters away at (13.5, 13.0). A vehicle with ID 17 is 25.0 meters away at (19.7, 15.5). A vehicle with ID 2 is 31.8 meters away at (-29.6, -11.6). A vehicle with ID 1 is 37.7 meters away at (-35.2, -13.5). A vehicle with ID 10 is 39.1 meters away at (33.1, 20.7). A vehicle with ID 6 is 54.8 meters away at (47.8, 26.8).", "velocity_description": "The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-163.62384033203125, 139.21566772460938)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [13.4608   12.977493], 18.697818756103516 meters away.)"}
{"file_name": "images/scenario_1172_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -7.1) m/s. Its current heading (yaw) is -1.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 23 is 33.5 meters away at (20.6, -26.3). A pedestrian with ID 34 is 39.5 meters away at (34.5, 19.3). A vehicle with ID 36 is 46.6 meters away at (41.2, 21.7). A unknown object with ID 10 is 49.5 meters away at (46.6, 16.8). A pedestrian with ID 33 is 57.6 meters away at (-12.7, 56.2). A vehicle with ID 29 is 58.6 meters away at (52.1, 26.8). A vehicle with ID 38 is 60.6 meters away at (57.6, 18.8). A unknown object with ID 12 is 62.6 meters away at (22.4, -58.4).", "velocity_description": "The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3298026 -0.1286011] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.30599365 1.3870385 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(16.847436904907227, -250.77622985839844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 20.644146 -26.328436], 33.456947326660156 meters away.)"}
{"file_name": "images/scenario_1172_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -7.5) m/s. Its current heading (yaw) is -1.16 ", "actor_description": " The most relevant actors are: A unknown object with ID 18 is 36.8 meters away at (26.4, 25.6). A unknown object with ID 13 is 37.6 meters away at (11.8, -35.7). A pedestrian with ID 34 is 42.4 meters away at (25.8, 33.6). A unknown object with ID 14 is 46.6 meters away at (16.5, -43.6). A unknown object with ID 12 is 46.8 meters away at (16.2, -43.9). A unknown object with ID 17 is 47.0 meters away at (15.9, -44.3). A vehicle with ID 36 is 51.2 meters away at (36.1, 36.4). A vehicle with ID 29 is 61.8 meters away at (45.9, 41.4). A vehicle with ID 6 is 65.9 meters away at (21.5, -62.3). A vehicle with ID 3 is 75.7 meters away at (23.7, -71.9).", "velocity_description": "The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.1323547 -0.318815 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0.5457039  0.00959453] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(16.847436904907227, -250.77622985839844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [26.406242 25.565605], 36.754451751708984 meters away.)"}
{"file_name": "images/scenario_1172_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -7.2) m/s. Its current heading (yaw) is -1.06 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 21.3 meters away at (4.9, -20.8). A unknown object with ID 13 is 21.7 meters away at (4.6, -21.2). A unknown object with ID 25 is 22.4 meters away at (-0.9, 22.3). A unknown object with ID 14 is 30.6 meters away at (9.3, -29.1). A unknown object with ID 12 is 30.9 meters away at (8.4, -29.8). A unknown object with ID 17 is 31.1 meters away at (8.8, -29.8). A vehicle with ID 6 is 49.7 meters away at (14.3, -47.6). A vehicle with ID 3 is 59.8 meters away at (16.6, -57.4). A vehicle with ID 4 is 69.2 meters away at (-24.8, 64.7).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [  5.47883 -15.78364] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(16.847436904907227, -250.77622985839844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [  4.8894634 -20.782558 ], 21.349979400634766 meters away.)"}
{"file_name": "images/scenario_1172_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -7.5) m/s. Its current heading (yaw) is -1.17 ", "actor_description": " The most relevant actors are: A unknown object with ID 24 is 6.6 meters away at (-2.4, -6.2). A unknown object with ID 13 is 7.1 meters away at (-2.7, -6.5). A unknown object with ID 21 is 7.7 meters away at (6.8, -3.4). A unknown object with ID 14 is 14.6 meters away at (2.0, -14.4). A unknown object with ID 12 is 15.1 meters away at (1.2, -15.1). A unknown object with ID 17 is 15.1 meters away at (1.6, -15.1). A unknown object with ID 27 is 15.2 meters away at (15.1, -1.0). A vehicle with ID 6 is 33.6 meters away at (7.2, -32.9). A vehicle with ID 3 is 43.6 meters away at (9.4, -42.6). A vehicle with ID 4 is 51.3 meters away at (-20.8, 46.9).", "velocity_description": "The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [  6.243204 -16.221004] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(16.847436904907227, -250.77622985839844)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-2.4421444 -6.17099  ], 6.636654853820801 meters away.)"}
{"file_name": "images/scenario_1173_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 1.7) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A unknown object with ID 82 is 7.7 meters away at (-6.8, 3.6). A vehicle with ID 83 is 10.9 meters away at (7.3, 8.0). A vehicle with ID 84 is 11.0 meters away at (-3.9, 10.3). A vehicle with ID 86 is 15.5 meters away at (-7.8, 13.4). A vehicle with ID 85 is 15.8 meters away at (-15.1, 4.7). A vehicle with ID 87 is 23.7 meters away at (-23.5, 3.0). A vehicle with ID 88 is 27.5 meters away at (-25.2, -10.9). A vehicle with ID 89 is 29.9 meters away at (-28.9, -7.4). A vehicle with ID 90 is 31.5 meters away at (-31.0, -5.7). A vehicle with ID 91 is 33.4 meters away at (-33.2, -4.2).", "velocity_description": "The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [2.6935627 1.5474564] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(197.21148681640625, 182.01412963867188)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-6.757929   3.5935903], 7.653985500335693 meters away.)"}
{"file_name": "images/scenario_1173_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 2.2) m/s. Its current heading (yaw) is 0.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 84 is 9.6 meters away at (-7.0, 6.5). A unknown object with ID 82 is 9.9 meters away at (-9.9, -0.2). A vehicle with ID 83 is 12.9 meters away at (12.1, 4.4). A vehicle with ID 86 is 14.6 meters away at (-11.0, 9.5). A vehicle with ID 85 is 18.3 meters away at (-18.3, 0.8). A vehicle with ID 87 is 26.7 meters away at (-26.7, -0.8). A vehicle with ID 88 is 32.1 meters away at (-28.5, -14.7). A pedestrian with ID 96 is 33.4 meters away at (13.2, 30.7). A vehicle with ID 89 is 34.1 meters away at (-32.2, -11.3). A vehicle with ID 90 is 35.5 meters away at (-34.2, -9.5).", "velocity_description": "The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [ 5.429811  -2.1291928] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-1.0289024 -0.8982797] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(197.21148681640625, 182.01412963867188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.025781  6.496489], 9.569010734558105 meters away.)"}
{"file_name": "images/scenario_1173_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 3.9) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 84 is 12.0 meters away at (-12.0, 0.6). A unknown object with ID 82 is 16.1 meters away at (-14.9, -6.1). A vehicle with ID 86 is 16.3 meters away at (-15.9, 3.6). A vehicle with ID 83 is 22.4 meters away at (20.2, -9.8). A pedestrian with ID 96 is 23.6 meters away at (6.6, 22.6). A vehicle with ID 85 is 23.8 meters away at (-23.3, -5.1). A vehicle with ID 75 is 26.0 meters away at (11.5, -23.4). A pedestrian with ID 47 is 26.2 meters away at (26.2, 0.6). A vehicle with ID 97 is 33.0 meters away at (23.6, 23.0). A vehicle with ID 94 is 33.6 meters away at (-13.2, 30.9).", "velocity_description": "The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [ 7.596016  -5.7111683] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-0.58178455 -1.0675877 ] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.01513138 -0.01697273] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(197.21148681640625, 182.01412963867188)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-11.957556     0.58126163], 11.971674919128418 meters away.)"}
{"file_name": "images/scenario_1173_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 5.0) m/s. Its current heading (yaw) is 0.88 ", "actor_description": " The most relevant actors are: A pedestrian with ID 96 is 11.8 meters away at (-1.1, 11.7). A pedestrian with ID 47 is 20.6 meters away at (18.8, -8.4). A vehicle with ID 84 is 21.1 meters away at (-19.4, -8.4). A vehicle with ID 97 is 21.5 meters away at (16.2, 14.1). A vehicle with ID 86 is 23.9 meters away at (-23.3, -5.3). A unknown object with ID 82 is 27.0 meters away at (-22.4, -15.1). A vehicle with ID 28 is 27.6 meters away at (20.2, 18.8). A vehicle with ID 94 is 30.1 meters away at (-20.6, 21.9). A vehicle with ID 85 is 33.8 meters away at (-30.7, -14.1). A vehicle with ID 79 is 35.1 meters away at (26.0, -23.6).", "velocity_description": "The pedestrian with ID 96 is traveling at a (x, y) velocity of [ 0.1667027  -0.58761096] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.0017283   0.00138491] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-7.084769  6.145286] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(197.21148681640625, 182.01412963867188)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-1.0543308 11.726444 ], 11.773746490478516 meters away.)"}
{"file_name": "images/scenario_1174_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 13.4 meters away at (-13.3, 1.6). A cyclist with ID 26 is 18.2 meters away at (-3.3, 17.9). A vehicle with ID 24 is 23.6 meters away at (-23.4, -3.6). A unknown object with ID 32 is 24.4 meters away at (23.0, 8.1). A unknown object with ID 33 is 24.4 meters away at (23.6, 6.1). A unknown object with ID 27 is 24.5 meters away at (22.4, 10.1). A unknown object with ID 31 is 24.5 meters away at (22.4, 10.0). A unknown object with ID 34 is 25.2 meters away at (24.7, 4.6). A vehicle with ID 30 is 31.2 meters away at (-5.0, -30.8). A unknown object with ID 3 is 34.0 meters away at (3.6, -33.8).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [0.00439036 0.00067696] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-2.0171027 -1.3796421] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-8.8829155 29.76315  ]\n [-7.5147433 33.353893 ]]", "nav_goal": "(-104.82353973388672, -244.470947265625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-13.261781    1.5745347], 13.354924201965332 meters away.)"}
{"file_name": "images/scenario_1174_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 20 is 15.2 meters away at (-15.2, 1.2). A cyclist with ID 26 is 18.1 meters away at (-3.3, 17.8). A unknown object with ID 32 is 24.4 meters away at (23.1, 8.0). A unknown object with ID 33 is 24.5 meters away at (23.7, 6.1). A unknown object with ID 31 is 24.5 meters away at (22.4, 9.9). A unknown object with ID 34 is 25.2 meters away at (24.8, 4.5). A unknown object with ID 18 is 26.8 meters away at (26.7, 1.9). A vehicle with ID 24 is 29.3 meters away at (-28.2, -7.8). A vehicle with ID 30 is 31.2 meters away at (-5.0, -30.8). A unknown object with ID 5 is 43.1 meters away at (35.1, -25.0).", "velocity_description": "The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.317243   -0.51742846] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.02757057 -0.00364224] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-2.56832   -2.9144406] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-8.8829155 29.76315  ]\n [-7.5147433 33.353893 ]]", "nav_goal": "(-104.82353973388672, -244.470947265625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-15.196878    1.2162528], 15.245471000671387 meters away.)"}
{"file_name": "images/scenario_1174_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.6) m/s. Its current heading (yaw) is 2.76 ", "actor_description": " The most relevant actors are: A cyclist with ID 26 is 17.1 meters away at (-1.7, 17.1). A vehicle with ID 20 is 21.6 meters away at (-21.5, -2.1). A unknown object with ID 32 is 25.5 meters away at (24.5, 7.1). A unknown object with ID 31 is 25.6 meters away at (23.9, 9.0). A unknown object with ID 33 is 25.7 meters away at (25.2, 5.1). A unknown object with ID 34 is 26.5 meters away at (26.3, 3.5). A unknown object with ID 18 is 28.3 meters away at (28.3, 0.6). A vehicle with ID 30 is 31.8 meters away at (-3.9, -31.6). A vehicle with ID 24 is 35.7 meters away at (-32.1, -15.7). A unknown object with ID 6 is 39.9 meters away at (35.1, -18.9).", "velocity_description": "The cyclist with ID 26 is traveling at a (x, y) velocity of [ 0.01880449 -0.03220068] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-4.7667155 -2.4249487] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-2.7961628 -4.1826024] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-8.8829155 29.76315  ]\n [-7.5147433 33.353893 ]]", "nav_goal": "(-104.82353973388672, -244.470947265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [-1.7332001 17.061754 ], 17.149560928344727 meters away.)"}
{"file_name": "images/scenario_1174_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 0.2) m/s. Its current heading (yaw) is 3.08 ", "actor_description": " The most relevant actors are: A cyclist with ID 26 is 16.2 meters away at (3.6, 15.8). A unknown object with ID 22 is 29.2 meters away at (16.9, -23.8). A vehicle with ID 20 is 29.4 meters away at (-27.1, -11.4). A unknown object with ID 31 is 30.2 meters away at (29.2, 7.7). A unknown object with ID 32 is 30.3 meters away at (29.8, 5.9). A unknown object with ID 33 is 30.7 meters away at (30.4, 4.0). A unknown object with ID 34 is 31.6 meters away at (31.6, 2.3). A vehicle with ID 30 is 32.7 meters away at (1.3, -32.7). A vehicle with ID 24 is 42.1 meters away at (-33.1, -26.0). A vehicle with ID 25 is 42.2 meters away at (-3.8, -42.1).", "velocity_description": "The cyclist with ID 26 is traveling at a (x, y) velocity of [-0.01715112 -0.01723024] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.83348   -5.8864403] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-3.5617802 -4.977626 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-8.8829155 29.76315  ]\n [-7.5147433 33.353893 ]]", "nav_goal": "(-104.82353973388672, -244.470947265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 3.5705013 15.766071 ], 16.16531753540039 meters away.)"}
{"file_name": "images/scenario_1175_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.16 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 7.9 meters away at (-2.1, 7.6). A vehicle with ID 1 is 8.4 meters away at (-4.2, -7.3). A unknown object with ID 37 is 8.8 meters away at (-1.3, 8.7). A unknown object with ID 40 is 11.5 meters away at (-3.0, 11.1). A unknown object with ID 36 is 12.0 meters away at (-9.2, 7.7). A unknown object with ID 38 is 12.6 meters away at (-3.7, 12.0). A unknown object with ID 45 is 21.4 meters away at (6.8, 20.3). A unknown object with ID 46 is 23.6 meters away at (10.7, 21.0). A unknown object with ID 49 is 23.6 meters away at (12.1, 20.3). A unknown object with ID 53 is 24.6 meters away at (12.3, 21.3).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[1.8320063 2.6426005]\n [3.2729542 1.7932876]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-2.109333   7.5925045], 7.880064487457275 meters away.)"}
{"file_name": "images/scenario_1175_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.3) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 7.0 meters away at (-2.4, 6.6). A unknown object with ID 37 is 8.0 meters away at (-1.7, 7.8). A vehicle with ID 1 is 8.3 meters away at (-3.8, -7.4). A unknown object with ID 5 is 8.9 meters away at (-3.4, 8.2). A unknown object with ID 4 is 9.3 meters away at (-2.8, 8.9). A unknown object with ID 36 is 11.7 meters away at (-9.5, 6.8). A unknown object with ID 38 is 11.8 meters away at (-3.7, 11.2). A unknown object with ID 45 is 20.3 meters away at (6.5, 19.2). A unknown object with ID 43 is 21.8 meters away at (21.3, -4.3). A unknown object with ID 46 is 22.5 meters away at (10.5, 19.9).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.7105951  0.89353555] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a unknown object at [-2.4064538  6.620273 ], 7.0440778732299805 meters away.)"}
{"file_name": "images/scenario_1175_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.8) m/s. Its current heading (yaw) is 1.45 ", "actor_description": " The most relevant actors are: A unknown object with ID 39 is 4.2 meters away at (-3.5, 2.4). A unknown object with ID 37 is 4.6 meters away at (-2.7, 3.7). A unknown object with ID 4 is 5.9 meters away at (-3.7, 4.5). A unknown object with ID 5 is 5.9 meters away at (-4.4, 3.9). A unknown object with ID 38 is 8.5 meters away at (-5.0, 6.9). A vehicle with ID 1 is 8.6 meters away at (-2.4, -8.3). A unknown object with ID 36 is 10.9 meters away at (-10.6, 2.6). A unknown object with ID 45 is 16.1 meters away at (5.4, 15.1). A unknown object with ID 46 is 18.3 meters away at (9.4, 15.8). A unknown object with ID 49 is 18.5 meters away at (10.8, 15.0).", "velocity_description": "The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.5680478 2.421101 ] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-3.4688401  2.428021 ], 4.234163284301758 meters away.)"}
{"file_name": "images/scenario_1175_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 3.2) m/s. Its current heading (yaw) is 1.96 ", "actor_description": " The most relevant actors are: A unknown object with ID 27 is 2.7 meters away at (-2.4, -1.3). A unknown object with ID 37 is 2.9 meters away at (-1.9, -2.2). A unknown object with ID 4 is 3.3 meters away at (-3.1, -1.2). A unknown object with ID 5 is 4.2 meters away at (-3.7, -2.1). A unknown object with ID 38 is 4.3 meters away at (-4.1, 1.1). A unknown object with ID 39 is 4.4 meters away at (-2.7, -3.5). A vehicle with ID 1 is 8.6 meters away at (1.4, -8.5). A unknown object with ID 36 is 10.4 meters away at (-9.9, -3.3). A unknown object with ID 45 is 11.1 meters away at (6.2, 9.2). A unknown object with ID 46 is 14.1 meters away at (10.2, 9.8).", "velocity_description": "The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.1730738 3.4167633] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-2.4302027 -1.2545433], 2.7349157333374023 meters away.)"}
{"file_name": "images/scenario_1176_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 6.4) m/s. Its current heading (yaw) is 2.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 81 is 15.2 meters away at (-15.2, -0.1). A pedestrian with ID 85 is 20.8 meters away at (-19.6, 7.1). A vehicle with ID 82 is 23.0 meters away at (15.1, 17.4). A vehicle with ID 57 is 36.6 meters away at (12.6, 34.3). A vehicle with ID 88 is 37.1 meters away at (-34.3, 14.2). A pedestrian with ID 14 is 38.0 meters away at (-30.0, 23.3). A vehicle with ID 40 is 39.9 meters away at (14.1, 37.4). A vehicle with ID 53 is 42.6 meters away at (15.3, 39.8). A vehicle with ID 10 is 43.4 meters away at (-21.9, 37.5). A vehicle with ID 25 is 45.1 meters away at (17.0, 41.8).", "velocity_description": "The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.61414194 -1.2050529 ] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.705058 -1.091678] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.94272816  1.4553999 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.1114697  6.7260413] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-15.229091    -0.09368515], 15.229378700256348 meters away.)"}
{"file_name": "images/scenario_1176_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 6.9) m/s. Its current heading (yaw) is 2.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 85 is 12.9 meters away at (-10.0, -8.2). A vehicle with ID 16 is 15.2 meters away at (-13.6, 7.0). A pedestrian with ID 81 is 16.9 meters away at (-5.4, -16.0). A vehicle with ID 82 is 23.8 meters away at (23.4, 4.1). A pedestrian with ID 14 is 26.8 meters away at (-23.5, 12.9). A vehicle with ID 57 is 29.7 meters away at (20.9, 21.2). A vehicle with ID 40 is 32.8 meters away at (22.6, 23.9). A vehicle with ID 96 is 33.2 meters away at (-30.7, 12.6). A unknown object with ID 72 is 34.5 meters away at (-27.6, 20.7). A vehicle with ID 53 is 35.4 meters away at (23.9, 26.2).", "velocity_description": "The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.32810736 -0.70084643] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [  7.00192  -10.910253] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.6457859 -1.1730512] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9632695  1.3536855] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-10.027248  -8.19014 ], 12.946972846984863 meters away.)"}
{"file_name": "images/scenario_1176_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 6.4) m/s. Its current heading (yaw) is 2.12 ", "actor_description": " The most relevant actors are: A unknown object with ID 76 is 10.0 meters away at (9.9, 1.3). A pedestrian with ID 14 is 17.5 meters away at (-17.3, 2.7). A unknown object with ID 72 is 21.2 meters away at (-19.8, 7.7). A vehicle with ID 96 is 22.8 meters away at (-22.8, -0.5). A pedestrian with ID 85 is 22.8 meters away at (-1.3, -22.7). A vehicle with ID 16 is 29.5 meters away at (9.1, -28.1). A vehicle with ID 57 is 30.0 meters away at (28.9, 8.0). A pedestrian with ID 81 is 31.7 meters away at (4.2, -31.4). A vehicle with ID 82 is 32.5 meters away at (31.2, -9.0). A vehicle with ID 35 is 34.2 meters away at (33.6, -6.2).", "velocity_description": "The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9315623  1.4618086] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.67027277 -0.8414982 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [  7.531956 -10.58879 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.8048397 -1.1442873] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [9.86585  1.316349], 9.953279495239258 meters away.)"}
{"file_name": "images/scenario_1176_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 5.9) m/s. Its current heading (yaw) is 2.11 ", "actor_description": " The most relevant actors are: A pedestrian with ID 14 is 13.5 meters away at (-11.8, -6.6). A vehicle with ID 96 is 20.0 meters away at (-15.4, -12.8). A vehicle with ID 74 is 23.2 meters away at (-19.5, 12.5). A unknown object with ID 23 is 25.5 meters away at (-5.5, 24.9). A pedestrian with ID 4 is 28.7 meters away at (-25.4, 13.3). A vehicle with ID 2 is 31.0 meters away at (-20.0, 23.7). A unknown object with ID 69 is 32.0 meters away at (-30.7, -8.9). A pedestrian with ID 85 is 37.9 meters away at (7.2, -37.2). A unknown object with ID 73 is 39.1 meters away at (-39.1, 0.4). A vehicle with ID 10 is 39.6 meters away at (-20.0, 34.2).", "velocity_description": "The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.9773975  1.4764785] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 5.854068 -9.214958] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.27098417 -1.3891411 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.5167782 -1.1334617] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.363999  3.671758] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-11.767775  -6.627308], 13.505619049072266 meters away.)"}
{"file_name": "images/scenario_1177_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -0.5) m/s. Its current heading (yaw) is -0.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 5.5 meters away at (-0.7, 5.4). A vehicle with ID 45 is 6.4 meters away at (-3.2, 5.6). A vehicle with ID 58 is 10.8 meters away at (0.1, 10.8). A vehicle with ID 65 is 11.3 meters away at (2.3, 11.0). A vehicle with ID 56 is 11.5 meters away at (-2.3, 11.2). A vehicle with ID 69 is 11.6 meters away at (4.6, 10.7). A vehicle with ID 40 is 12.0 meters away at (5.9, -10.5). A vehicle with ID 41 is 12.7 meters away at (7.2, 10.5). A vehicle with ID 37 is 13.6 meters away at (13.1, 3.8). A vehicle with ID 51 is 13.6 meters away at (-7.1, 11.6).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(118.76578521728516, -200.9192657470703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.7024441  5.4362183], 5.481413841247559 meters away.)"}
{"file_name": "images/scenario_1177_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -0.5) m/s. Its current heading (yaw) is -0.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 37 is 5.2 meters away at (2.1, 4.8). A vehicle with ID 9 is 7.0 meters away at (4.6, 5.3). A vehicle with ID 40 is 10.7 meters away at (-5.1, -9.5). A vehicle with ID 39 is 10.9 meters away at (2.1, 10.7). A vehicle with ID 38 is 11.4 meters away at (4.9, 10.3). A vehicle with ID 41 is 12.1 meters away at (-3.7, 11.5). A vehicle with ID 74 is 13.1 meters away at (-5.5, -11.9). A vehicle with ID 69 is 13.2 meters away at (-6.2, 11.7). A vehicle with ID 49 is 13.3 meters away at (-11.6, 6.4). A vehicle with ID 65 is 14.8 meters away at (-8.6, 12.0).", "velocity_description": "The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(118.76578521728516, -200.9192657470703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [2.131628  4.7949147], 5.247384548187256 meters away.)"}
{"file_name": "images/scenario_1177_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -0.3) m/s. Its current heading (yaw) is -0.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 9.4 meters away at (-7.1, 6.1). A vehicle with ID 37 is 11.2 meters away at (-9.7, 5.5). A vehicle with ID 38 is 13.0 meters away at (-6.9, 11.0). A vehicle with ID 39 is 15.0 meters away at (-9.6, 11.5). A vehicle with ID 40 is 18.9 meters away at (-16.9, -8.6). A vehicle with ID 41 is 19.9 meters away at (-15.6, 12.4). A vehicle with ID 54 is 20.2 meters away at (-1.3, 20.2). A vehicle with ID 74 is 20.6 meters away at (-17.3, -11.1). A vehicle with ID 46 is 20.9 meters away at (14.7, 14.9). A vehicle with ID 8 is 21.7 meters away at (2.4, 21.5).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(118.76578521728516, -200.9192657470703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.1329346  6.096385 ], 9.383212089538574 meters away.)"}
{"file_name": "images/scenario_1177_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -0.3) m/s. Its current heading (yaw) is -0.06 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 16.0 meters away at (3.8, 15.5). A unknown object with ID 31 is 18.2 meters away at (1.5, 18.1). A vehicle with ID 9 is 19.4 meters away at (-18.2, 6.8). A vehicle with ID 17 is 20.4 meters away at (-20.3, 1.2). A vehicle with ID 38 is 21.4 meters away at (-17.9, 11.7). A vehicle with ID 37 is 21.6 meters away at (-20.8, 6.2). A vehicle with ID 3 is 23.5 meters away at (22.7, -6.1). A vehicle with ID 8 is 23.8 meters away at (-8.6, 22.2). A vehicle with ID 39 is 23.9 meters away at (-20.6, 12.2). A vehicle with ID 54 is 24.1 meters away at (-12.3, 20.7).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.081517 -0.35944 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.5153109   0.24575381] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(118.76578521728516, -200.9192657470703)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 3.753891 15.536774], 15.98383617401123 meters away.)"}
{"file_name": "images/scenario_1178_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.3, -7.9) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 3.9 meters away at (0.2, -3.9). A vehicle with ID 20 is 17.3 meters away at (15.5, 7.6). A vehicle with ID 3 is 32.8 meters away at (-26.0, -20.0). A vehicle with ID 10 is 39.6 meters away at (-29.4, -26.5). A vehicle with ID 19 is 42.5 meters away at (35.7, 23.0). A vehicle with ID 9 is 52.9 meters away at (42.2, 31.9). A vehicle with ID 18 is 60.0 meters away at (49.6, 33.7).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [9.743182 7.220474] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [9.943656  7.4196763] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-9.498392  -7.3055663] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [10.071274   7.5097594] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [10.378674   7.7202477] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-10.7820425  -8.384478 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [9.948056 7.501938] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-225.6697998046875, -195.6605682373047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 0.16727638 -3.854271  ], 3.8578991889953613 meters away.)"}
{"file_name": "images/scenario_1178_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.0, -7.6) m/s. Its current heading (yaw) is -2.49 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 12.3 meters away at (11.5, 4.3). A vehicle with ID 3 is 29.5 meters away at (-23.3, -18.1). A vehicle with ID 21 is 47.7 meters away at (39.9, 26.1). A vehicle with ID 12 is 51.0 meters away at (-38.6, -33.4). A vehicle with ID 9 is 51.5 meters away at (41.1, 31.0). A vehicle with ID 20 is 67.2 meters away at (55.4, 38.0).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [10.221335   7.6577616] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-8.297388  -6.4213324] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [9.646766 7.211959] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [9.119628  6.8301516] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-10.707213  -8.30648 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [10.060382  7.642815] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-225.6697998046875, -195.6605682373047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [11.500109  4.274908], 12.26895809173584 meters away.)"}
{"file_name": "images/scenario_1178_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, -6.7) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 4.9 meters away at (-0.9, -4.8). A vehicle with ID 3 is 25.4 meters away at (-20.0, -15.6). A unknown object with ID 11 is 38.8 meters away at (26.8, 28.1). A vehicle with ID 9 is 48.6 meters away at (38.8, 29.2). A vehicle with ID 10 is 61.2 meters away at (50.7, 34.2).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [9.59491  7.203755] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.580172  -5.8764396] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-10.61067  -8.0364 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [10.108312  7.731716] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-225.6697998046875, -195.6605682373047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.86642075 -4.783325  ], 4.861160755157471 meters away.)"}
{"file_name": "images/scenario_1178_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, -5.8) m/s. Its current heading (yaw) is -2.48 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 23.8 meters away at (-18.7, -14.7). A vehicle with ID 12 is 40.6 meters away at (34.1, 22.0). A vehicle with ID 9 is 42.5 meters away at (33.9, 25.7). A vehicle with ID 1 is 74.0 meters away at (-58.9, -44.8).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.57221  -5.243662] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [9.865103 7.493817] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.919156  -7.5986094] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.370279  -2.6853836] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-225.6697998046875, -195.6605682373047)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-18.733047  -14.7177925], 23.823108673095703 meters away.)"}
{"file_name": "images/scenario_1179_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -1.4) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 5.7 meters away at (4.4, 3.6). A vehicle with ID 66 is 6.6 meters away at (-6.5, 1.3). A vehicle with ID 68 is 8.5 meters away at (-1.2, 8.4). A unknown object with ID 70 is 11.6 meters away at (2.9, 11.2). A unknown object with ID 74 is 15.2 meters away at (-0.4, 15.2). A unknown object with ID 75 is 16.5 meters away at (-1.5, 16.5). A unknown object with ID 76 is 16.7 meters away at (-1.8, 16.7). A unknown object with ID 77 is 16.8 meters away at (-1.9, 16.7). A vehicle with ID 72 is 17.5 meters away at (-2.2, -17.4). A vehicle with ID 73 is 18.8 meters away at (-16.2, 9.6).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-48.14841842651367, 113.78778839111328)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [4.4235806 3.5913935], 5.697909355163574 meters away.)"}
{"file_name": "images/scenario_1179_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.7) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 5.8 meters away at (2.4, 5.2). A vehicle with ID 66 is 9.0 meters away at (-8.5, 3.0). A vehicle with ID 68 is 10.7 meters away at (-3.3, 10.1). A unknown object with ID 70 is 12.8 meters away at (1.1, 12.8). A vehicle with ID 72 is 16.2 meters away at (-4.2, -15.7). A unknown object with ID 74 is 17.1 meters away at (-2.4, 16.9). A unknown object with ID 75 is 18.4 meters away at (-3.5, 18.0). A unknown object with ID 76 is 18.4 meters away at (-3.5, 18.1). A unknown object with ID 77 is 18.8 meters away at (-3.9, 18.4). A vehicle with ID 50 is 21.3 meters away at (-7.9, -19.8).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-48.14841842651367, 113.78778839111328)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [2.427215 5.227876], 5.763858318328857 meters away.)"}
{"file_name": "images/scenario_1179_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, -0.4) m/s. Its current heading (yaw) is -0.10 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 7.5 meters away at (-2.2, 7.2). A vehicle with ID 66 is 14.2 meters away at (-13.2, 5.1). A vehicle with ID 68 is 14.5 meters away at (-8.0, 12.2). A unknown object with ID 70 is 15.3 meters away at (-3.7, 14.8). A vehicle with ID 72 is 16.3 meters away at (-8.9, -13.6). A vehicle with ID 37 is 16.3 meters away at (-5.9, -15.2). A vehicle with ID 84 is 19.4 meters away at (17.1, -9.1). A unknown object with ID 74 is 20.2 meters away at (-7.0, 18.9). A vehicle with ID 87 is 21.1 meters away at (12.5, -17.0). A vehicle with ID 9 is 21.5 meters away at (15.5, 14.9).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [3.098098  3.8223536] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-48.14841842651367, 113.78778839111328)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-2.191204  7.170937], 7.498247146606445 meters away.)"}
{"file_name": "images/scenario_1179_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 4.0) m/s. Its current heading (yaw) is 0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 65 is 12.3 meters away at (-11.7, 3.8). A vehicle with ID 9 is 13.0 meters away at (5.9, 11.6). A vehicle with ID 84 is 14.6 meters away at (7.7, -12.4). A vehicle with ID 21 is 14.6 meters away at (4.6, -13.9). A vehicle with ID 37 is 17.8 meters away at (-11.3, -13.8). A vehicle with ID 7 is 18.9 meters away at (10.0, 16.1). A vehicle with ID 68 is 19.6 meters away at (-17.5, 8.8). A vehicle with ID 87 is 20.6 meters away at (3.1, -20.4). A vehicle with ID 66 is 22.8 meters away at (-22.8, 1.6). A vehicle with ID 5 is 23.9 meters away at (13.3, 19.8).", "velocity_description": "The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.6167377  1.4764264] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [1.6012228 1.5209873] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[77.97466  55.57766 ]\n [76.31766  57.822132]\n [77.98017  54.541744]\n [73.83964  59.757835]]", "nav_goal": "(-48.14841842651367, 113.78778839111328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-11.716266   3.781118], 12.311285018920898 meters away.)"}
{"file_name": "images/scenario_1180_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.0) m/s. Its current heading (yaw) is 1.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 4.8 meters away at (1.7, -4.5). A vehicle with ID 24 is 5.9 meters away at (-4.8, 3.4). A vehicle with ID 22 is 7.7 meters away at (5.1, 5.8). A vehicle with ID 26 is 10.7 meters away at (-2.3, 10.4). A vehicle with ID 29 is 12.3 meters away at (3.8, 11.6). A vehicle with ID 15 is 13.1 meters away at (-12.5, 3.8). A vehicle with ID 28 is 13.3 meters away at (7.0, 11.4). A vehicle with ID 34 is 13.4 meters away at (-9.3, -9.7). A vehicle with ID 30 is 13.5 meters away at (-13.1, -3.5). A vehicle with ID 39 is 18.0 meters away at (-10.7, -14.4).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0.6143503 1.770532 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.403273 40.08469 ]\n [15.306242 54.22208 ]\n [14.444233 42.239147]\n [15.109253 54.263607]\n [13.059712 42.48336 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.7027856 -4.525328 ], 4.835087776184082 meters away.)"}
{"file_name": "images/scenario_1180_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 2.0) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 4.5 meters away at (3.9, 2.3). A vehicle with ID 24 is 6.1 meters away at (-6.0, -0.2). A vehicle with ID 26 is 7.7 meters away at (-3.5, 6.8). A vehicle with ID 27 is 8.2 meters away at (0.5, -8.2). A vehicle with ID 28 is 9.7 meters away at (5.8, 7.7). A vehicle with ID 29 is 11.9 meters away at (3.9, 11.3). A vehicle with ID 30 is 15.9 meters away at (-14.3, -7.1). A vehicle with ID 33 is 15.9 meters away at (-0.5, 15.9). A vehicle with ID 34 is 16.9 meters away at (-10.5, -13.2). A vehicle with ID 38 is 19.9 meters away at (7.0, 18.7).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0.52484447 1.2495444 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.17902419 0.4404258 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.403273 40.08469 ]\n [15.306242 54.22208 ]\n [14.444233 42.239147]\n [15.109253 54.263607]\n [13.059712 42.48336 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [3.869072  2.3316004], 4.517308712005615 meters away.)"}
{"file_name": "images/scenario_1180_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.2) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 2.9 meters away at (2.8, -0.9). A vehicle with ID 26 is 5.8 meters away at (-4.6, 3.6). A vehicle with ID 28 is 6.5 meters away at (4.7, 4.4). A vehicle with ID 24 is 8.0 meters away at (-7.1, -3.6). A vehicle with ID 29 is 9.5 meters away at (3.2, 9.0). A vehicle with ID 27 is 11.5 meters away at (-0.6, -11.5). A vehicle with ID 33 is 12.7 meters away at (-1.6, 12.6). A vehicle with ID 12 is 13.3 meters away at (-13.2, 1.8). A pedestrian with ID 37 is 15.9 meters away at (10.8, 11.7). A vehicle with ID 38 is 16.6 meters away at (6.0, 15.5).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.49288124 -1.4638383 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.403273 40.08469 ]\n [15.306242 54.22208 ]\n [14.444233 42.239147]\n [15.109253 54.263607]\n [13.059712 42.48336 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.7952328 -0.9027438], 2.937392234802246 meters away.)"}
{"file_name": "images/scenario_1180_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.1) m/s. Its current heading (yaw) is 1.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 3.1 meters away at (2.5, -1.8). A vehicle with ID 28 is 5.5 meters away at (4.3, 3.5). A vehicle with ID 26 is 5.6 meters away at (-4.9, 2.7). A vehicle with ID 29 is 8.5 meters away at (2.8, 8.0). A vehicle with ID 24 is 8.7 meters away at (-7.5, -4.5). A vehicle with ID 33 is 11.8 meters away at (-2.0, 11.6). A pedestrian with ID 37 is 12.3 meters away at (9.5, 7.8). A vehicle with ID 27 is 12.4 meters away at (-1.0, -12.4). A vehicle with ID 38 is 15.5 meters away at (5.6, 14.5). A vehicle with ID 42 is 21.0 meters away at (1.3, 20.9).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.580421  -1.3391495] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[17.403273 40.08469 ]\n [14.444233 42.239147]\n [13.059712 42.48336 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 2.465302  -1.8349433], 3.073228120803833 meters away.)"}
{"file_name": "images/scenario_1181_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.5) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 24.9 meters away at (-1.1, -24.8). A unknown object with ID 14 is 26.1 meters away at (3.4, -25.8). A vehicle with ID 12 is 26.7 meters away at (24.6, 10.5). A vehicle with ID 15 is 27.7 meters away at (-1.7, -27.7). A vehicle with ID 17 is 32.4 meters away at (11.8, -30.2). A unknown object with ID 16 is 34.1 meters away at (-2.9, 33.9). A unknown object with ID 7 is 40.4 meters away at (40.1, 5.1). A unknown object with ID 5 is 43.6 meters away at (23.6, -36.6). A pedestrian with ID 20 is 44.1 meters away at (-10.2, -42.9). A cyclist with ID 3 is 47.8 meters away at (28.2, -38.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-10.952559    6.6055446] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.57398224 -0.7979963 ] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [ 0.07888424 -0.02848931] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.59343338012695, -57.579254150390625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -1.116161 -24.843025], 24.868085861206055 meters away.)"}
{"file_name": "images/scenario_1181_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -2.4) m/s. Its current heading (yaw) is -2.36 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 21.5 meters away at (1.3, -21.5). A vehicle with ID 15 is 24.4 meters away at (0.8, -24.4). A vehicle with ID 12 is 26.7 meters away at (4.4, 26.3). A vehicle with ID 17 is 30.4 meters away at (14.2, -26.9). A unknown object with ID 16 is 37.3 meters away at (-0.8, 37.3). A unknown object with ID 8 is 41.8 meters away at (40.3, 11.1). A pedestrian with ID 20 is 42.3 meters away at (-8.9, -41.4). A pedestrian with ID 22 is 46.6 meters away at (30.8, -34.9). A cyclist with ID 3 is 46.6 meters away at (30.8, -35.0). A cyclist with ID 23 is 52.4 meters away at (36.5, -37.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-11.35842    6.033302] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.47355407 -0.7353049 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.06604191 0.07630952] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [0.30562773 0.2562821 ] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [ 1.9750493  -0.50689477] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.59343338012695, -57.579254150390625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  1.3392184 -21.499588 ], 21.541257858276367 meters away.)"}
{"file_name": "images/scenario_1181_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 1.0) m/s. Its current heading (yaw) is 2.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 20.8 meters away at (8.5, -19.0). A vehicle with ID 15 is 23.3 meters away at (7.9, -21.9). A vehicle with ID 17 is 32.4 meters away at (21.4, -24.3). A unknown object with ID 16 is 40.2 meters away at (6.0, 39.8). A pedestrian with ID 20 is 40.7 meters away at (-2.9, -40.6). A vehicle with ID 12 is 41.2 meters away at (-10.5, 39.9). A unknown object with ID 4 is 48.2 meters away at (45.8, 15.0). A unknown object with ID 8 is 49.2 meters away at (47.2, 13.8). A cyclist with ID 3 is 49.8 meters away at (38.0, -32.2). A pedestrian with ID 22 is 49.8 meters away at (38.0, -32.3).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.49081695 -0.6270685 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-10.555546    5.1212673] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [0.02187889 0.05034202] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.03352343  0.05921739] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.59343338012695, -57.579254150390625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  8.465569 -19.004475], 20.80470848083496 meters away.)"}
{"file_name": "images/scenario_1181_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.0) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 29.0 meters away at (16.9, -23.5). A vehicle with ID 15 is 31.1 meters away at (16.3, -26.4). A unknown object with ID 16 is 38.3 meters away at (15.1, 35.2). A vehicle with ID 17 is 41.5 meters away at (29.9, -28.9). A pedestrian with ID 20 is 46.6 meters away at (3.7, -46.4). A vehicle with ID 12 is 48.5 meters away at (-20.8, 43.8). A unknown object with ID 4 is 55.6 meters away at (54.6, 10.2). A pedestrian with ID 1 is 57.6 meters away at (-54.3, 19.4). A pedestrian with ID 22 is 59.8 meters away at (46.7, -37.3). A cyclist with ID 3 is 59.8 meters away at (46.8, -37.2).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.97341996 -0.41861323] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-8.334907   3.6305692] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2177848  -0.49560654] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.66978776 -0.40972057] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [ 0.9228118  -0.08610067] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(57.59343338012695, -57.579254150390625)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 16.94251  -23.535885], 28.99976921081543 meters away.)"}
{"file_name": "images/scenario_1182_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -6.4) m/s. Its current heading (yaw) is -2.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 13.2 meters away at (-10.2, -8.4). A pedestrian with ID 96 is 14.3 meters away at (13.5, 4.8). A pedestrian with ID 105 is 16.0 meters away at (-11.1, -11.5). A vehicle with ID 54 is 18.3 meters away at (-12.5, -13.4). A pedestrian with ID 92 is 18.5 meters away at (-0.3, 18.5). A pedestrian with ID 93 is 19.1 meters away at (0.3, 19.1). A pedestrian with ID 94 is 20.5 meters away at (-0.3, 20.5). A pedestrian with ID 95 is 21.7 meters away at (0.1, 21.7). A vehicle with ID 48 is 24.2 meters away at (7.8, 22.9). A pedestrian with ID 112 is 24.5 meters away at (-20.6, -13.3).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-1.0025318 -0.94108  ] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [ 0.04005289 -0.04392887] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.97086436  0.73132545] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.92564535  0.7669691 ] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-1.0250338  0.7479835] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.0421957  0.5869393] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 1.3833648 -2.9270792] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-0.10143179  0.00532941] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-10.20307  -8.36047], 13.190909385681152 meters away.)"}
{"file_name": "images/scenario_1182_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -7.2) m/s. Its current heading (yaw) is -2.11 ", "actor_description": " The most relevant actors are: A pedestrian with ID 105 is 3.9 meters away at (-3.4, 1.8). A vehicle with ID 54 is 5.0 meters away at (-5.0, -0.3). A vehicle with ID 55 is 5.4 meters away at (-2.6, 4.7). A pedestrian with ID 112 is 13.8 meters away at (-13.7, 0.4). A pedestrian with ID 90 is 18.8 meters away at (1.3, -18.8). A pedestrian with ID 91 is 19.0 meters away at (0.0, -19.0). A pedestrian with ID 18 is 24.0 meters away at (-18.2, -15.7). A pedestrian with ID 96 is 25.1 meters away at (18.8, 16.7). A vehicle with ID 10 is 27.9 meters away at (-19.4, -20.1). A pedestrian with ID 34 is 28.9 meters away at (-21.7, -19.0).", "velocity_description": "The pedestrian with ID 105 is traveling at a (x, y) velocity of [ 0.12852103 -0.16032605] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-0.19366646  0.02754194] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.04797782 0.01659009] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.10491677  0.00568112] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.02131049 -0.03221917] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-1.278122  -0.7050985] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.7716813 1.1936749] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-3.4304266  1.7738514], 3.8619134426116943 meters away.)"}
{"file_name": "images/scenario_1182_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -5.9) m/s. Its current heading (yaw) is -2.14 ", "actor_description": " The most relevant actors are: A pedestrian with ID 91 is 10.0 meters away at (7.3, -6.9). A pedestrian with ID 90 is 10.8 meters away at (8.1, -7.1). A pedestrian with ID 18 is 10.9 meters away at (-10.4, -3.2). A vehicle with ID 54 is 12.4 meters away at (2.8, 12.1). A pedestrian with ID 34 is 12.9 meters away at (-12.2, -4.0). A pedestrian with ID 78 is 13.6 meters away at (-13.1, -3.5). A vehicle with ID 10 is 13.9 meters away at (-11.6, -7.7). A pedestrian with ID 112 is 14.0 meters away at (-5.8, 12.8). A pedestrian with ID 30 is 14.4 meters away at (-13.5, -4.9). A pedestrian with ID 105 is 14.7 meters away at (4.3, 14.1).", "velocity_description": "The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.2899977 -0.6010121] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.3625944  -0.70189124] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00802155 -0.0168185 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.81042105 1.324509  ] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0.92035264 1.3688959 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [ 0.00246941 -0.10986722] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.8233715 1.3124099] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [ 0.02264694 -0.02196054] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 7.2531986 -6.8793106], 9.996689796447754 meters away.)"}
{"file_name": "images/scenario_1182_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -5.9) m/s. Its current heading (yaw) is -2.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 5.5 meters away at (-3.9, 4.0). A pedestrian with ID 18 is 8.2 meters away at (-1.9, 7.9). A pedestrian with ID 34 is 9.8 meters away at (-2.2, 9.6). A pedestrian with ID 30 is 10.5 meters away at (-4.2, 9.6). A pedestrian with ID 78 is 10.5 meters away at (-2.9, 10.1). A pedestrian with ID 64 is 11.1 meters away at (-4.8, 10.0). A pedestrian with ID 52 is 11.7 meters away at (-11.7, -0.9). A pedestrian with ID 91 is 15.0 meters away at (14.5, 3.7). A pedestrian with ID 90 is 15.6 meters away at (15.3, 2.9). A pedestrian with ID 112 is 24.5 meters away at (2.1, 24.4).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.03208391 -0.58513874] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [1.3252544  0.39967397] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [1.0054247  0.96947914] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [1.2698245  0.59521884] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [1.0239035 1.1127945] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.86576605 -1.2729207 ] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.19357818 -0.672349  ] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.27271834 -0.94371635] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [ 0.01418655 -0.01570139] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.85495   3.974125], 5.536633491516113 meters away.)"}
{"file_name": "images/scenario_1183_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 2.0) m/s. Its current heading (yaw) is 2.38 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 3.3 meters away at (3.0, 1.4). A vehicle with ID 71 is 6.8 meters away at (-1.9, -6.6). A vehicle with ID 66 is 7.6 meters away at (7.2, -2.5). A pedestrian with ID 76 is 9.2 meters away at (-8.2, -4.2). A vehicle with ID 69 is 11.7 meters away at (3.0, -11.3). A vehicle with ID 67 is 13.4 meters away at (11.8, -6.4). A vehicle with ID 72 is 16.5 meters away at (7.1, -14.9). A vehicle with ID 75 is 21.8 meters away at (11.3, -18.7). A vehicle with ID 74 is 23.1 meters away at (-5.2, 22.5). A vehicle with ID 88 is 24.8 meters away at (-24.8, 0.7).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.00728887  0.00148157] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [3.0080247 1.4294739], 3.330406665802002 meters away.)"}
{"file_name": "images/scenario_1183_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.4) m/s. Its current heading (yaw) is 2.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 5.6 meters away at (5.5, -1.0). A pedestrian with ID 76 is 8.7 meters away at (-5.7, -6.6). A vehicle with ID 71 is 9.0 meters away at (0.6, -9.0). A vehicle with ID 66 is 10.9 meters away at (9.7, -4.9). A vehicle with ID 69 is 14.8 meters away at (5.6, -13.7). A vehicle with ID 67 is 16.8 meters away at (14.3, -8.9). A vehicle with ID 72 is 19.9 meters away at (9.7, -17.4). A vehicle with ID 74 is 20.2 meters away at (-2.7, 20.0). A unknown object with ID 81 is 21.6 meters away at (-11.1, 18.5). A vehicle with ID 88 is 22.3 meters away at (-22.3, -1.7).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.00479342 0.00866525] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.492015  -0.9778495], 5.578388690948486 meters away.)"}
{"file_name": "images/scenario_1183_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.3) m/s. Its current heading (yaw) is 2.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 6.0 meters away at (5.8, -1.3). A pedestrian with ID 76 is 8.7 meters away at (-5.4, -6.9). A vehicle with ID 71 is 9.4 meters away at (0.9, -9.3). A vehicle with ID 66 is 11.4 meters away at (10.1, -5.3). A vehicle with ID 69 is 15.2 meters away at (5.9, -14.0). A vehicle with ID 67 is 17.3 meters away at (14.7, -9.2). A vehicle with ID 74 is 19.8 meters away at (-2.4, 19.7). A vehicle with ID 72 is 20.3 meters away at (10.0, -17.6). A unknown object with ID 81 is 21.1 meters away at (-10.8, 18.2). A vehicle with ID 88 is 22.0 meters away at (-21.9, -2.1).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [ 0.05921455 -0.05786099] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.810445  -1.2892118], 5.951750755310059 meters away.)"}
{"file_name": "images/scenario_1183_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 3.9) m/s. Its current heading (yaw) is 1.88 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 10.4 meters away at (8.8, -5.6). A pedestrian with ID 76 is 11.5 meters away at (-2.3, -11.2). A vehicle with ID 71 is 14.2 meters away at (3.9, -13.7). A vehicle with ID 74 is 15.3 meters away at (0.4, 15.3). A unknown object with ID 81 is 15.9 meters away at (-7.9, 13.8). A vehicle with ID 66 is 16.3 meters away at (13.2, -9.6). A vehicle with ID 88 is 20.1 meters away at (-18.9, -6.6). A vehicle with ID 15 is 20.3 meters away at (4.1, 19.9). A vehicle with ID 69 is 20.4 meters away at (8.9, -18.3). A vehicle with ID 67 is 22.2 meters away at (17.6, -13.4).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [ 0.00674009 -0.01416975] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 8.804533  -5.5979977], 10.433473587036133 meters away.)"}
{"file_name": "images/scenario_1184_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -0.5) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 71 is 4.8 meters away at (4.4, 1.9). A vehicle with ID 66 is 6.2 meters away at (0.7, 6.2). A vehicle with ID 68 is 9.1 meters away at (-4.4, 8.0). A vehicle with ID 75 is 13.6 meters away at (-13.5, 1.5). A vehicle with ID 69 is 13.7 meters away at (-1.7, -13.6). A vehicle with ID 76 is 14.9 meters away at (-10.8, 10.3). A vehicle with ID 72 is 16.4 meters away at (4.3, -15.8). A vehicle with ID 9 is 19.0 meters away at (18.1, -5.9). A vehicle with ID 77 is 21.5 meters away at (15.1, 15.3). A vehicle with ID 70 is 21.7 meters away at (-21.2, 4.4).", "velocity_description": "The vehicle with ID 71 is traveling at a (x, y) velocity of [-6.1723995  2.0599346] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 4.766483  -1.4421339] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.36903381347656, -69.55874633789062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [4.3712616 1.9140198], 4.771938800811768 meters away.)"}
{"file_name": "images/scenario_1184_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -0.7) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 7.8 meters away at (-2.7, 7.3). A vehicle with ID 68 is 12.0 meters away at (-7.8, 9.1). A vehicle with ID 69 is 13.4 meters away at (-5.1, -12.4). A vehicle with ID 72 is 14.7 meters away at (0.9, -14.7). A vehicle with ID 71 is 15.1 meters away at (-12.9, 7.8). A vehicle with ID 75 is 17.1 meters away at (-16.9, 2.7). A vehicle with ID 76 is 18.3 meters away at (-14.2, 11.5). A vehicle with ID 77 is 20.2 meters away at (11.7, 16.5). A vehicle with ID 79 is 23.9 meters away at (15.3, -18.4). A vehicle with ID 70 is 25.3 meters away at (-24.6, 5.6).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-7.611071   2.5820303] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.36903381347656, -69.55874633789062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.6616282  7.296849 ], 7.767127513885498 meters away.)"}
{"file_name": "images/scenario_1184_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -1.4) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 66 is 13.3 meters away at (-9.3, 9.5). A vehicle with ID 72 is 13.7 meters away at (-5.8, -12.4). A pedestrian with ID 28 is 15.5 meters away at (6.9, -13.9). A vehicle with ID 69 is 15.5 meters away at (-11.8, -10.2). A vehicle with ID 79 is 18.3 meters away at (8.6, -16.2). A vehicle with ID 68 is 18.5 meters away at (-14.5, 11.4). A vehicle with ID 77 is 19.4 meters away at (5.1, 18.7). A vehicle with ID 62 is 19.4 meters away at (17.3, -8.9). A vehicle with ID 75 is 24.1 meters away at (-23.6, 5.0). A vehicle with ID 3 is 24.2 meters away at (-3.3, -24.0).", "velocity_description": "The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [2.5913732 6.370211 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.36903381347656, -69.55874633789062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-9.312565  9.5355  ], 13.328526496887207 meters away.)"}
{"file_name": "images/scenario_1184_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -1.9) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 62 is 8.8 meters away at (6.8, -5.5). A pedestrian with ID 33 is 8.8 meters away at (-4.8, -7.4). A pedestrian with ID 28 is 11.0 meters away at (-3.6, -10.5). A vehicle with ID 79 is 12.9 meters away at (-2.0, -12.8). A vehicle with ID 3 is 13.6 meters away at (-9.3, -9.9). A vehicle with ID 63 is 13.8 meters away at (11.7, -7.2). A vehicle with ID 64 is 18.0 meters away at (18.0, -0.1). A vehicle with ID 72 is 18.6 meters away at (-16.3, -9.0). A vehicle with ID 61 is 19.7 meters away at (17.5, -9.1). A vehicle with ID 65 is 22.7 meters away at (22.7, -1.7).", "velocity_description": "The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.00932144 0.0080169 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.0200504  0.00444473] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [1.552942  3.4674582] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(246.36903381347656, -69.55874633789062)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.828619  -5.5088353], 8.77367115020752 meters away.)"}
{"file_name": "images/scenario_1185_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -4.0) m/s. Its current heading (yaw) is -1.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 8.1 meters away at (-2.2, 7.8). A pedestrian with ID 66 is 9.3 meters away at (8.7, -3.3). A vehicle with ID 50 is 11.8 meters away at (-11.7, -1.6). A pedestrian with ID 68 is 12.6 meters away at (-4.3, -11.9). A vehicle with ID 65 is 15.8 meters away at (-11.7, -10.6). A vehicle with ID 67 is 19.7 meters away at (-10.3, -16.8). A vehicle with ID 70 is 21.9 meters away at (-1.7, -21.9). A cyclist with ID 28 is 23.9 meters away at (-19.5, 13.8). A vehicle with ID 69 is 26.4 meters away at (4.9, 25.9). A vehicle with ID 35 is 28.0 meters away at (-26.5, 8.9).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [-0.9802421 -2.7082744] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.41375348 -0.96633124] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.930587 -5.8677  ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.38047078 -1.3314794 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-1.6581461 -6.0686336] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.9845308 -7.767121 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [ 3.32376  10.105128] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 3.7968318 10.854248 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.75027    -4.0792565]\n [-11.775945  -27.519123 ]\n [-33.66226    -6.845796 ]\n [-29.963326    0.5697163]\n [-24.379757  -28.838188 ]\n [-11.040516  -24.388496 ]\n [-28.171133  -28.200138 ]\n [-30.93937    -1.9556115]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.1770172  7.813127 ], 8.110755920410156 meters away.)"}
{"file_name": "images/scenario_1185_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -3.8) m/s. Its current heading (yaw) is -1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 66 is 8.5 meters away at (8.3, 2.0). A pedestrian with ID 68 is 9.5 meters away at (-6.6, -6.9). A vehicle with ID 64 is 11.1 meters away at (-6.0, 9.4). A vehicle with ID 70 is 14.9 meters away at (-3.3, -14.5). A vehicle with ID 50 is 19.2 meters away at (-17.5, -8.0). A vehicle with ID 65 is 23.5 meters away at (-16.2, -16.9). A vehicle with ID 75 is 28.0 meters away at (-26.2, 10.0). A vehicle with ID 79 is 30.1 meters away at (-30.0, -2.4). A vehicle with ID 67 is 31.2 meters away at (-15.6, -27.0). A vehicle with ID 69 is 32.4 meters away at (2.9, 32.2).", "velocity_description": "The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.65687245 -1.0300276 ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.4148626 -1.1920954] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-1.347979  -3.6769938] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-2.088077 -7.891581] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-1.4429827 -8.365887 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [2.6360278 8.337704 ] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [2.0425138 7.305782 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-1.8466659 -9.834271 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.45032954 -1.1645346 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.75027    -4.0792565]\n [-11.775945  -27.519123 ]\n [-33.66226    -6.845796 ]\n [-24.379757  -28.838188 ]\n [-11.040516  -24.388496 ]\n [-28.171133  -28.200138 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [8.265038 2.01995 ], 8.508293151855469 meters away.)"}
{"file_name": "images/scenario_1185_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -4.2) m/s. Its current heading (yaw) is -0.78 ", "actor_description": " The most relevant actors are: A pedestrian with ID 66 is 9.0 meters away at (3.8, 8.1). A vehicle with ID 70 is 10.5 meters away at (-8.6, -6.1). A pedestrian with ID 68 is 12.7 meters away at (-12.7, -0.8). A vehicle with ID 64 is 17.0 meters away at (-14.4, 9.0). A vehicle with ID 27 is 26.3 meters away at (-13.7, 22.4). A vehicle with ID 50 is 32.2 meters away at (-27.0, -17.5). A vehicle with ID 77 is 34.9 meters away at (-34.2, -7.1). A vehicle with ID 19 is 35.3 meters away at (-33.7, 10.7). A vehicle with ID 69 is 36.5 meters away at (-4.2, 36.3). A vehicle with ID 79 is 37.3 meters away at (-30.6, 21.4).", "velocity_description": "The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.709769  -1.1912771] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.30813664 -1.247853  ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-1.7027915 -5.0900226] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ -5.409688 -14.250751] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ -1.8307004 -10.063535 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0.5821402 1.1759319] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [2.3864825 8.034563 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.2119638 -3.0530612] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [2.8799005 8.60257  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-11.775945  -27.519123 ]\n [-29.963326    0.5697163]\n [-24.379757  -28.838188 ]\n [-28.124828  -27.954464 ]\n [-11.040516  -24.388496 ]\n [-28.171133  -28.200138 ]\n [-30.93937    -1.9556115]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [3.838419 8.097891], 8.96154499053955 meters away.)"}
{"file_name": "images/scenario_1185_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -4.2) m/s. Its current heading (yaw) is -0.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 20.1 meters away at (-19.9, 2.3). A pedestrian with ID 68 is 25.1 meters away at (-24.5, 5.2). A vehicle with ID 64 is 30.0 meters away at (-29.4, 5.8). A vehicle with ID 69 is 41.9 meters away at (-18.4, 37.7). A vehicle with ID 77 is 44.1 meters away at (-43.9, 4.1). A vehicle with ID 78 is 45.9 meters away at (-45.1, -8.3). A vehicle with ID 80 is 48.9 meters away at (-48.5, -6.5). A vehicle with ID 50 is 51.8 meters away at (-41.5, -31.0). A vehicle with ID 81 is 53.0 meters away at (-51.9, 10.8). A vehicle with ID 19 is 53.7 meters away at (-38.1, 37.9).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.18182725 -1.2589941 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-1.7470948 -6.8456516] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.7030191 -4.5195913] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0.7019717 1.0446036] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0.15813644 1.0248333 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ -1.1746461 -11.70991  ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [1.9530468 6.808047 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.3497005 10.344486 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-32.75027    -4.0792565]\n [-11.775945  -27.519123 ]\n [-33.66226    -6.845796 ]\n [-29.963326    0.5697163]\n [-24.379757  -28.838188 ]\n [-28.124828  -27.954464 ]\n [-11.040516  -24.388496 ]\n [-28.171133  -28.200138 ]\n [-30.93937    -1.9556115]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-19.922722    2.2805233], 20.052820205688477 meters away.)"}
{"file_name": "images/scenario_1186_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.9) m/s. Its current heading (yaw) is 1.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 34.2 meters away at (5.2, -33.8). A pedestrian with ID 20 is 37.8 meters away at (-29.4, 23.8). A vehicle with ID 26 is 40.3 meters away at (5.6, -39.9). A pedestrian with ID 24 is 42.9 meters away at (-21.8, 37.0). A pedestrian with ID 22 is 47.5 meters away at (-6.8, 47.0). A pedestrian with ID 23 is 48.0 meters away at (-7.7, 47.4). A pedestrian with ID 27 is 49.4 meters away at (-30.6, 38.7).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [1.2761912  0.03903297] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.2117027   0.31968954] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.02545732 -1.1599504 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.07564101 -1.226646  ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.3187869   0.22600046] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  5.1985817 -33.77345  ], 34.17120361328125 meters away.)"}
{"file_name": "images/scenario_1186_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.58 ", "actor_description": " The most relevant actors are: A unknown object with ID 6 is 29.6 meters away at (15.5, 25.2). A vehicle with ID 25 is 34.7 meters away at (5.2, -34.3). A pedestrian with ID 20 is 37.3 meters away at (-27.5, 25.2). A cyclist with ID 5 is 38.5 meters away at (-28.4, 26.0). A vehicle with ID 26 is 40.8 meters away at (5.5, -40.4). A pedestrian with ID 24 is 44.0 meters away at (-23.9, 37.0). A pedestrian with ID 22 is 44.8 meters away at (-6.9, 44.2). A pedestrian with ID 23 is 45.4 meters away at (-7.7, 44.7). A pedestrian with ID 27 is 51.1 meters away at (-33.2, 38.9).", "velocity_description": "The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.50872433 0.7529024 ] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [0.717002   0.27716908] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0220037   0.20960216] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.10726079 -1.2623616 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.19144776 -1.2316095 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.5335003   0.06419119] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [15.487429 25.184925], 29.565874099731445 meters away.)"}
{"file_name": "images/scenario_1186_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.3) m/s. Its current heading (yaw) is 1.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 34.9 meters away at (5.2, -34.5). A pedestrian with ID 20 is 37.1 meters away at (-26.1, 26.3). A pedestrian with ID 13 is 38.5 meters away at (-26.5, 27.9). A vehicle with ID 26 is 40.9 meters away at (5.5, -40.5). A pedestrian with ID 22 is 42.3 meters away at (-7.6, 41.6). A pedestrian with ID 23 is 43.0 meters away at (-8.2, 42.2). A pedestrian with ID 24 is 45.4 meters away at (-25.9, 37.3). A pedestrian with ID 27 is 52.7 meters away at (-35.6, 38.9). A unknown object with ID 8 is 67.7 meters away at (65.6, 16.8). A vehicle with ID 15 is 69.3 meters away at (0.6, 69.3).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.50078815 0.8364154 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.70336837 0.71638083] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.39545497 -1.2943249 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.46445042 -1.2447456 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0257493   0.24814549] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.3240079   0.05702225] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.38313335 -9.97237   ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  5.1593776 -34.534157 ], 34.91743469238281 meters away.)"}
{"file_name": "images/scenario_1186_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.7) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A unknown object with ID 4 is 28.4 meters away at (15.6, 23.7). A vehicle with ID 25 is 36.0 meters away at (5.2, -35.6). A pedestrian with ID 20 is 36.8 meters away at (-24.3, 27.6). A pedestrian with ID 13 is 37.7 meters away at (-24.3, 28.8). A pedestrian with ID 22 is 39.4 meters away at (-8.6, 38.4). A vehicle with ID 26 is 42.1 meters away at (5.5, -41.7). A pedestrian with ID 24 is 46.0 meters away at (-28.0, 36.4). A vehicle with ID 15 is 49.6 meters away at (1.3, 49.6). A pedestrian with ID 27 is 54.0 meters away at (-38.1, 38.3). A pedestrian with ID 1 is 58.8 meters away at (15.2, 56.8).", "velocity_description": "The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [1.0961543  0.94987124] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.0150172 0.9090749] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.5273259 -1.0418992] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.0239441   0.28797832] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 0.37565726 -8.493651  ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.090572    0.27964157] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.33032563 -1.1573368 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [15.562896 23.740246], 28.386669158935547 meters away.)"}
{"file_name": "images/scenario_1187_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.5, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 94 is 14.9 meters away at (11.3, -9.7). A vehicle with ID 100 is 19.5 meters away at (16.6, -10.3). A vehicle with ID 105 is 21.8 meters away at (19.4, -9.9). A vehicle with ID 95 is 22.3 meters away at (5.7, -21.5). A vehicle with ID 92 is 22.4 meters away at (0.5, -22.4). A vehicle with ID 90 is 22.6 meters away at (-2.4, -22.5). A vehicle with ID 93 is 22.9 meters away at (3.2, -22.6). A vehicle with ID 87 is 23.0 meters away at (-5.2, -22.4). A vehicle with ID 86 is 23.5 meters away at (-7.9, -22.1). A vehicle with ID 98 is 23.5 meters away at (8.5, -21.9).", "velocity_description": "The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(14.017462730407715, -15.44516658782959)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [11.261534 -9.715383], 14.873157501220703 meters away.)"}
{"file_name": "images/scenario_1187_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (11.1, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 78 is 9.3 meters away at (8.3, 4.4). A vehicle with ID 105 is 10.0 meters away at (-2.3, -9.8). A vehicle with ID 100 is 11.4 meters away at (-5.0, -10.2). A vehicle with ID 111 is 11.5 meters away at (6.0, -9.8). A vehicle with ID 94 is 14.2 meters away at (-10.4, -9.7). A vehicle with ID 109 is 22.5 meters away at (-2.2, -22.3). A vehicle with ID 108 is 23.0 meters away at (-5.2, -22.4). A vehicle with ID 114 is 23.1 meters away at (5.4, -22.4). A vehicle with ID 110 is 23.2 meters away at (0.4, -23.2). A vehicle with ID 112 is 23.2 meters away at (2.7, -23.1).", "velocity_description": "The vehicle with ID 78 is traveling at a (x, y) velocity of [-9.661834    0.24075402] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(14.017462730407715, -15.44516658782959)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.25124  4.382691], 9.342961311340332 meters away.)"}
{"file_name": "images/scenario_1187_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (11.0, 0.0) m/s. Its current heading (yaw) is 0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 111 is 18.8 meters away at (-16.0, -9.8). A vehicle with ID 116 is 26.2 meters away at (-13.4, -22.6). A vehicle with ID 105 is 26.3 meters away at (-24.4, -9.8). A vehicle with ID 114 is 27.9 meters away at (-16.6, -22.4). A pedestrian with ID 74 is 28.9 meters away at (-2.5, -28.8). A vehicle with ID 70 is 28.9 meters away at (17.9, -22.8). A vehicle with ID 100 is 29.0 meters away at (-27.2, -10.2). A pedestrian with ID 80 is 29.7 meters away at (16.5, -24.7). A vehicle with ID 112 is 30.1 meters away at (-19.3, -23.1). A vehicle with ID 54 is 30.6 meters away at (28.7, -10.4).", "velocity_description": "The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-1.0820916  -0.12641236] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.00397412 0.00022337] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(14.017462730407715, -15.44516658782959)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-15.996281  -9.817833], 18.768878936767578 meters away.)"}
{"file_name": "images/scenario_1187_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.8, -0.0) m/s. Its current heading (yaw) is -0.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 54 is 12.4 meters away at (7.1, -10.2). A vehicle with ID 52 is 14.1 meters away at (10.0, -10.0). A vehicle with ID 69 is 18.3 meters away at (15.1, -10.3). A vehicle with ID 46 is 20.8 meters away at (18.0, -10.4). A vehicle with ID 70 is 22.9 meters away at (-3.6, -22.6). A vehicle with ID 66 is 22.9 meters away at (-0.9, -22.9). A vehicle with ID 77 is 23.7 meters away at (7.1, -22.6). A vehicle with ID 55 is 24.8 meters away at (9.9, -22.7). A pedestrian with ID 80 is 24.9 meters away at (-5.0, -24.4). A vehicle with ID 53 is 26.1 meters away at (12.8, -22.7).", "velocity_description": "The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.00328477  0.00504868] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(14.017462730407715, -15.44516658782959)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [  7.083946 -10.217602], 12.433088302612305 meters away.)"}
{"file_name": "images/scenario_1188_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 9.4 meters away at (8.2, -4.6). A vehicle with ID 21 is 9.5 meters away at (-8.2, 4.9). A vehicle with ID 23 is 13.2 meters away at (-9.6, 9.0). A vehicle with ID 29 is 13.8 meters away at (10.0, -9.5). A pedestrian with ID 25 is 18.3 meters away at (-18.2, -1.7). A pedestrian with ID 26 is 18.6 meters away at (-18.6, 0.3). A pedestrian with ID 27 is 19.2 meters away at (-19.2, -0.2). A pedestrian with ID 37 is 27.5 meters away at (-11.5, 25.0). A pedestrian with ID 39 is 29.0 meters away at (-12.5, 26.2). A pedestrian with ID 2 is 30.9 meters away at (-2.5, 30.8).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-6.7555275  3.546054 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.04266401  0.11003576] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.0343357 0.0001755] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.00489442 0.00723285] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00114906 -0.01877471] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00089647 -0.00349203] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00048519  0.00035973] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.6112    35.660244]\n [-41.523186  32.893703]\n [-37.824253  40.309216]\n [-19.636871  12.220376]\n [-18.901443  15.351003]\n [-38.800297  37.783886]]", "nav_goal": "(93.8720932006836, 245.63368225097656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.16492  -4.639381], 9.39094066619873 meters away.)"}
{"file_name": "images/scenario_1188_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 3.5 meters away at (-1.2, -3.3). A vehicle with ID 22 is 9.1 meters away at (7.9, -4.5). A vehicle with ID 21 is 9.5 meters away at (-8.2, 4.9). A vehicle with ID 23 is 13.2 meters away at (-9.6, 9.1). A pedestrian with ID 25 is 18.3 meters away at (-18.2, -1.4). A pedestrian with ID 26 is 18.6 meters away at (-18.6, 0.2). A pedestrian with ID 27 is 19.2 meters away at (-19.2, -0.2). A vehicle with ID 34 is 27.5 meters away at (-17.6, 21.1). A pedestrian with ID 37 is 27.6 meters away at (-11.6, 25.1). A pedestrian with ID 39 is 29.1 meters away at (-12.5, 26.3).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [-4.4426026  2.5851657] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.0278483  0.01225697] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00077111 -0.00788558] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00875976 -0.00253428] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-2.4575272 -7.608829 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.00088107 0.0022395 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.00788017 -0.02747744] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.6112    35.660244]\n [-20.494429   9.723368]\n [-41.523186  32.893703]\n [-37.824253  40.309216]\n [-19.636871  12.220376]\n [-21.860395   6.811954]\n [-18.901443  15.351003]\n [-38.800297  37.783886]]", "nav_goal": "(93.8720932006836, 245.63368225097656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.2112062 -3.2535641], 3.4716999530792236 meters away.)"}
{"file_name": "images/scenario_1188_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 8.0 meters away at (-8.0, 0.7). A vehicle with ID 22 is 9.1 meters away at (7.9, -4.5). A vehicle with ID 21 is 9.5 meters away at (-8.2, 4.9). A vehicle with ID 23 is 13.2 meters away at (-9.6, 9.0). A pedestrian with ID 25 is 18.2 meters away at (-18.1, -1.4). A pedestrian with ID 26 is 18.6 meters away at (-18.6, 0.2). A pedestrian with ID 27 is 19.1 meters away at (-19.1, -0.2). A vehicle with ID 52 is 21.6 meters away at (19.0, -10.3). A vehicle with ID 34 is 22.9 meters away at (-22.2, 5.7). A pedestrian with ID 37 is 27.6 meters away at (-11.6, 25.1).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [-2.2871132  1.3706853] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00578789 -0.00266717] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.01742377 0.02705557] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [5.8410667e-02 9.8327382e-06] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-3.3197002  3.7762024] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.824328  -7.6505427] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00527405  0.02643136] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.6112    35.660244]\n [-20.494429   9.723368]\n [-41.523186  32.893703]\n [-37.824253  40.309216]\n [-19.636871  12.220376]\n [-21.860395   6.811954]\n [-18.901443  15.351003]\n [-38.800297  37.783886]]", "nav_goal": "(93.8720932006836, 245.63368225097656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.998597   0.7121293], 8.03023624420166 meters away.)"}
{"file_name": "images/scenario_1188_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 9.1 meters away at (7.9, -4.5). A vehicle with ID 21 is 9.5 meters away at (-8.2, 4.9). A vehicle with ID 29 is 10.8 meters away at (-10.5, 2.3). A vehicle with ID 52 is 12.5 meters away at (12.0, -3.5). A vehicle with ID 23 is 13.2 meters away at (-9.7, 9.1). A pedestrian with ID 25 is 18.2 meters away at (-18.2, -1.4). A pedestrian with ID 26 is 18.6 meters away at (-18.6, 0.3). A pedestrian with ID 27 is 19.2 meters away at (-19.2, -0.1). A vehicle with ID 8 is 24.4 meters away at (-14.0, 20.0). A vehicle with ID 34 is 26.9 meters away at (-25.2, -9.6).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.26395783  0.16559294] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-3.7605865  2.6426554] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.00056669  0.00222192] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00896963  0.01556941] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00560844  0.00469858] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 5.6445026 -1.5987761] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.119611 -8.039582] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.6112    35.660244]\n [-20.494429   9.723368]\n [-41.523186  32.893703]\n [-37.824253  40.309216]\n [-19.636871  12.220376]\n [-21.860395   6.811954]\n [-18.901443  15.351003]\n [-38.800297  37.783886]]", "nav_goal": "(93.8720932006836, 245.63368225097656)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 7.948714 -4.504793], 9.13647747039795 meters away.)"}
{"file_name": "images/scenario_1189_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -1.9) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 30 is 21.3 meters away at (5.4, 20.6). A unknown object with ID 31 is 27.1 meters away at (2.5, -27.0). A cyclist with ID 39 is 28.6 meters away at (10.0, -26.8). A vehicle with ID 32 is 28.6 meters away at (-2.5, -28.5). A unknown object with ID 34 is 33.0 meters away at (-2.2, 33.0). A vehicle with ID 33 is 33.1 meters away at (29.7, 14.7). A vehicle with ID 27 is 33.5 meters away at (11.3, -31.5). A unknown object with ID 38 is 38.3 meters away at (37.9, 5.4). A vehicle with ID 41 is 39.7 meters away at (-4.3, -39.5). A vehicle with ID 40 is 40.1 meters away at (-39.6, 6.3).", "velocity_description": "The vehicle with ID 30 is traveling at a (x, y) velocity of [-11.015874   6.641598] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-3.7188733  2.322511 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(217.1527862548828, -191.5320587158203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.417524 20.61633 ], 21.316251754760742 meters away.)"}
{"file_name": "images/scenario_1189_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -3.2) m/s. Its current heading (yaw) is -1.83 ", "actor_description": " The most relevant actors are: A cyclist with ID 39 is 18.8 meters away at (5.3, -18.0). A vehicle with ID 32 is 23.5 meters away at (-0.2, -23.5). A unknown object with ID 22 is 28.3 meters away at (3.6, -28.1). A vehicle with ID 27 is 29.9 meters away at (13.6, -26.7). A vehicle with ID 41 is 34.5 meters away at (-2.0, -34.5). A vehicle with ID 33 is 37.7 meters away at (32.3, 19.4). A unknown object with ID 34 is 37.9 meters away at (0.7, 37.9). A vehicle with ID 40 is 38.8 meters away at (-37.0, 11.6). A unknown object with ID 8 is 40.8 meters away at (39.2, 11.5). A vehicle with ID 30 is 41.0 meters away at (-13.9, 38.6).", "velocity_description": "The cyclist with ID 39 is traveling at a (x, y) velocity of [-3.261914   1.6165688] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-10.715696    6.2156057] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(217.1527862548828, -191.5320587158203)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [  5.3299217 -18.041918 ], 18.812732696533203 meters away.)"}
{"file_name": "images/scenario_1189_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -3.8) m/s. Its current heading (yaw) is -1.01 ", "actor_description": " The most relevant actors are: A cyclist with ID 39 is 7.1 meters away at (-1.5, -6.9). A vehicle with ID 32 is 16.0 meters away at (-1.2, -16.0). A vehicle with ID 27 is 22.9 meters away at (12.6, -19.2). A vehicle with ID 41 is 27.1 meters away at (-3.0, -26.9). A vehicle with ID 33 is 41.4 meters away at (31.4, 26.9). A vehicle with ID 40 is 42.7 meters away at (-38.1, 19.3). A unknown object with ID 38 is 43.1 meters away at (39.4, 17.5). A unknown object with ID 34 is 45.4 meters away at (-0.1, 45.4). A vehicle with ID 21 is 46.7 meters away at (43.7, 16.6). A vehicle with ID 36 is 63.7 meters away at (63.7, 1.6).", "velocity_description": "The cyclist with ID 39 is traveling at a (x, y) velocity of [-2.7871737  2.0134008] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(217.1527862548828, -191.5320587158203)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [-1.5226014 -6.9267464], 7.0921173095703125 meters away.)"}
{"file_name": "images/scenario_1189_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -3.5) m/s. Its current heading (yaw) is -0.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 12.0 meters away at (-8.4, -8.5). A vehicle with ID 27 is 12.8 meters away at (5.3, -11.7). A cyclist with ID 39 is 14.6 meters away at (-13.6, 5.2). A vehicle with ID 41 is 22.0 meters away at (-10.3, -19.5). A unknown object with ID 20 is 39.6 meters away at (10.8, 38.1). A vehicle with ID 33 is 41.9 meters away at (23.9, 34.4). A vehicle with ID 21 is 43.6 meters away at (36.2, 24.3). A vehicle with ID 5 is 45.4 meters away at (39.0, 23.2). A vehicle with ID 40 is 52.7 meters away at (-45.5, 26.5). A unknown object with ID 34 is 53.4 meters away at (-7.7, 52.9).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-1.3358052  2.5372686] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(217.1527862548828, -191.5320587158203)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.42374  -8.529764], 11.98817253112793 meters away.)"}
{"file_name": "images/scenario_1190_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -0.9) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 6.6 meters away at (-0.5, 6.6). A vehicle with ID 58 is 13.8 meters away at (13.7, -1.1). A vehicle with ID 24 is 14.1 meters away at (-13.4, 4.4). A vehicle with ID 61 is 14.9 meters away at (-14.8, 2.1). A vehicle with ID 62 is 19.4 meters away at (-5.4, -18.7). A vehicle with ID 63 is 19.6 meters away at (-1.7, -19.5). A vehicle with ID 59 is 20.8 meters away at (-20.4, 4.3). A vehicle with ID 45 is 22.8 meters away at (17.9, 14.1). A vehicle with ID 60 is 23.7 meters away at (-19.7, 13.1). A pedestrian with ID 67 is 29.4 meters away at (28.6, 6.8).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [3.1201098 1.8797491] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.612644  -0.9307119] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.5822994 1.3188492] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(248.59425354003906, -74.905029296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.51901865  6.597349  ], 6.617733478546143 meters away.)"}
{"file_name": "images/scenario_1190_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.2) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A vehicle with ID 57 is 8.6 meters away at (-3.7, 7.7). A vehicle with ID 24 is 10.3 meters away at (-9.8, 3.2). A vehicle with ID 58 is 16.4 meters away at (15.5, 5.3). A vehicle with ID 61 is 18.3 meters away at (-18.0, 3.3). A vehicle with ID 63 is 19.0 meters away at (-4.9, -18.4). A vehicle with ID 62 is 19.6 meters away at (-8.6, -17.6). A vehicle with ID 45 is 21.2 meters away at (14.8, 15.2). A vehicle with ID 59 is 24.3 meters away at (-23.7, 5.5). A vehicle with ID 60 is 27.0 meters away at (-22.9, 14.3). A vehicle with ID 69 is 27.1 meters away at (18.4, -19.9).", "velocity_description": "The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.8718414 -1.0646679] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [2.2631342 3.40063  ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(248.59425354003906, -74.905029296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.6531115  7.7450743], 8.563375473022461 meters away.)"}
{"file_name": "images/scenario_1190_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -0.7) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 8.7 meters away at (-8.3, 2.7). A vehicle with ID 57 is 10.0 meters away at (-5.4, 8.4). A vehicle with ID 63 is 18.8 meters away at (-6.6, -17.6). A vehicle with ID 62 is 19.9 meters away at (-10.4, -16.9). A vehicle with ID 61 is 20.2 meters away at (-19.8, 4.0). A vehicle with ID 45 is 20.5 meters away at (13.0, 15.9). A vehicle with ID 28 is 22.4 meters away at (17.5, 14.1). A vehicle with ID 74 is 24.5 meters away at (24.1, -4.6). A vehicle with ID 69 is 25.3 meters away at (16.6, -19.1). A vehicle with ID 59 is 26.1 meters away at (-25.4, 6.1).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [ 0.8794869  -0.32688144] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [1.7614269 4.4687867] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-3.697663   1.2938017] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(248.59425354003906, -74.905029296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.331898   2.6623418], 8.746918678283691 meters away.)"}
{"file_name": "images/scenario_1190_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -1.7) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 7.5 meters away at (7.4, 1.2). A vehicle with ID 24 is 13.0 meters away at (-12.3, 4.1). A vehicle with ID 57 is 16.7 meters away at (-12.6, 11.0). A vehicle with ID 69 is 19.0 meters away at (9.5, -16.5). A vehicle with ID 45 is 19.4 meters away at (5.9, 18.5). A vehicle with ID 63 is 20.4 meters away at (-13.7, -15.1). A vehicle with ID 62 is 22.6 meters away at (-17.5, -14.3). A vehicle with ID 68 is 24.3 meters away at (15.4, 18.8). A vehicle with ID 13 is 25.4 meters away at (23.0, -10.9). A unknown object with ID 15 is 26.8 meters away at (26.8, -1.0).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [-5.6431317  1.9014957] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.659141  -0.9405453] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(248.59425354003906, -74.905029296875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [7.4348755 1.2226915], 7.534742832183838 meters away.)"}
{"file_name": "images/scenario_1191_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 0.7) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 6.0 meters away at (-1.5, -5.8). A vehicle with ID 45 is 8.1 meters away at (-7.0, -4.0). A vehicle with ID 48 is 9.1 meters away at (4.0, -8.2). A pedestrian with ID 49 is 10.9 meters away at (10.6, 2.3). A pedestrian with ID 50 is 11.6 meters away at (11.5, 2.0). A vehicle with ID 51 is 15.0 meters away at (10.3, -10.9). A vehicle with ID 52 is 21.8 meters away at (16.6, -14.2). A vehicle with ID 53 is 28.6 meters away at (22.6, -17.4). A vehicle with ID 55 is 33.3 meters away at (-5.7, 32.9). A pedestrian with ID 54 is 33.5 meters away at (31.3, -11.8).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.01124036  0.00148785] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.00478948 -0.01622305] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.89713824 1.1520122 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-202.15396118164062, -42.560882568359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.502954  -5.7891035], 5.981019020080566 meters away.)"}
{"file_name": "images/scenario_1191_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.3) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 6.5 meters away at (0.5, -6.5). A vehicle with ID 45 is 6.9 meters away at (-5.0, -4.8). A vehicle with ID 48 is 10.8 meters away at (6.1, -9.0). A pedestrian with ID 49 is 12.7 meters away at (12.6, 1.6). A pedestrian with ID 50 is 13.5 meters away at (13.5, 1.2). A vehicle with ID 51 is 17.0 meters away at (12.4, -11.6). A vehicle with ID 52 is 23.8 meters away at (18.6, -14.9). A vehicle with ID 53 is 30.6 meters away at (24.7, -18.2). A vehicle with ID 55 is 32.2 meters away at (-3.7, 32.0). A vehicle with ID 57 is 36.0 meters away at (-0.2, 36.0).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.02572473 -0.00316546] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.05560497 -0.01837517] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-202.15396118164062, -42.560882568359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.49417496 -6.5159616 ], 6.534674167633057 meters away.)"}
{"file_name": "images/scenario_1191_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 1.3) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 6.4 meters away at (-0.5, -6.4). A vehicle with ID 46 is 9.6 meters away at (5.0, -8.2). A vehicle with ID 48 is 14.9 meters away at (10.6, -10.6). A pedestrian with ID 49 is 17.2 meters away at (17.2, 0.0). A pedestrian with ID 50 is 18.1 meters away at (18.1, -0.5). A vehicle with ID 51 is 21.4 meters away at (16.9, -13.2). A vehicle with ID 52 is 28.4 meters away at (23.1, -16.5). A vehicle with ID 55 is 30.4 meters away at (0.8, 30.4). A vehicle with ID 57 is 34.7 meters away at (4.3, 34.4). A vehicle with ID 53 is 35.2 meters away at (29.1, -19.7).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.00413526 -0.00318043] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.00320612 -0.00755205] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-202.15396118164062, -42.560882568359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-0.49427032 -6.4158955 ], 6.434906482696533 meters away.)"}
{"file_name": "images/scenario_1191_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 1.9) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 13.2 meters away at (9.0, -9.7). A vehicle with ID 46 is 18.6 meters away at (14.6, -11.5). A vehicle with ID 48 is 24.6 meters away at (20.2, -13.9). A pedestrian with ID 49 is 27.0 meters away at (26.8, -3.3). A pedestrian with ID 50 is 27.9 meters away at (27.7, -3.8). A vehicle with ID 55 is 29.0 meters away at (10.4, 27.1). A vehicle with ID 51 is 31.3 meters away at (26.5, -16.5). A vehicle with ID 61 is 31.5 meters away at (-26.8, -16.5). A vehicle with ID 57 is 34.1 meters away at (14.0, 31.1). A vehicle with ID 44 is 35.9 meters away at (-32.4, 15.4).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.02578627 -0.00281763] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.01942     0.00093435] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-202.15396118164062, -42.560882568359375)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.008371 -9.711444], 13.246240615844727 meters away.)"}
{"file_name": "images/scenario_1192_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -2.0) m/s. Its current heading (yaw) is -1.61 ", "actor_description": " The most relevant actors are: A pedestrian with ID 31 is 28.2 meters away at (-23.0, -16.3). A unknown object with ID 30 is 48.7 meters away at (-47.9, 8.4). A cyclist with ID 37 is 51.8 meters away at (-45.4, 24.9).", "velocity_description": "The pedestrian with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [0.11335285 0.15409511] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-22.971134 -16.311043], 28.173091888427734 meters away.)"}
{"file_name": "images/scenario_1192_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -2.5) m/s. Its current heading (yaw) is -0.86 ", "actor_description": " The most relevant actors are: A unknown object with ID 21 is 20.8 meters away at (-14.4, -15.0). A unknown object with ID 30 is 51.5 meters away at (-49.6, 13.8). A cyclist with ID 37 is 55.8 meters away at (-46.8, 30.4). A vehicle with ID 27 is 70.4 meters away at (53.0, -46.4).", "velocity_description": "The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [ 0.02161481 -0.00720578] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-2.4993572  4.4351087] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-14.364275 -14.993812], 20.764074325561523 meters away.)"}
{"file_name": "images/scenario_1192_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -1.8) m/s. Its current heading (yaw) is -0.40 ", "actor_description": " The most relevant actors are: A pedestrian with ID 29 is 32.2 meters away at (-31.5, -6.9). A vehicle with ID 27 is 51.5 meters away at (39.1, -33.5). A cyclist with ID 37 is 63.6 meters away at (-53.4, 34.6). A unknown object with ID 35 is 71.3 meters away at (-63.4, 32.7). A unknown object with ID 20 is 73.5 meters away at (-65.5, 33.5). A unknown object with ID 36 is 75.6 meters away at (-67.3, 34.5).", "velocity_description": "The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.03685931 0.00631864] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.322262   3.5112815] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [0.01401069 0.13807818] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-31.481972   -6.8794928], 32.2248649597168 meters away.)"}
{"file_name": "images/scenario_1192_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -2.0) m/s. Its current heading (yaw) is -0.37 ", "actor_description": " The most relevant actors are: A unknown object with ID 7 is 25.0 meters away at (9.6, -23.1). A unknown object with ID 6 is 27.3 meters away at (12.3, -24.4). A vehicle with ID 27 is 28.6 meters away at (16.5, -23.4). A unknown object with ID 5 is 29.3 meters away at (14.6, -25.3). A unknown object with ID 4 is 30.9 meters away at (16.4, -26.2). A unknown object with ID 3 is 32.5 meters away at (18.2, -26.9). A unknown object with ID 2 is 34.0 meters away at (19.8, -27.6). A cyclist with ID 37 is 73.4 meters away at (-62.7, 38.1).", "velocity_description": "The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-7.0916557  3.142424 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [ 0.03260439 -0.10047451] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [  9.605335 -23.110094], 25.026763916015625 meters away.)"}
{"file_name": "images/scenario_1193_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 9.3) m/s. Its current heading (yaw) is 1.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 40.4 meters away at (8.4, -39.5). A vehicle with ID 3 is 47.2 meters away at (9.0, -46.4). A vehicle with ID 4 is 78.4 meters away at (32.8, -71.2).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-101.71897888183594, 280.6245422363281)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [  8.415069 -39.512   ], 40.398162841796875 meters away.)"}
{"file_name": "images/scenario_1193_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 9.5) m/s. Its current heading (yaw) is 1.75 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 59.5 meters away at (11.8, -58.3). A vehicle with ID 3 is 66.3 meters away at (12.0, -65.2).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-101.71897888183594, 280.6245422363281)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 11.784735 -58.330772], 59.50931930541992 meters away.)"}
{"file_name": "images/scenario_1193_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 9.0) m/s. Its current heading (yaw) is 1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 78.7 meters away at (16.3, -77.0).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-101.71897888183594, 280.6245422363281)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 16.339111 -77.01293 ], 78.72711181640625 meters away.)"}
{"file_name": "images/scenario_1193_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 8.3) m/s. Its current heading (yaw) is 2.06 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-101.71897888183594, 280.6245422363281)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_1194_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -5.2) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A pedestrian with ID 83 is 25.9 meters away at (25.8, 2.5). A unknown object with ID 100 is 27.6 meters away at (25.1, -11.3). A unknown object with ID 68 is 34.0 meters away at (30.6, -14.7). A unknown object with ID 91 is 35.5 meters away at (35.2, -4.9). A unknown object with ID 118 is 36.9 meters away at (33.1, -16.4). A unknown object with ID 64 is 37.7 meters away at (-31.4, 20.9). A unknown object with ID 109 is 39.7 meters away at (-32.9, 22.1). A vehicle with ID 55 is 41.6 meters away at (-36.7, 19.6). A unknown object with ID 95 is 43.5 meters away at (-31.7, 29.7). A unknown object with ID 63 is 44.7 meters away at (39.8, -20.4).", "velocity_description": "The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.9467185  0.4827342] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 6.2286954 -3.9042926] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(257.7066650390625, -150.4689483642578)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [25.798714   2.4533205], 25.91510009765625 meters away.)"}
{"file_name": "images/scenario_1194_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -5.1) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A unknown object with ID 100 is 8.6 meters away at (8.5, -1.3). A unknown object with ID 68 is 14.5 meters away at (13.8, -4.5). A unknown object with ID 118 is 17.4 meters away at (16.3, -6.2). A pedestrian with ID 76 is 18.3 meters away at (-17.3, -5.9). A unknown object with ID 91 is 19.0 meters away at (18.3, 5.2). A pedestrian with ID 123 is 19.5 meters away at (-18.5, -6.2). A unknown object with ID 114 is 20.7 meters away at (19.1, -8.0). A unknown object with ID 97 is 22.2 meters away at (21.9, 3.8). A pedestrian with ID 94 is 22.8 meters away at (8.9, -21.0). A unknown object with ID 63 is 25.1 meters away at (22.9, -10.2).", "velocity_description": "The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.7080471   0.98856026] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-0.7116323  1.1992964] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-1.1210409   0.70341027] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 93.21194   -58.742977 ]\n [ 94.80936   -55.153427 ]\n [ 16.032223   -3.2263813]\n [ 16.584114   -1.9971669]\n [ 15.910188   -3.6359751]]", "nav_goal": "(257.7066650390625, -150.4689483642578)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [ 8.49258   -1.2711716], 8.587187767028809 meters away.)"}
{"file_name": "images/scenario_1194_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -5.0) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A unknown object with ID 114 is 2.9 meters away at (1.8, 2.3). A unknown object with ID 118 is 4.1 meters away at (-0.8, 4.0). A unknown object with ID 63 is 5.8 meters away at (5.8, -0.1). A unknown object with ID 68 is 6.6 meters away at (-3.4, 5.6). A unknown object with ID 60 is 7.5 meters away at (7.4, -0.9). A unknown object with ID 99 is 9.4 meters away at (9.3, -1.8). A unknown object with ID 65 is 12.4 meters away at (11.9, -3.4). A unknown object with ID 100 is 12.4 meters away at (-8.7, 8.9). A unknown object with ID 97 is 14.7 meters away at (4.8, 13.9). A unknown object with ID 91 is 15.3 meters away at (1.3, 15.3).", "velocity_description": "The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.032223  -3.2263813]\n [16.584114  -1.9971669]\n [15.910188  -3.6359751]]", "nav_goal": "(257.7066650390625, -150.4689483642578)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [1.8291092 2.2987156], 2.937640905380249 meters away.)"}
{"file_name": "images/scenario_1194_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -4.7) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A unknown object with ID 77 is 3.3 meters away at (0.6, 3.2). A unknown object with ID 84 is 5.2 meters away at (-2.0, 4.8). A unknown object with ID 88 is 6.2 meters away at (6.2, 0.1). A unknown object with ID 65 is 7.8 meters away at (-4.6, 6.4). A unknown object with ID 74 is 9.0 meters away at (8.9, -1.4). A unknown object with ID 99 is 10.7 meters away at (-7.2, 7.9). A unknown object with ID 49 is 12.0 meters away at (11.6, -3.1). A unknown object with ID 60 is 12.6 meters away at (-9.0, 8.8). A unknown object with ID 48 is 13.8 meters away at (13.3, -4.0). A unknown object with ID 63 is 14.4 meters away at (-10.6, 9.7).", "velocity_description": "The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[16.032223  -3.2263813]\n [16.584114  -1.9971669]\n [15.910188  -3.6359751]]", "nav_goal": "(257.7066650390625, -150.4689483642578)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [0.63308716 3.2240028 ], 3.285573720932007 meters away.)"}
{"file_name": "images/scenario_1195_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 1.4) m/s. Its current heading (yaw) is 0.55 ", "actor_description": " The most relevant actors are: A pedestrian with ID 20 is 6.5 meters away at (5.7, -3.2). A vehicle with ID 3 is 7.2 meters away at (-7.2, 0.0). A pedestrian with ID 22 is 8.0 meters away at (-2.8, -7.5). A pedestrian with ID 2 is 8.2 meters away at (-0.3, -8.2). A vehicle with ID 15 is 11.5 meters away at (4.5, 10.6). A pedestrian with ID 14 is 11.6 meters away at (-4.4, -10.7). A pedestrian with ID 21 is 13.3 meters away at (13.3, 0.4). A vehicle with ID 16 is 19.4 meters away at (-18.4, -6.0). A vehicle with ID 38 is 22.7 meters away at (6.5, 21.7). A pedestrian with ID 31 is 22.8 meters away at (22.1, 5.8).", "velocity_description": "The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.9611308  -0.58634615] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [4.158591 2.070562] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.2223653 -0.7693878] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.01754771 0.01553645] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.922895 3.032767] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.02278804 0.01589747] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.04979673 0.04794747] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [3.9809828 2.5583491] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.3551036  5.3129206] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [1.259651   0.64899796] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.787228  -13.80601  ]\n [ 12.994513   15.319985 ]\n [ 17.221315   13.908015 ]\n [ 19.006157   11.3942585]\n [-42.90144   -15.46643  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [ 5.70646  -3.151876], 6.519049644470215 meters away.)"}
{"file_name": "images/scenario_1195_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.1) m/s. Its current heading (yaw) is 0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 3.4 meters away at (-2.3, 2.4). A pedestrian with ID 20 is 5.9 meters away at (2.2, -5.5). A pedestrian with ID 1 is 8.8 meters away at (6.2, -6.3). A pedestrian with ID 5 is 8.8 meters away at (8.4, -2.7). A pedestrian with ID 2 is 9.3 meters away at (-1.7, -9.1). A pedestrian with ID 21 is 11.9 meters away at (11.9, -0.5). A pedestrian with ID 22 is 12.2 meters away at (-6.8, -10.1). A vehicle with ID 16 is 12.4 meters away at (-12.2, -2.1). A pedestrian with ID 14 is 13.0 meters away at (-5.9, -11.6). A vehicle with ID 26 is 17.8 meters away at (6.1, 16.7).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [1.6804911 0.9309895] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1611397 -0.8324788] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00352598 -0.00450767] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.02914826 -0.01078784] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.0029608  -0.00657769] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.00430448 -0.01556109] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.4412851 -0.9935779] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [3.4621778 2.2539866] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00634138 -0.00964953] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0.16034035 3.842433  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.787228  -13.80601  ]\n [ 12.994513   15.319985 ]\n [ 17.221315   13.908015 ]\n [ 12.19684    16.2582   ]\n [ 12.751597   15.238149 ]\n [ 19.006157   11.3942585]\n [ 12.751599   15.238147 ]\n [-42.90144   -15.46643  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-2.3362322  2.4030967], 3.3515450954437256 meters away.)"}
{"file_name": "images/scenario_1195_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 3.3 meters away at (-1.3, 3.0). A pedestrian with ID 20 is 7.1 meters away at (0.0, -7.1). A vehicle with ID 16 is 8.0 meters away at (-7.9, 0.9). A pedestrian with ID 1 is 8.8 meters away at (6.1, -6.3). A pedestrian with ID 2 is 9.4 meters away at (-1.9, -9.2). A pedestrian with ID 21 is 11.7 meters away at (11.7, -0.6). A vehicle with ID 25 is 13.0 meters away at (-12.4, -3.8). A pedestrian with ID 22 is 15.1 meters away at (-9.4, -11.9). A vehicle with ID 26 is 25.3 meters away at (3.6, 25.0). A pedestrian with ID 31 is 26.3 meters away at (25.4, 6.8).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1107286  -0.80276656] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0.7209434  0.53108674] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00561944 -0.00188154] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00562914 -0.00162061] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00297695 -0.00058475] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [1.4998804  0.96219194] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1822504 -0.8905448] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.5126464  4.6003923] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [1.1965847 0.6494029] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.787228  -13.80601  ]\n [ 12.994513   15.319985 ]\n [ 17.221315   13.908015 ]\n [ 12.19684    16.2582   ]\n [ 12.751597   15.238149 ]\n [ 19.006157   11.3942585]\n [ 12.751599   15.238147 ]\n [-42.90144   -15.46643  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-1.3352938  2.9873023], 3.272152900695801 meters away.)"}
{"file_name": "images/scenario_1195_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 3 is 3.3 meters away at (-1.4, 3.0). A vehicle with ID 16 is 7.7 meters away at (-7.6, 1.2). A pedestrian with ID 20 is 8.7 meters away at (-2.2, -8.4). A pedestrian with ID 1 is 8.8 meters away at (6.0, -6.3). A pedestrian with ID 2 is 9.6 meters away at (-2.0, -9.3). A pedestrian with ID 21 is 11.7 meters away at (11.7, -0.6). A vehicle with ID 25 is 11.9 meters away at (-11.4, -3.2). A pedestrian with ID 22 is 17.9 meters away at (-11.7, -13.6). A pedestrian with ID 31 is 29.0 meters away at (27.9, 8.1). A vehicle with ID 26 is 33.9 meters away at (-2.3, 33.9).", "velocity_description": "The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.1833518 -0.6010964] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00230433 0.00203607] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.17837536 -0.21285638] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-3.2963378e-03 -3.7144197e-05] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.271023   -0.83257705] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [1.1901753  0.67121637] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.9563406  4.2159076] m/s.", "light_description": "There are active red lights at the following coordinates: [[-39.787228  -13.80601  ]\n [ 12.994513   15.319985 ]\n [ 17.221315   13.908015 ]\n [ 12.19684    16.2582   ]\n [ 12.751597   15.238149 ]\n [ 19.006157   11.3942585]\n [ 12.751599   15.238147 ]\n [-42.90144   -15.46643  ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-1.3677778  2.9509869], 3.252558946609497 meters away.)"}
{"file_name": "images/scenario_1196_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 0.2) m/s. Its current heading (yaw) is 3.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 9.3 meters away at (8.9, 2.7). A vehicle with ID 11 is 21.8 meters away at (21.7, 2.4). A vehicle with ID 10 is 31.5 meters away at (-14.3, 28.0). A unknown object with ID 12 is 34.1 meters away at (32.4, -10.6). A vehicle with ID 2 is 37.9 meters away at (-14.7, 34.9).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-105.19969177246094, 260.93731689453125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.938649  2.7168758], 9.342423439025879 meters away.)"}
{"file_name": "images/scenario_1196_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.1) m/s. Its current heading (yaw) is 3.09 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 14.5 meters away at (14.3, 2.5). A vehicle with ID 11 is 27.2 meters away at (27.1, 2.1). A vehicle with ID 10 is 29.2 meters away at (-9.0, 27.8). A vehicle with ID 2 is 35.8 meters away at (-9.4, 34.5). A unknown object with ID 12 is 39.3 meters away at (37.8, -10.9).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-105.19969177246094, 260.93731689453125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [14.286598  2.467596], 14.498135566711426 meters away.)"}
{"file_name": "images/scenario_1196_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.1) m/s. Its current heading (yaw) is 3.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 16.6 meters away at (16.4, 2.4). A vehicle with ID 10 is 28.6 meters away at (-6.9, 27.7). A vehicle with ID 11 is 29.2 meters away at (29.1, 2.0). A vehicle with ID 2 is 35.3 meters away at (-7.4, 34.5). A unknown object with ID 12 is 41.2 meters away at (39.7, -11.0).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-105.19969177246094, 260.93731689453125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [16.384811  2.390378], 16.558258056640625 meters away.)"}
{"file_name": "images/scenario_1196_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 0.9) m/s. Its current heading (yaw) is 2.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 20.8 meters away at (20.7, 1.9). A vehicle with ID 10 is 27.4 meters away at (-2.8, 27.2). A vehicle with ID 11 is 33.5 meters away at (33.5, 1.6). A vehicle with ID 2 is 34.1 meters away at (-3.4, 33.9).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-105.19969177246094, 260.93731689453125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [20.702845   1.9289882], 20.792518615722656 meters away.)"}
{"file_name": "images/scenario_1197_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -6.3) m/s. Its current heading (yaw) is -1.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 8.2 meters away at (-7.0, -4.3). A vehicle with ID 51 is 9.6 meters away at (-6.9, -6.7). A vehicle with ID 53 is 11.8 meters away at (-6.9, -9.5). A vehicle with ID 55 is 14.3 meters away at (-7.2, -12.3). A vehicle with ID 58 is 19.1 meters away at (-7.1, -17.7). A vehicle with ID 54 is 21.0 meters away at (-20.9, -1.7). A vehicle with ID 63 is 21.7 meters away at (-6.9, -20.5). A vehicle with ID 56 is 21.7 meters away at (-20.6, -6.7). A vehicle with ID 49 is 22.0 meters away at (-14.7, 16.4). A unknown object with ID 48 is 22.1 meters away at (9.7, 19.8).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.001105 -4.265764], 8.198305130004883 meters away.)"}
{"file_name": "images/scenario_1197_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -6.3) m/s. Its current heading (yaw) is -1.58 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 7.1 meters away at (-7.1, -0.0). A vehicle with ID 53 is 7.4 meters away at (-6.9, 2.7). A vehicle with ID 58 is 8.8 meters away at (-7.0, -5.4). A vehicle with ID 51 is 8.9 meters away at (-6.9, 5.6). A vehicle with ID 50 is 10.6 meters away at (-6.9, 8.0). A vehicle with ID 63 is 10.6 meters away at (-6.8, -8.2). A vehicle with ID 70 is 15.2 meters away at (-7.1, -13.5). A vehicle with ID 72 is 17.9 meters away at (-7.4, -16.3). A vehicle with ID 74 is 20.4 meters away at (-7.4, -19.0). A vehicle with ID 56 is 21.2 meters away at (-20.5, 5.5).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.139528e+00 -6.324768e-03], 7.139530658721924 meters away.)"}
{"file_name": "images/scenario_1197_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -6.1) m/s. Its current heading (yaw) is -1.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 70 is 7.2 meters away at (-7.2, -0.7). A vehicle with ID 63 is 8.2 meters away at (-6.8, 4.6). A vehicle with ID 72 is 8.3 meters away at (-7.6, -3.4). A vehicle with ID 74 is 9.8 meters away at (-7.6, -6.2). A vehicle with ID 58 is 10.2 meters away at (-7.0, 7.4). A vehicle with ID 55 is 14.7 meters away at (-7.2, 12.8). A vehicle with ID 53 is 17.1 meters away at (-6.9, 15.6). A vehicle with ID 51 is 19.6 meters away at (-6.8, 18.4). A vehicle with ID 50 is 22.0 meters away at (-6.9, 20.8). A unknown object with ID 28 is 27.5 meters away at (12.2, -24.7).", "velocity_description": "The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.1627293 -0.6653023], 7.19356107711792 meters away.)"}
{"file_name": "images/scenario_1197_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -5.0) m/s. Its current heading (yaw) is -1.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 74 is 8.9 meters away at (-7.5, 4.9). A vehicle with ID 72 is 10.7 meters away at (-7.5, 7.7). A vehicle with ID 70 is 12.6 meters away at (-7.1, 10.4). A vehicle with ID 63 is 17.1 meters away at (-6.9, 15.7). A unknown object with ID 28 is 18.2 meters away at (12.3, -13.4). A vehicle with ID 58 is 19.9 meters away at (-7.1, 18.6). A vehicle with ID 55 is 25.0 meters away at (-7.1, 23.9). A vehicle with ID 53 is 27.6 meters away at (-6.9, 26.8). A vehicle with ID 51 is 30.4 meters away at (-6.9, 29.6). A vehicle with ID 50 is 32.7 meters away at (-6.9, 32.0).", "velocity_description": "The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.4784946  4.8639793], 8.921109199523926 meters away.)"}
{"file_name": "images/scenario_1198_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.8) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 36 is 6.3 meters away at (-4.9, -4.0). A unknown object with ID 30 is 7.4 meters away at (-4.9, -5.5). A vehicle with ID 35 is 23.6 meters away at (15.6, -17.8). A vehicle with ID 38 is 24.7 meters away at (-16.1, 18.8). A vehicle with ID 14 is 28.1 meters away at (21.3, -18.3). A unknown object with ID 37 is 31.3 meters away at (-17.8, -25.7). A vehicle with ID 39 is 32.6 meters away at (-27.0, -18.2). A vehicle with ID 41 is 47.5 meters away at (-20.2, -43.0). A vehicle with ID 11 is 53.7 meters away at (-53.7, 1.0). A unknown object with ID 26 is 56.0 meters away at (-55.8, 4.5).", "velocity_description": "The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.08066351 -0.0288028 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 6.5092196 -5.682315 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.2255182  1.9806638] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.3055204   0.33962926] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.8838015 -4.0301423], 6.3319478034973145 meters away.)"}
{"file_name": "images/scenario_1198_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 5.5) m/s. Its current heading (yaw) is 2.43 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 9.5 meters away at (-4.1, 8.5). A pedestrian with ID 36 is 16.0 meters away at (6.9, -14.4). A unknown object with ID 30 is 17.2 meters away at (6.9, -15.7). A vehicle with ID 39 is 32.4 meters away at (-15.4, -28.6). A vehicle with ID 14 is 38.5 meters away at (29.3, -25.1). A vehicle with ID 11 is 43.4 meters away at (-42.5, -8.5). A vehicle with ID 41 is 53.9 meters away at (-8.2, -53.3). A vehicle with ID 35 is 58.8 meters away at (42.2, -41.0). A unknown object with ID 28 is 58.9 meters away at (-42.6, 40.7). A vehicle with ID 33 is 58.9 meters away at (-8.2, -58.4).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.00586731 -0.00519787] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.6729836  2.2552242] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 7.978451  -7.0843816] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.12566   8.531689], 9.476855278015137 meters away.)"}
{"file_name": "images/scenario_1198_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 5.8) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 9.0 meters away at (8.6, -2.6). A vehicle with ID 21 is 27.2 meters away at (-7.9, 26.0). A pedestrian with ID 36 is 32.3 meters away at (19.8, -25.6). A vehicle with ID 20 is 34.8 meters away at (-27.7, -21.1). A vehicle with ID 11 is 35.8 meters away at (-30.0, -19.4). A vehicle with ID 39 is 39.5 meters away at (-2.9, -39.4). A vehicle with ID 14 is 46.8 meters away at (35.4, -30.6). A vehicle with ID 2 is 53.1 meters away at (-37.6, 37.5). A vehicle with ID 41 is 64.6 meters away at (4.6, -64.4).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.01100531  0.04170232] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.981075   3.5358262] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.599598 -2.626955], 8.991884231567383 meters away.)"}
{"file_name": "images/scenario_1198_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.5) m/s. Its current heading (yaw) is 2.44 ", "actor_description": " The most relevant actors are: A vehicle with ID 38 is 26.0 meters away at (21.9, -14.0). A vehicle with ID 11 is 35.0 meters away at (-16.9, -30.7). A vehicle with ID 20 is 35.6 meters away at (-14.5, -32.5). A vehicle with ID 2 is 35.8 meters away at (-24.4, 26.1). A pedestrian with ID 36 is 49.7 meters away at (33.3, -36.9). A vehicle with ID 14 is 52.2 meters away at (39.6, -34.0). A pedestrian with ID 17 is 65.8 meters away at (-54.8, 36.4). A pedestrian with ID 15 is 66.7 meters away at (-55.3, 37.2). A pedestrian with ID 6 is 74.8 meters away at (-69.2, 28.5). A vehicle with ID 41 is 77.9 meters away at (17.9, -75.8).", "velocity_description": "The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.25508803 0.02650462] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.228123   4.3120003] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.1042489  -0.47915545] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.1064875  -0.54420817] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.3058007 -1.1410519] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 21.878456 -14.025915], 25.988327026367188 meters away.)"}
{"file_name": "images/scenario_1199_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (-3.3, 0.7). A vehicle with ID 5 is 7.9 meters away at (-2.5, -7.4). A vehicle with ID 6 is 13.4 meters away at (9.9, 9.0). A pedestrian with ID 9 is 19.8 meters away at (6.3, -18.8). A vehicle with ID 11 is 22.9 meters away at (7.9, 21.5). A unknown object with ID 15 is 36.8 meters away at (-0.2, -36.8). A vehicle with ID 3 is 36.8 meters away at (-31.5, -19.1). A vehicle with ID 7 is 38.3 meters away at (15.1, -35.2). A vehicle with ID 17 is 39.9 meters away at (11.1, -38.3). A vehicle with ID 18 is 41.3 meters away at (-34.3, -22.9).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-9.743390e-05 -1.946492e-03] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.8683577 -5.197856 ] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [12.004628  -3.9587235] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [11.989037 -4.303388] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -3.55902   -30.991728 ]\n [-11.268907  -26.155756 ]\n [ -5.656051  -16.85434  ]\n [ -6.51806   -28.83727  ]\n [ -5.8530397 -16.812815 ]\n [-12.447789  -28.02536  ]\n [ -7.902581  -28.593061 ]]", "nav_goal": "(207.28952026367188, 54.101776123046875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.3325136  0.7429085], 3.4143168926239014 meters away.)"}
{"file_name": "images/scenario_1199_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (-3.3, 0.8). A vehicle with ID 5 is 7.9 meters away at (-2.5, -7.4). A vehicle with ID 6 is 13.3 meters away at (9.8, 9.0). A vehicle with ID 11 is 14.1 meters away at (5.0, 13.2). A pedestrian with ID 9 is 19.8 meters away at (6.3, -18.8). A vehicle with ID 3 is 28.1 meters away at (-7.7, -27.0). A unknown object with ID 15 is 36.8 meters away at (-0.2, -36.8). A vehicle with ID 17 is 39.9 meters away at (11.1, -38.3). A vehicle with ID 18 is 41.3 meters away at (-34.3, -22.9). A vehicle with ID 19 is 44.7 meters away at (18.2, -40.8).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.0094457 -2.839351 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 2.2386790e-05 -1.4293857e-03] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [11.844846  -3.9698334] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -3.55902   -30.991728 ]\n [ -5.656051  -16.85434  ]\n [ -6.51806   -28.83727  ]\n [ -5.8530397 -16.812815 ]\n [-12.447789  -28.02536  ]\n [ -7.902581  -28.593061 ]]", "nav_goal": "(207.28952026367188, 54.101776123046875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.3258126  0.7505189], 3.4094438552856445 meters away.)"}
{"file_name": "images/scenario_1199_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (-3.3, 0.7). A vehicle with ID 5 is 7.9 meters away at (-2.5, -7.4). A vehicle with ID 11 is 10.9 meters away at (3.9, 10.2). A vehicle with ID 6 is 13.3 meters away at (9.9, 9.0). A pedestrian with ID 9 is 19.8 meters away at (6.3, -18.8). A vehicle with ID 2 is 28.8 meters away at (-11.4, -26.4). A unknown object with ID 15 is 36.8 meters away at (-0.2, -36.8). A vehicle with ID 3 is 38.2 meters away at (15.4, -34.9). A vehicle with ID 17 is 39.9 meters away at (11.1, -38.3). A vehicle with ID 18 is 41.3 meters away at (-34.3, -22.9).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.17379276 -0.44362268] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00064507 -0.00178196] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [11.5006695 -3.966474 ] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [10.87758   -3.8804228] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -3.55902   -30.991728 ]\n [ -5.656051  -16.85434  ]\n [ -6.51806   -28.83727  ]\n [ -5.8530397 -16.812815 ]\n [ -7.902581  -28.593061 ]]", "nav_goal": "(207.28952026367188, 54.101776123046875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.3341055   0.73628193], 3.414435625076294 meters away.)"}
{"file_name": "images/scenario_1199_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 4 is 3.4 meters away at (-3.3, 0.8). A vehicle with ID 5 is 7.9 meters away at (-2.5, -7.4). A vehicle with ID 11 is 10.3 meters away at (3.7, 9.6). A vehicle with ID 6 is 13.3 meters away at (9.9, 9.0). A pedestrian with ID 9 is 19.8 meters away at (6.3, -18.8). A vehicle with ID 2 is 35.4 meters away at (10.3, -33.8). A unknown object with ID 15 is 36.8 meters away at (-0.2, -36.8). A vehicle with ID 17 is 39.9 meters away at (11.1, -38.3). A vehicle with ID 18 is 41.3 meters away at (-34.3, -22.9). A vehicle with ID 19 is 44.6 meters away at (18.1, -40.8).", "velocity_description": "The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.12838432 -0.32423517] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.00491452 0.00209109] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 9.976286 -3.462401] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -3.55902   -30.991728 ]\n [ -5.656051  -16.85434  ]\n [ -6.51806   -28.83727  ]\n [ -5.8530397 -16.812815 ]\n [ -7.902581  -28.593061 ]]", "nav_goal": "(207.28952026367188, 54.101776123046875)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.3265202   0.75270855], 3.410616874694824 meters away.)"}
{"file_name": "images/scenario_1200_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 2.4) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 6.2 meters away at (-4.0, -4.8). A vehicle with ID 65 is 10.8 meters away at (6.6, -8.5). A pedestrian with ID 28 is 14.0 meters away at (-12.9, -5.3). A pedestrian with ID 29 is 14.4 meters away at (-13.1, -6.0). A vehicle with ID 68 is 15.7 meters away at (-3.1, -15.4). A vehicle with ID 5 is 18.1 meters away at (17.2, -5.5). A vehicle with ID 64 is 18.6 meters away at (14.8, -11.3). A vehicle with ID 54 is 20.8 meters away at (-5.0, -20.2). A vehicle with ID 70 is 22.7 meters away at (-13.2, 18.4). A vehicle with ID 66 is 23.6 meters away at (19.9, -12.8).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.3660573  0.436107 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.3595703   0.46674407] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.9300065  2.5031962] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.56967163085938, 164.1289520263672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.993559 -4.806255], 6.24888801574707 meters away.)"}
{"file_name": "images/scenario_1200_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 2.3) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 3.0 meters away at (-1.5, -2.6). A pedestrian with ID 28 is 9.2 meters away at (-2.1, -9.0). A pedestrian with ID 29 is 10.0 meters away at (-2.3, -9.8). A vehicle with ID 60 is 11.1 meters away at (-10.8, -2.6). A vehicle with ID 67 is 13.3 meters away at (9.3, -9.5). A vehicle with ID 70 is 13.7 meters away at (0.1, 13.7). A vehicle with ID 5 is 15.8 meters away at (15.0, -5.1). A unknown object with ID 38 is 18.6 meters away at (15.8, 9.8). A pedestrian with ID 59 is 19.1 meters away at (16.1, 10.4). A pedestrian with ID 45 is 19.9 meters away at (16.3, 11.5).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [ 9.346217 -3.130911] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2840452   0.52132225] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.2719795  0.5191716] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.595385   2.6720116] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.00228509  0.00137578] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.56967163085938, 164.1289520263672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.4834766 -2.5930705], 2.987426519393921 meters away.)"}
{"file_name": "images/scenario_1200_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 2.4) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 60 is 7.8 meters away at (2.8, -7.3). A vehicle with ID 61 is 14.6 meters away at (-14.5, -1.7). A vehicle with ID 5 is 14.7 meters away at (13.9, -4.6). A pedestrian with ID 28 is 15.4 meters away at (9.2, -12.4). A pedestrian with ID 29 is 15.9 meters away at (8.9, -13.1). A vehicle with ID 70 is 16.4 meters away at (13.7, 9.0). A unknown object with ID 43 is 20.6 meters away at (17.2, 11.4). A vehicle with ID 62 is 25.1 meters away at (-25.0, 2.0). A vehicle with ID 75 is 25.9 meters away at (17.6, 19.1). A vehicle with ID 67 is 27.0 meters away at (23.0, -14.2).", "velocity_description": "The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.148968   2.4280155] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2609544  0.716123 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.2874358  0.7261449] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.56967163085938, 164.1289520263672)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.8073387 -7.300289 ], 7.821468353271484 meters away.)"}
{"file_name": "images/scenario_1200_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 2.1) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A unknown object with ID 40 is 4.9 meters away at (4.1, 2.6). A vehicle with ID 61 is 6.4 meters away at (-0.8, -6.3). A unknown object with ID 39 is 10.9 meters away at (-7.9, 7.4). A unknown object with ID 37 is 11.1 meters away at (-6.3, -9.1). A vehicle with ID 62 is 11.6 meters away at (-11.3, -2.6). A vehicle with ID 5 is 14.1 meters away at (13.3, -4.5). A vehicle with ID 63 is 16.6 meters away at (-16.6, -0.7). A vehicle with ID 60 is 20.2 meters away at (16.4, -11.8). A pedestrian with ID 28 is 25.8 meters away at (20.3, -15.9). A pedestrian with ID 29 is 25.9 meters away at (20.1, -16.5).", "velocity_description": "The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.1784415  2.377439 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2863526  0.5028635] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.3851215  0.538266 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.56967163085938, 164.1289520263672)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [4.1349144 2.6471825], 4.909693717956543 meters away.)"}
{"file_name": "images/scenario_1201_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -2.4) m/s. Its current heading (yaw) is -1.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 16 is 16.4 meters away at (-9.2, 13.6). A unknown object with ID 79 is 17.0 meters away at (15.0, -8.0). A unknown object with ID 80 is 17.7 meters away at (16.5, -6.3). A unknown object with ID 82 is 18.4 meters away at (16.2, -8.6). A unknown object with ID 81 is 18.6 meters away at (17.2, -6.9). A unknown object with ID 83 is 18.8 meters away at (16.9, -8.1). A pedestrian with ID 74 is 20.6 meters away at (-0.2, 20.6). A unknown object with ID 85 is 22.8 meters away at (-7.4, -21.5). A vehicle with ID 25 is 24.8 meters away at (-11.7, 21.9). A pedestrian with ID 84 is 26.3 meters away at (-6.1, 25.6).", "velocity_description": "The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.01150478 0.00371687] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.3842769  -0.37516934] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.26559326 -0.0417859 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 70.42603  -40.360764]\n [ 69.38751  -43.84677 ]\n [ 69.50215  -43.615257]\n [ 67.593895 -46.812317]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.224578 13.566536], 16.405601501464844 meters away.)"}
{"file_name": "images/scenario_1201_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -2.8) m/s. Its current heading (yaw) is -0.84 ", "actor_description": " The most relevant actors are: A unknown object with ID 79 is 13.1 meters away at (12.8, -2.6). A unknown object with ID 67 is 14.4 meters away at (14.1, -3.1). A unknown object with ID 80 is 14.4 meters away at (14.4, -0.9). A unknown object with ID 83 is 15.1 meters away at (14.9, -2.5). A unknown object with ID 81 is 15.2 meters away at (15.1, -1.5). A unknown object with ID 85 is 18.5 meters away at (-9.7, -15.8). A vehicle with ID 16 is 20.5 meters away at (-9.4, 18.2). A vehicle with ID 25 is 27.7 meters away at (-9.8, 26.0). A pedestrian with ID 84 is 32.2 meters away at (-9.1, 30.9). A vehicle with ID 88 is 34.3 meters away at (-20.0, 27.9).", "velocity_description": "The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.9257436 -1.313725 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 2.2575827 -1.2186377] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.34247592 -0.3651863 ] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [3.856539  0.7304739] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 70.42603  -40.360764]\n [ 69.38751  -43.84677 ]\n [ 69.50215  -43.615257]\n [ 67.593895 -46.812317]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [12.817814  -2.5530863], 13.069605827331543 meters away.)"}
{"file_name": "images/scenario_1201_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -1.8) m/s. Its current heading (yaw) is -0.39 ", "actor_description": " The most relevant actors are: A unknown object with ID 79 is 5.8 meters away at (5.5, 1.7). A unknown object with ID 67 is 6.9 meters away at (6.8, 1.2). A unknown object with ID 51 is 7.3 meters away at (6.9, 2.2). A unknown object with ID 83 is 7.8 meters away at (7.6, 1.7). A unknown object with ID 80 is 7.9 meters away at (7.2, 3.4). A unknown object with ID 81 is 8.3 meters away at (7.8, 2.8). A vehicle with ID 16 is 21.7 meters away at (-12.5, 17.7). A vehicle with ID 25 is 30.3 meters away at (-13.1, 27.3). A vehicle with ID 42 is 35.0 meters away at (23.8, -25.7). A vehicle with ID 88 is 37.6 meters away at (-20.0, 31.8).", "velocity_description": "The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.716428  -2.9463465] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.8169202 -1.7015042] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-9.122261  4.699127] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 2.3887904 -0.5886861] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 70.42603  -40.360764]\n [ 69.38751  -43.84677 ]\n [ 69.50215  -43.615257]\n [ 67.593895 -46.812317]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [5.534219  1.7267218], 5.79733943939209 meters away.)"}
{"file_name": "images/scenario_1201_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -2.3) m/s. Its current heading (yaw) is -0.38 ", "actor_description": " The most relevant actors are: A unknown object with ID 67 is 6.1 meters away at (-3.3, 5.1). A unknown object with ID 83 is 6.2 meters away at (-2.5, 5.7). A unknown object with ID 81 is 7.1 meters away at (-2.2, 6.8). A unknown object with ID 79 is 7.3 meters away at (-4.5, 5.7). A unknown object with ID 80 is 8.0 meters away at (-2.9, 7.5). A vehicle with ID 42 is 12.8 meters away at (-5.6, -11.5). A unknown object with ID 40 is 18.4 meters away at (-2.9, -18.1). A unknown object with ID 73 is 21.6 meters away at (4.5, -21.1). A unknown object with ID 50 is 23.7 meters away at (7.8, -22.4). A unknown object with ID 33 is 25.8 meters away at (10.6, -23.6).", "velocity_description": "The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-9.7854395  4.9178762] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 70.42603  -40.360764]\n [ 69.38751  -43.84677 ]\n [ 69.50215  -43.615257]\n [ 67.593895 -46.812317]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-3.2865791  5.141163 ], 6.101897716522217 meters away.)"}
{"file_name": "images/scenario_1202_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 7.5 meters away at (-4.3, 6.1). A vehicle with ID 24 is 10.3 meters away at (6.2, -8.2). A vehicle with ID 27 is 11.2 meters away at (-8.9, 6.8). A vehicle with ID 31 is 14.7 meters away at (-8.6, 11.9). A vehicle with ID 29 is 15.0 meters away at (11.2, -9.9). A pedestrian with ID 37 is 17.0 meters away at (15.1, -7.9). A pedestrian with ID 48 is 17.1 meters away at (-7.5, -15.3). A pedestrian with ID 23 is 17.8 meters away at (15.8, -8.1). A pedestrian with ID 40 is 17.9 meters away at (15.0, -9.6). A unknown object with ID 18 is 19.0 meters away at (-7.4, -17.5).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01470261  0.04202016] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 0.9759822 -1.255572 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.03313072 -0.02217147] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.8925115  0.21533595] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.543709  26.05425 ]\n [-18.56395   29.112839]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.345157   6.0584025], 7.455510139465332 meters away.)"}
{"file_name": "images/scenario_1202_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 7.5 meters away at (-4.4, 6.1). A vehicle with ID 10 is 7.8 meters away at (-7.7, -1.1). A vehicle with ID 24 is 10.3 meters away at (6.2, -8.2). A vehicle with ID 27 is 11.2 meters away at (-8.9, 6.8). A vehicle with ID 31 is 14.7 meters away at (-8.6, 11.9). A vehicle with ID 29 is 14.9 meters away at (11.2, -9.9). A pedestrian with ID 37 is 17.1 meters away at (15.1, -8.0). A pedestrian with ID 38 is 18.1 meters away at (-3.1, -17.8). A pedestrian with ID 48 is 18.7 meters away at (-5.6, -17.8). A pedestrian with ID 40 is 19.6 meters away at (17.1, -9.6).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 6.109358 -8.108968] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01829801  0.07956897] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.1078988  1.1165094] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 1.0448116 -1.3491889] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [1.0414174  0.09791965] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.543709  26.05425 ]\n [-36.884666  36.471245]\n [-18.56395   29.112839]\n [-39.526485  34.369534]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.3637323  6.0864773], 7.489149570465088 meters away.)"}
{"file_name": "images/scenario_1202_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 7.6 meters away at (-4.4, 6.1). A vehicle with ID 24 is 10.3 meters away at (6.2, -8.2). A vehicle with ID 27 is 11.1 meters away at (-8.9, 6.7). A vehicle with ID 31 is 14.7 meters away at (-8.6, 11.9). A vehicle with ID 29 is 15.0 meters away at (11.2, -9.9). A pedestrian with ID 26 is 15.1 meters away at (14.1, -5.2). A pedestrian with ID 38 is 16.3 meters away at (-5.3, -15.4). A pedestrian with ID 37 is 16.9 meters away at (15.1, -7.7). A vehicle with ID 10 is 18.8 meters away at (5.0, -18.1). A unknown object with ID 41 is 19.6 meters away at (-6.6, -18.4).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.4778773  -0.86492026] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.1277695  1.135611 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00144713 -0.00338382] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 6.6130743 -8.930029 ] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.543709  26.05425 ]\n [-36.884666  36.471245]\n [-18.56395   29.112839]\n [-39.526485  34.369534]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.4163275  6.1384544], 7.562047958374023 meters away.)"}
{"file_name": "images/scenario_1202_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 7.7 meters away at (-4.5, 6.2). A vehicle with ID 24 is 10.3 meters away at (6.2, -8.2). A vehicle with ID 27 is 11.1 meters away at (-8.9, 6.7). A vehicle with ID 31 is 14.7 meters away at (-8.6, 11.9). A pedestrian with ID 38 is 14.9 meters away at (-7.3, -13.0). A vehicle with ID 29 is 15.0 meters away at (11.2, -9.9). A pedestrian with ID 26 is 15.6 meters away at (13.7, -7.4). A pedestrian with ID 37 is 17.0 meters away at (15.1, -7.7). A unknown object with ID 41 is 19.6 meters away at (-6.6, -18.4). A unknown object with ID 42 is 19.7 meters away at (-15.6, -12.1).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.0993466  1.2793884] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.17606325 -1.2114321 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.01760575 0.03797958] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-22.543709  26.05425 ]\n [-36.884666  36.471245]\n [-18.56395   29.112839]\n [-39.526485  34.369534]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-4.48351   6.239527], 7.683330059051514 meters away.)"}
{"file_name": "images/scenario_1203_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 3.6) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A unknown object with ID 52 is 14.9 meters away at (-8.4, -12.4). A unknown object with ID 11 is 15.4 meters away at (-8.7, -12.7). A unknown object with ID 49 is 15.6 meters away at (-8.9, -12.9). A unknown object with ID 55 is 17.8 meters away at (-10.4, -14.5). A unknown object with ID 51 is 19.4 meters away at (-11.3, -15.7). A unknown object with ID 59 is 20.6 meters away at (-12.1, -16.6). A unknown object with ID 53 is 22.1 meters away at (-13.1, -17.8). A unknown object with ID 54 is 24.6 meters away at (-14.7, -19.7). A unknown object with ID 14 is 26.1 meters away at (-15.3, -21.2). A unknown object with ID 57 is 27.1 meters away at (-16.3, -21.7).", "velocity_description": "The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[24.762127 30.632774]\n [23.321178 31.482086]]", "nav_goal": "(38.34691619873047, 194.1378936767578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ -8.372051 -12.369434], 14.936336517333984 meters away.)"}
{"file_name": "images/scenario_1203_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 3.2) m/s. Its current heading (yaw) is 0.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 21.1 meters away at (12.8, 16.7). A unknown object with ID 52 is 24.3 meters away at (-14.6, -19.4). A unknown object with ID 11 is 24.8 meters away at (-14.9, -19.7). A unknown object with ID 55 is 27.1 meters away at (-16.6, -21.5). A unknown object with ID 51 is 28.8 meters away at (-17.5, -22.8). A unknown object with ID 59 is 29.9 meters away at (-18.3, -23.7). A unknown object with ID 53 is 31.5 meters away at (-19.2, -24.9). A unknown object with ID 54 is 33.9 meters away at (-20.9, -26.7). A unknown object with ID 67 is 34.1 meters away at (31.8, 12.3). A unknown object with ID 14 is 35.5 meters away at (-21.5, -28.3).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[24.762127 30.632774]\n [23.321178 31.482086]]", "nav_goal": "(38.34691619873047, 194.1378936767578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.794687 16.74511 ], 21.073745727539062 meters away.)"}
{"file_name": "images/scenario_1203_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 2.6) m/s. Its current heading (yaw) is 0.73 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 12.9 meters away at (6.6, 11.1). A unknown object with ID 67 is 26.3 meters away at (25.5, 6.6). A unknown object with ID 52 is 32.7 meters away at (-20.9, -25.1). A unknown object with ID 11 is 33.2 meters away at (-21.1, -25.6). A unknown object with ID 55 is 35.5 meters away at (-22.9, -27.1). A unknown object with ID 51 is 37.2 meters away at (-23.8, -28.5). A unknown object with ID 59 is 38.3 meters away at (-24.6, -29.4). A unknown object with ID 25 is 39.5 meters away at (-19.7, -34.2). A unknown object with ID 53 is 39.9 meters away at (-25.5, -30.6). A unknown object with ID 54 is 42.4 meters away at (-27.3, -32.4).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[34.719383 37.453358]\n [24.762127 30.632774]\n [35.66499  36.432186]\n [23.321178 31.482086]]", "nav_goal": "(38.34691619873047, 194.1378936767578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 6.5838814 11.0501   ], 12.862822532653809 meters away.)"}
{"file_name": "images/scenario_1203_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 2.2) m/s. Its current heading (yaw) is 0.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 6.1 meters away at (1.3, 5.9). A unknown object with ID 67 is 20.2 meters away at (20.2, 1.4). A unknown object with ID 52 is 40.1 meters away at (-26.3, -30.2). A unknown object with ID 11 is 40.6 meters away at (-26.6, -30.6). A unknown object with ID 55 is 42.9 meters away at (-28.3, -32.3). A unknown object with ID 51 is 44.6 meters away at (-29.2, -33.7). A unknown object with ID 59 is 45.8 meters away at (-30.0, -34.7). A unknown object with ID 53 is 47.3 meters away at (-30.9, -35.8). A unknown object with ID 54 is 49.7 meters away at (-32.6, -37.6). A vehicle with ID 73 is 54.4 meters away at (-34.4, -42.0).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[34.719383 37.453358]\n [24.762127 30.632774]\n [35.66499  36.432186]\n [23.321178 31.482086]]", "nav_goal": "(38.34691619873047, 194.1378936767578)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.2921028 5.9207993], 6.060147762298584 meters away.)"}
{"file_name": "images/scenario_1204_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.2) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 15.6 meters away at (15.0, -4.3). A vehicle with ID 18 is 16.3 meters away at (9.9, -13.0). A vehicle with ID 21 is 18.6 meters away at (-10.9, -15.0). A vehicle with ID 31 is 31.4 meters away at (-30.2, -8.5). A vehicle with ID 20 is 33.4 meters away at (31.9, -9.8). A vehicle with ID 33 is 33.9 meters away at (-33.8, 2.7). A vehicle with ID 34 is 34.5 meters away at (28.7, -19.2). A vehicle with ID 35 is 35.2 meters away at (-32.1, -14.5). A vehicle with ID 36 is 37.8 meters away at (-37.6, 3.6). A vehicle with ID 28 is 39.6 meters away at (-35.9, 16.9).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.66238403320312, -88.76058197021484)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [15.039957 -4.276914], 15.636249542236328 meters away.)"}
{"file_name": "images/scenario_1204_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 15.9 meters away at (15.3, -4.4). A vehicle with ID 18 is 16.7 meters away at (10.3, -13.1). A vehicle with ID 21 is 18.3 meters away at (-10.5, -15.0). A vehicle with ID 31 is 31.0 meters away at (-29.8, -8.5). A vehicle with ID 33 is 33.5 meters away at (-33.4, 2.5). A vehicle with ID 34 is 34.9 meters away at (29.0, -19.4). A vehicle with ID 35 is 34.9 meters away at (-31.7, -14.6). A vehicle with ID 36 is 37.5 meters away at (-37.3, 3.6). A vehicle with ID 39 is 45.2 meters away at (-44.8, 6.3). A unknown object with ID 5 is 53.8 meters away at (-8.3, -53.1).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.66238403320312, -88.76058197021484)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [15.296869 -4.365658], 15.907646179199219 meters away.)"}
{"file_name": "images/scenario_1204_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 15.9 meters away at (15.3, -4.4). A vehicle with ID 18 is 16.7 meters away at (10.3, -13.1). A vehicle with ID 21 is 18.3 meters away at (-10.5, -15.1). A vehicle with ID 31 is 31.0 meters away at (-29.8, -8.5). A vehicle with ID 33 is 33.5 meters away at (-33.4, 2.6). A vehicle with ID 35 is 34.9 meters away at (-31.7, -14.7). A vehicle with ID 34 is 34.9 meters away at (29.0, -19.4). A vehicle with ID 36 is 37.4 meters away at (-37.2, 3.6). A vehicle with ID 24 is 43.8 meters away at (-42.1, 12.1). A vehicle with ID 39 is 45.1 meters away at (-44.7, 6.3).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 5.9364653 -2.379777 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.66238403320312, -88.76058197021484)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [15.28776   -4.3566003], 15.896401405334473 meters away.)"}
{"file_name": "images/scenario_1204_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 15.9 meters away at (15.3, -4.4). A vehicle with ID 18 is 16.7 meters away at (10.3, -13.1). A vehicle with ID 21 is 18.3 meters away at (-10.5, -15.1). A vehicle with ID 31 is 31.0 meters away at (-29.8, -8.5). A vehicle with ID 24 is 32.8 meters away at (-31.9, 7.6). A vehicle with ID 33 is 33.5 meters away at (-33.4, 2.6). A vehicle with ID 35 is 34.9 meters away at (-31.7, -14.7). A vehicle with ID 34 is 34.9 meters away at (29.0, -19.4). A vehicle with ID 36 is 37.4 meters away at (-37.3, 3.5). A vehicle with ID 39 is 45.1 meters away at (-44.7, 6.2).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 3.2021863 -1.5998473] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.66238403320312, -88.76058197021484)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [15.30019   -4.3692565], 15.911826133728027 meters away.)"}
{"file_name": "images/scenario_1205_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.1) m/s. Its current heading (yaw) is 2.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 28.4 meters away at (-28.4, 0.8). A cyclist with ID 21 is 33.2 meters away at (-10.5, 31.5). A vehicle with ID 10 is 36.0 meters away at (-30.2, -19.6). A vehicle with ID 24 is 37.4 meters away at (-7.4, 36.7). A unknown object with ID 12 is 39.6 meters away at (-38.5, -9.0). A unknown object with ID 13 is 40.1 meters away at (-39.2, -8.6). A unknown object with ID 14 is 40.2 meters away at (-39.1, -9.6). A vehicle with ID 25 is 46.6 meters away at (-46.3, 5.0). A cyclist with ID 18 is 46.7 meters away at (-43.3, -17.5). A vehicle with ID 26 is 48.8 meters away at (48.7, -3.6).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [1.2317036 2.942513 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.03362954 -0.01170228] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.791487 -6.127898] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [1.7875409 4.3338027] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.360939   22.855848 ]\n [-16.140787   22.744717 ]\n [-16.243853   23.076735 ]\n [-11.00224     4.4038024]\n [-14.705974    9.749361 ]\n [-11.214673    4.5442247]\n [-11.61356     2.9058318]]", "nav_goal": "(-279.2644348144531, 118.27588653564453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-28.360876     0.82297474], 28.372814178466797 meters away.)"}
{"file_name": "images/scenario_1205_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 26.2 meters away at (-24.8, 8.3). A cyclist with ID 21 is 33.0 meters away at (-10.3, 31.4). A vehicle with ID 24 is 37.3 meters away at (-7.1, 36.6). A unknown object with ID 12 is 39.3 meters away at (-38.2, -9.1). A unknown object with ID 13 is 39.9 meters away at (-38.9, -8.7). A unknown object with ID 14 is 39.9 meters away at (-38.8, -9.6). A cyclist with ID 18 is 40.8 meters away at (-39.8, -8.8). A vehicle with ID 10 is 45.2 meters away at (-34.6, -29.1). A vehicle with ID 25 is 46.3 meters away at (-46.1, 5.0). A vehicle with ID 26 is 49.0 meters away at (48.9, -3.7).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [1.8770556 4.0791297] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.00600961 0.00720713] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [1.5058072 4.1962852] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.808736  -3.5235054] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.360939   22.855848 ]\n [-16.140787   22.744717 ]\n [-16.243853   23.076735 ]\n [-11.00224     4.4038024]\n [-14.705974    9.749361 ]\n [-11.214673    4.5442247]\n [-11.61356     2.9058318]]", "nav_goal": "(-279.2644348144531, 118.27588653564453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-24.840641   8.262539], 26.17875099182129 meters away.)"}
{"file_name": "images/scenario_1205_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 26.7 meters away at (-21.3, 16.0). A cyclist with ID 21 is 33.0 meters away at (-10.2, 31.4). A vehicle with ID 24 is 37.3 meters away at (-7.1, 36.6). A cyclist with ID 18 is 38.1 meters away at (-38.1, -1.3). A unknown object with ID 12 is 39.3 meters away at (-38.3, -9.1). A unknown object with ID 13 is 39.9 meters away at (-38.9, -8.7). A unknown object with ID 14 is 39.9 meters away at (-38.8, -9.6). A vehicle with ID 25 is 46.3 meters away at (-46.1, 4.9). A vehicle with ID 26 is 49.1 meters away at (48.9, -3.7). A pedestrian with ID 15 is 50.7 meters away at (50.7, -0.6).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [1.8421693 4.062621 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00694678 -0.00526174] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [-0.66307557  3.7516265 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.00752606 -0.00144942] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.360939   22.855848 ]\n [-16.140787   22.744717 ]\n [-16.243853   23.076735 ]\n [-11.00224     4.4038024]\n [-14.705974    9.749361 ]\n [-11.214673    4.5442247]\n [-11.61356     2.9058318]]", "nav_goal": "(-279.2644348144531, 118.27588653564453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-21.3284    15.980826], 26.65121841430664 meters away.)"}
{"file_name": "images/scenario_1205_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.77 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 30.8 meters away at (-16.9, 25.8). A cyclist with ID 21 is 33.0 meters away at (-10.2, 31.4). A vehicle with ID 24 is 37.0 meters away at (-7.2, 36.2). A unknown object with ID 12 is 39.3 meters away at (-38.3, -9.1). A unknown object with ID 13 is 39.9 meters away at (-38.9, -8.7). A unknown object with ID 14 is 39.9 meters away at (-38.7, -9.6). A cyclist with ID 18 is 41.3 meters away at (-40.9, 6.0). A vehicle with ID 25 is 46.4 meters away at (-46.1, 5.0). A vehicle with ID 26 is 49.1 meters away at (48.9, -3.7). A pedestrian with ID 15 is 50.7 meters away at (50.7, -0.6).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [2.526166 5.716994] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00252191  0.00213888] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [-1.4486837  3.759326 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00378494  0.00516851] m/s.", "light_description": "There are active red lights at the following coordinates: [[-16.360939   22.855848 ]\n [-16.140787   22.744717 ]\n [-16.243853   23.076735 ]\n [-11.00224     4.4038024]\n [-14.705974    9.749361 ]\n [-11.214673    4.5442247]\n [-11.61356     2.9058318]]", "nav_goal": "(-279.2644348144531, 118.27588653564453)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-16.91004   25.759178], 30.813711166381836 meters away.)"}
{"file_name": "images/scenario_1206_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 4.8) m/s. Its current heading (yaw) is 2.61 ", "actor_description": " The most relevant actors are: A vehicle with ID 122 is 6.2 meters away at (1.4, 6.1). A vehicle with ID 116 is 7.0 meters away at (6.2, 3.3). A vehicle with ID 127 is 10.3 meters away at (-3.5, 9.6). A vehicle with ID 109 is 10.9 meters away at (10.9, 0.0). A vehicle with ID 32 is 15.1 meters away at (-15.0, -1.3). A unknown object with ID 101 is 15.3 meters away at (15.2, -2.0). A vehicle with ID 125 is 15.3 meters away at (-8.2, -12.9). A unknown object with ID 99 is 15.4 meters away at (15.0, -3.3). A pedestrian with ID 113 is 16.2 meters away at (16.2, 1.0). A unknown object with ID 100 is 16.8 meters away at (16.5, -2.9).", "velocity_description": "The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [10.138945  -6.6678667] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 0.7228006 -1.1663014] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 27.818819 -41.90003 ]\n [ 27.547842 -41.567722]]", "nav_goal": "(-238.16700744628906, 80.43655395507812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.3636646 6.086976 ], 6.237856864929199 meters away.)"}
{"file_name": "images/scenario_1206_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 5.2) m/s. Its current heading (yaw) is 2.55 ", "actor_description": " The most relevant actors are: A vehicle with ID 127 is 12.4 meters away at (12.4, -0.2). A vehicle with ID 30 is 13.5 meters away at (0.5, -13.5). A vehicle with ID 122 is 17.7 meters away at (17.3, -3.9). A pedestrian with ID 73 is 19.8 meters away at (-4.8, 19.2). A pedestrian with ID 75 is 19.9 meters away at (-4.1, 19.5). A vehicle with ID 60 is 20.3 meters away at (-20.1, -3.0). A pedestrian with ID 54 is 20.9 meters away at (-7.1, 19.7). A vehicle with ID 116 is 23.3 meters away at (22.3, -6.8). A vehicle with ID 125 is 24.1 meters away at (7.7, -22.9). A pedestrian with ID 26 is 24.4 meters away at (-7.4, 23.3).", "velocity_description": "The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [10.616849 -7.660118] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 1.1712877 -0.5717191] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 1.1980621 -0.5802935] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ 2.3501127 -1.1013097] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 1.1578754  -0.78722185] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.49501213  0.31533533] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-238.16700744628906, 80.43655395507812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [12.372833   -0.24920654], 12.37534236907959 meters away.)"}
{"file_name": "images/scenario_1206_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 5.4) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A pedestrian with ID 54 is 13.2 meters away at (10.9, 7.5). A unknown object with ID 45 is 14.3 meters away at (0.2, 14.3). A pedestrian with ID 26 is 15.1 meters away at (6.6, 13.6). A pedestrian with ID 73 is 15.2 meters away at (13.2, 7.6). A unknown object with ID 37 is 15.3 meters away at (-1.5, 15.3). A vehicle with ID 66 is 15.9 meters away at (-13.5, -8.3). A pedestrian with ID 75 is 16.0 meters away at (13.9, 7.9). A vehicle with ID 60 is 16.2 meters away at (1.6, -16.1). A unknown object with ID 53 is 16.6 meters away at (-3.1, 16.3). A unknown object with ID 93 is 18.1 meters away at (-4.6, 17.5).", "velocity_description": "The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 1.0817167  -0.46470425] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0662277  0.6671327] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.88437694 -0.50035197] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 3.803067  -2.7570772] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 0.86349934 -0.50616556] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ 3.3044107 -1.491748 ] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-70.58892   33.05819 ]\n [-72.87564   31.024736]]", "nav_goal": "(-238.16700744628906, 80.43655395507812)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [10.86031    7.4801445], 13.18707275390625 meters away.)"}
{"file_name": "images/scenario_1206_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 5.4) m/s. Its current heading (yaw) is 2.54 ", "actor_description": " The most relevant actors are: A vehicle with ID 72 is 11.9 meters away at (-3.4, -11.4). A unknown object with ID 90 is 12.5 meters away at (9.7, 7.9). A unknown object with ID 93 is 13.1 meters away at (11.2, 6.7). A unknown object with ID 53 is 13.9 meters away at (12.8, 5.5). A unknown object with ID 37 is 15.1 meters away at (14.4, 4.5). A unknown object with ID 45 is 16.4 meters away at (16.0, 3.5). A pedestrian with ID 21 is 17.4 meters away at (6.8, 16.0). A pedestrian with ID 25 is 17.6 meters away at (-13.4, -11.4). A pedestrian with ID 77 is 17.9 meters away at (2.7, 17.7). A pedestrian with ID 22 is 18.4 meters away at (-15.3, -10.2).", "velocity_description": "The vehicle with ID 72 is traveling at a (x, y) velocity of [ 8.653011 -5.752876] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.890527 -0.952746] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00079213 0.03616492] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 1.1960279 -0.588134 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00109646 0.00249731] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-238.16700744628906, 80.43655395507812)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -3.4471664 -11.411894 ], 11.92116928100586 meters away.)"}
{"file_name": "images/scenario_1207_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 1.0) m/s. Its current heading (yaw) is 0.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 11.2 meters away at (7.3, 8.5). A vehicle with ID 24 is 19.0 meters away at (12.1, 14.7). A vehicle with ID 34 is 19.5 meters away at (-12.0, -15.3). A unknown object with ID 29 is 21.0 meters away at (-5.0, 20.4). A pedestrian with ID 26 is 21.8 meters away at (-21.7, -2.8). A vehicle with ID 33 is 22.6 meters away at (-21.4, 7.2). A unknown object with ID 19 is 24.2 meters away at (-7.0, 23.2). A vehicle with ID 27 is 25.0 meters away at (15.9, 19.3). A vehicle with ID 31 is 25.6 meters away at (-22.4, 12.4). A vehicle with ID 30 is 26.9 meters away at (8.4, 25.5).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.0272046  -0.00454133] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.268116 -28.45687 ]\n [-36.320633 -31.075619]]", "nav_goal": "(206.1506805419922, 99.01429748535156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [7.2944107 8.516247 ], 11.213156700134277 meters away.)"}
{"file_name": "images/scenario_1207_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 10.6 meters away at (6.9, 8.0). A vehicle with ID 24 is 18.4 meters away at (11.7, 14.2). A unknown object with ID 6 is 19.4 meters away at (-13.4, 14.1). A vehicle with ID 34 is 20.1 meters away at (-12.4, -15.9). A unknown object with ID 29 is 20.6 meters away at (-5.4, 19.9). A vehicle with ID 33 is 22.4 meters away at (-21.4, 6.9). A unknown object with ID 19 is 23.9 meters away at (-7.3, 22.7). A vehicle with ID 27 is 24.5 meters away at (15.5, 18.9). A vehicle with ID 31 is 25.7 meters away at (-22.8, 12.0). A vehicle with ID 30 is 26.3 meters away at (8.1, 25.1).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.2794893 0.1272711] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.268116 -28.45687 ]\n [-36.320633 -31.075619]]", "nav_goal": "(206.1506805419922, 99.01429748535156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [6.9033403 8.019412 ], 10.581449508666992 meters away.)"}
{"file_name": "images/scenario_1207_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 10.5 meters away at (6.8, 7.9). A vehicle with ID 24 is 18.3 meters away at (11.7, 14.1). A vehicle with ID 50 is 19.8 meters away at (-14.8, -13.1). A vehicle with ID 34 is 20.2 meters away at (-12.4, -15.9). A unknown object with ID 29 is 20.5 meters away at (-5.4, 19.8). A vehicle with ID 33 is 21.6 meters away at (-20.4, 7.1). A vehicle with ID 27 is 24.3 meters away at (15.5, 18.8). A vehicle with ID 31 is 25.8 meters away at (-22.9, 11.9). A vehicle with ID 30 is 26.3 meters away at (8.0, 25.0). A vehicle with ID 37 is 31.5 meters away at (19.9, 24.4).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [5.9000707 7.582602 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.682557   0.30944437] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.268116 -28.45687 ]\n [-36.320633 -31.075619]]", "nav_goal": "(206.1506805419922, 99.01429748535156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [6.835467  7.9065285], 10.451641082763672 meters away.)"}
{"file_name": "images/scenario_1207_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 3.6 meters away at (-2.7, 2.4). A vehicle with ID 22 is 10.4 meters away at (6.8, 7.9). A vehicle with ID 24 is 18.2 meters away at (11.6, 14.1). A vehicle with ID 34 is 20.2 meters away at (-12.5, -15.9). A unknown object with ID 29 is 20.5 meters away at (-5.4, 19.8). A vehicle with ID 33 is 20.9 meters away at (-19.6, 7.4). A vehicle with ID 27 is 24.3 meters away at (15.5, 18.7). A vehicle with ID 30 is 26.2 meters away at (8.0, 25.0). A vehicle with ID 37 is 31.4 meters away at (19.9, 24.3). A vehicle with ID 40 is 35.2 meters away at (13.9, 32.3).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [6.1107993 7.663066 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.36267257 0.21429054] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-34.268116 -28.45687 ]\n [-36.320633 -31.075619]]", "nav_goal": "(206.1506805419922, 99.01429748535156)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.6622648  2.383504 ], 3.573338031768799 meters away.)"}
{"file_name": "images/scenario_1208_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.69 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 8.1 meters away at (6.1, -5.3). A vehicle with ID 8 is 8.2 meters away at (-8.1, 1.6). A vehicle with ID 7 is 9.2 meters away at (4.1, -8.3). A vehicle with ID 11 is 32.7 meters away at (8.6, -31.5). A pedestrian with ID 23 is 34.4 meters away at (34.4, -1.5). A vehicle with ID 18 is 44.5 meters away at (-25.4, -36.5). A vehicle with ID 14 is 45.1 meters away at (-32.1, -31.7). A vehicle with ID 19 is 47.0 meters away at (-31.3, -35.1). A vehicle with ID 25 is 53.9 meters away at (-44.9, 29.8).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [ 0.25624552 -0.19665313] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.3803174 -2.0534892] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 3.571252  -2.9291809] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.21822068 -0.2686924 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.47265458 -0.00881037] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 6.2387776 -1.6264198] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 9.408903 -8.289998] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.361975 -9.367268]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 6.089294 -5.280789], 8.060163497924805 meters away.)"}
{"file_name": "images/scenario_1208_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.4) m/s. Its current heading (yaw) is -0.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 4.1 meters away at (-1.8, -3.7). A vehicle with ID 10 is 7.6 meters away at (5.8, -5.0). A vehicle with ID 7 is 20.1 meters away at (12.8, -15.4). A vehicle with ID 5 is 21.3 meters away at (10.6, -18.5). A vehicle with ID 25 is 30.3 meters away at (-26.9, 14.0). A vehicle with ID 11 is 32.1 meters away at (8.1, -31.1). A pedestrian with ID 23 is 33.0 meters away at (33.0, -1.9). A vehicle with ID 12 is 35.7 meters away at (1.5, -35.7). A vehicle with ID 14 is 40.5 meters away at (-21.2, -34.5). A unknown object with ID 15 is 41.4 meters away at (19.5, -36.5).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [ 4.2925425 -3.6312656] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.962786 -4.836681] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 6.5885077 -5.3547425] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 9.553971 -8.235018] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.4106048  -0.50178266] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 4.9828935 -1.5595523] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.361975 -9.367268]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.8361291 -3.712454 ], 4.141700744628906 meters away.)"}
{"file_name": "images/scenario_1208_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 7.0 meters away at (5.3, -4.6). A vehicle with ID 25 is 8.3 meters away at (-7.9, -2.3). A vehicle with ID 8 is 14.6 meters away at (8.3, -12.0). A vehicle with ID 11 is 31.7 meters away at (7.7, -30.7). A pedestrian with ID 23 is 31.8 meters away at (31.7, -2.5). A vehicle with ID 12 is 35.4 meters away at (1.2, -35.3). A vehicle with ID 7 is 36.3 meters away at (25.4, -26.0). A vehicle with ID 14 is 39.1 meters away at (-13.3, -36.7). A vehicle with ID 5 is 40.6 meters away at (26.1, -31.0). A unknown object with ID 15 is 40.9 meters away at (19.2, -36.1).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [10.055825 -8.499315] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 6.29164  -4.964523] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.38519382 -0.5815379 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 7.2060995 -6.0882974] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 2.966406   -0.71313876] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 8.95044   -7.4740343] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.361975 -9.367268]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.3385572 -4.5999203], 7.046947002410889 meters away.)"}
{"file_name": "images/scenario_1208_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 7.1 meters away at (5.4, -4.6). A vehicle with ID 25 is 24.0 meters away at (13.0, -20.1). A vehicle with ID 24 is 26.7 meters away at (23.8, -12.1). A pedestrian with ID 23 is 31.5 meters away at (31.4, -2.8). A vehicle with ID 11 is 31.7 meters away at (7.8, -30.7). A vehicle with ID 8 is 32.0 meters away at (22.2, -23.1). A vehicle with ID 12 is 35.3 meters away at (1.2, -35.3). A vehicle with ID 14 is 38.4 meters away at (-9.2, -37.2). A unknown object with ID 15 is 40.9 meters away at (19.1, -36.1). A vehicle with ID 18 is 44.4 meters away at (-26.3, -35.8).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [11.247589 -9.464789] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-11.4724    9.78555] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.6051333e-03 -8.3950057e-05] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 7.578972 -6.237242] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.55715376 -0.05164406] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[14.361975 -9.367268]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 5.3580713 -4.6016426], 7.062863826751709 meters away.)"}
{"file_name": "images/scenario_1209_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.6) m/s. Its current heading (yaw) is -2.26 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 17.5 meters away at (-12.8, -12.0). A vehicle with ID 27 is 47.0 meters away at (31.4, -35.0). A vehicle with ID 28 is 64.2 meters away at (37.1, 52.4). A pedestrian with ID 29 is 71.0 meters away at (-70.5, 8.2).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [-5.0434346 -2.267342 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 9.284439 -5.997681] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.3445051  1.3328753] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-12.806105 -11.993545], 17.54541015625 meters away.)"}
{"file_name": "images/scenario_1209_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -2.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 26.0 meters away at (-22.8, -12.5). A vehicle with ID 27 is 65.2 meters away at (48.0, -44.1). A vehicle with ID 28 is 66.4 meters away at (38.5, 54.0). A pedestrian with ID 29 is 70.7 meters away at (-69.6, 12.6).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [-5.7484884   0.43765843] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 6.156627 -5.187313] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.25220487  1.2484361 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-22.78778  -12.485054], 25.98383331298828 meters away.)"}
{"file_name": "images/scenario_1209_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.8) m/s. Its current heading (yaw) is -2.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 35.7 meters away at (-34.6, -8.7). A vehicle with ID 13 is 43.8 meters away at (29.9, 32.0). A vehicle with ID 28 is 67.0 meters away at (39.0, 54.4).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [-6.955529  2.502401] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-34.611958  -8.713881], 35.6920051574707 meters away.)"}
{"file_name": "images/scenario_1209_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -3.3) m/s. Its current heading (yaw) is -2.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 25 is 47.2 meters away at (-47.2, 1.0). A unknown object with ID 18 is 65.7 meters away at (55.1, -35.7). A vehicle with ID 4 is 67.2 meters away at (40.4, -53.7). A vehicle with ID 28 is 72.5 meters away at (42.7, 58.7). A unknown object with ID 20 is 72.6 meters away at (60.9, -39.5).", "velocity_description": "The vehicle with ID 25 is traveling at a (x, y) velocity of [-9.144698   2.7701511] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.02097209  8.703896  ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-47.22729      0.97459936], 47.23734664916992 meters away.)"}
{"file_name": "images/scenario_1210_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 2.9) m/s. Its current heading (yaw) is 2.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 6.4 meters away at (-3.6, -5.3). A vehicle with ID 54 is 12.9 meters away at (6.5, -11.1). A vehicle with ID 50 is 13.9 meters away at (-13.9, -1.0). A unknown object with ID 36 is 14.3 meters away at (-11.8, -8.1). A vehicle with ID 51 is 21.3 meters away at (-21.3, 1.5). A cyclist with ID 67 is 30.1 meters away at (25.5, -15.9). A unknown object with ID 65 is 37.6 meters away at (33.7, -16.6). A vehicle with ID 61 is 38.7 meters away at (-30.0, 24.4). A vehicle with ID 71 is 40.5 meters away at (-5.0, 40.2). A vehicle with ID 66 is 42.3 meters away at (35.9, -22.2).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 67 is traveling at a (x, y) velocity of [-3.1083052  5.3333206] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-2.364171 -2.221199] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-230.09420776367188, -12.936629295349121)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.552721  -5.2717223], 6.357112884521484 meters away.)"}
{"file_name": "images/scenario_1210_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 1.5) m/s. Its current heading (yaw) is 2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 6.4 meters away at (-3.1, -5.6). A vehicle with ID 51 is 10.8 meters away at (-10.4, -3.1). A vehicle with ID 52 is 12.2 meters away at (7.2, -9.8). A pedestrian with ID 19 is 21.9 meters away at (-2.2, 21.8). A vehicle with ID 54 is 23.3 meters away at (17.4, -15.5). A vehicle with ID 61 is 28.8 meters away at (-24.3, 15.5). A vehicle with ID 68 is 35.3 meters away at (-8.3, 34.3). A vehicle with ID 71 is 36.2 meters away at (6.0, 35.7). A pedestrian with ID 57 is 37.4 meters away at (-17.0, 33.3). A vehicle with ID 72 is 38.7 meters away at (-4.5, 38.4).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.72181857 0.8746214 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-3.5733287 -2.1680017] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.2831664 -1.0967305] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-230.09420776367188, -12.936629295349121)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.1350613 -5.5781765], 6.398801803588867 meters away.)"}
{"file_name": "images/scenario_1210_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 0.4) m/s. Its current heading (yaw) is 2.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 7.4 meters away at (-5.6, -4.9). A vehicle with ID 50 is 7.5 meters away at (1.7, -7.3). A vehicle with ID 52 is 16.7 meters away at (12.0, -11.5). A pedestrian with ID 19 is 22.3 meters away at (4.6, 21.8). A vehicle with ID 54 is 28.2 meters away at (22.3, -17.3). A vehicle with ID 61 is 30.8 meters away at (-28.5, 11.6). A pedestrian with ID 57 is 32.7 meters away at (-14.4, 29.3). A vehicle with ID 68 is 32.7 meters away at (-3.5, 32.5). A vehicle with ID 71 is 35.3 meters away at (10.5, 33.8). A vehicle with ID 4 is 35.9 meters away at (-32.2, -15.9).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [1.0072552 0.971365 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-4.8899803   0.25855795] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.9111725 -1.126156 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-230.09420776367188, -12.936629295349121)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.574993  -4.9042997], 7.425139904022217 meters away.)"}
{"file_name": "images/scenario_1210_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.1) m/s. Its current heading (yaw) is 2.81 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 7.0 meters away at (-4.7, -5.2). A vehicle with ID 50 is 8.1 meters away at (2.6, -7.6). A vehicle with ID 52 is 17.6 meters away at (13.0, -11.8). A pedestrian with ID 30 is 18.1 meters away at (-1.3, 18.1). A pedestrian with ID 19 is 24.5 meters away at (7.4, 23.3). A vehicle with ID 54 is 29.1 meters away at (23.2, -17.6). A pedestrian with ID 57 is 31.0 meters away at (-15.5, 26.8). A vehicle with ID 68 is 32.3 meters away at (-2.7, 32.2). A vehicle with ID 4 is 35.2 meters away at (-31.2, -16.3). A vehicle with ID 71 is 35.3 meters away at (11.4, 33.4).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.00068758 -0.00036069] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [1.0520198 0.9200682] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.93338627 -1.0597895 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-230.09420776367188, -12.936629295349121)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-4.678938  -5.2211304], 7.0108962059021 meters away.)"}
{"file_name": "images/scenario_1211_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -1.90 ", "actor_description": " The most relevant actors are: A vehicle with ID 64 is 3.5 meters away at (-2.4, 2.6). A vehicle with ID 67 is 5.0 meters away at (-3.9, -3.1). A vehicle with ID 66 is 5.7 meters away at (5.1, -2.5). A vehicle with ID 68 is 8.4 meters away at (-0.2, 8.4). A vehicle with ID 70 is 11.2 meters away at (8.6, 7.1). A pedestrian with ID 84 is 12.9 meters away at (-1.5, -12.8). A vehicle with ID 73 is 13.0 meters away at (1.3, 13.0). A pedestrian with ID 77 is 13.4 meters away at (-1.9, 13.3). A vehicle with ID 78 is 18.0 meters away at (3.1, 17.7). A vehicle with ID 76 is 20.5 meters away at (-6.6, -19.5).", "velocity_description": "The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-1.9121882   0.22730386] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.6218687 -1.8274198] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-1.4457198 -4.7688303] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(221.55975341796875, -90.69415283203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.419537   2.5931227], 3.5466103553771973 meters away.)"}
{"file_name": "images/scenario_1211_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.4) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 3.9 meters away at (-3.5, -1.8). A vehicle with ID 64 is 4.5 meters away at (-2.0, 4.0). A vehicle with ID 66 is 5.6 meters away at (5.5, -1.1). A vehicle with ID 68 is 9.8 meters away at (0.2, 9.8). A pedestrian with ID 84 is 12.2 meters away at (-4.9, -11.1). A vehicle with ID 70 is 12.5 meters away at (9.1, 8.6). A vehicle with ID 73 is 14.5 meters away at (1.7, 14.4). A vehicle with ID 78 is 19.4 meters away at (3.6, 19.1). A vehicle with ID 44 is 24.8 meters away at (-17.3, -17.8). A vehicle with ID 71 is 29.3 meters away at (5.5, -28.8).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-1.7407326  0.2927625] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 1.7970201 -0.5009631] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(221.55975341796875, -90.69415283203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.4971652 -1.7666566], 3.9180657863616943 meters away.)"}
{"file_name": "images/scenario_1211_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.8) m/s. Its current heading (yaw) is -1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 2.9 meters away at (-2.1, 2.0). A vehicle with ID 66 is 7.5 meters away at (6.9, 2.8). A vehicle with ID 64 is 7.9 meters away at (-0.6, 7.8). A pedestrian with ID 84 is 10.2 meters away at (-7.2, -7.3). A pedestrian with ID 23 is 11.4 meters away at (-2.7, 11.1). A vehicle with ID 68 is 13.8 meters away at (1.7, 13.7). A vehicle with ID 70 is 16.2 meters away at (10.5, 12.4). A vehicle with ID 73 is 18.5 meters away at (3.2, 18.2). A vehicle with ID 44 is 19.4 meters away at (-12.0, -15.2). A vehicle with ID 78 is 23.5 meters away at (5.0, 23.0).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-1.8316746 -0.0210193] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.32524967 -1.0174958 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 2.5666668  -0.85961545] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(221.55975341796875, -90.69415283203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-2.1108818  1.9537516], 2.876276731491089 meters away.)"}
{"file_name": "images/scenario_1211_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.4) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 4.2 meters away at (-1.4, 4.0). A vehicle with ID 66 is 9.1 meters away at (7.7, 4.9). A vehicle with ID 64 is 9.9 meters away at (0.2, 9.9). A pedestrian with ID 23 is 10.0 meters away at (-3.2, 9.5). A pedestrian with ID 84 is 11.2 meters away at (-10.0, -5.1). A vehicle with ID 68 is 15.9 meters away at (2.5, 15.7). A vehicle with ID 44 is 16.0 meters away at (-5.1, -15.2). A vehicle with ID 15 is 16.1 meters away at (-5.1, -15.2). A vehicle with ID 70 is 18.3 meters away at (11.3, 14.4). A vehicle with ID 73 is 20.6 meters away at (3.9, 20.3).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.5564947 -1.6368729] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-1.6561505   0.13927817] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 3.6093533 -1.1762007] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 3.4431622 -1.0012494] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(221.55975341796875, -90.69415283203125)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.393611  3.990244], 4.2266058921813965 meters away.)"}
{"file_name": "images/scenario_1212_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 3.1) m/s. Its current heading (yaw) is 1.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 6.1 meters away at (5.1, 3.3). A unknown object with ID 56 is 8.9 meters away at (-4.9, -7.4). A unknown object with ID 57 is 9.7 meters away at (-6.5, -7.2). A cyclist with ID 9 is 11.8 meters away at (-3.6, -11.2). A unknown object with ID 58 is 12.3 meters away at (-5.8, -10.9). A unknown object with ID 59 is 14.2 meters away at (-6.5, -12.6). A vehicle with ID 6 is 15.2 meters away at (-11.5, 9.9). A unknown object with ID 62 is 16.5 meters away at (-7.3, -14.8). A unknown object with ID 63 is 18.9 meters away at (-7.9, -17.2). A unknown object with ID 64 is 19.9 meters away at (-8.1, -18.2).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 9 is traveling at a (x, y) velocity of [1.2771025 4.9784093] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[24.83688   25.199026 ]\n [24.789225  25.098925 ]\n [11.37599   23.776989 ]\n [14.6922655 22.589718 ]]", "nav_goal": "(-285.9892578125, 161.3079071044922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.1048336 3.2504578], 6.05184268951416 meters away.)"}
{"file_name": "images/scenario_1212_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 2.4) m/s. Its current heading (yaw) is 1.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 61 is 5.4 meters away at (5.0, -2.0). A cyclist with ID 9 is 8.5 meters away at (-1.8, -8.3). A vehicle with ID 6 is 12.5 meters away at (-11.6, 4.7). A unknown object with ID 56 is 13.7 meters away at (-5.0, -12.7). A unknown object with ID 57 is 14.2 meters away at (-6.6, -12.5). A unknown object with ID 3 is 16.8 meters away at (-12.8, 10.9). A unknown object with ID 58 is 17.2 meters away at (-5.9, -16.2). A unknown object with ID 2 is 17.4 meters away at (-11.6, 13.0). A unknown object with ID 30 is 18.6 meters away at (-13.5, 12.9). A unknown object with ID 59 is 19.1 meters away at (-6.7, -17.9).", "velocity_description": "The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 9 is traveling at a (x, y) velocity of [0.64283055 3.3135085 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[24.83688   25.199026 ]\n [24.789225  25.098925 ]\n [11.37599   23.776989 ]\n [14.6922655 22.589718 ]]", "nav_goal": "(-285.9892578125, 161.3079071044922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 5.0154414 -1.9929991], 5.396915912628174 meters away.)"}
{"file_name": "images/scenario_1212_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 2.6) m/s. Its current heading (yaw) is 1.91 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 8.5 meters away at (0.6, -8.5). A vehicle with ID 61 is 9.7 meters away at (6.3, -7.3). A vehicle with ID 6 is 10.3 meters away at (-10.3, -0.8). A unknown object with ID 3 is 12.7 meters away at (-11.4, 5.6). A unknown object with ID 2 is 12.7 meters away at (-10.3, 7.5). A unknown object with ID 30 is 14.2 meters away at (-12.2, 7.4). A unknown object with ID 41 is 16.3 meters away at (-14.0, 8.4). A vehicle with ID 28 is 17.3 meters away at (4.8, 16.6). A unknown object with ID 56 is 18.6 meters away at (-3.7, -18.2). A unknown object with ID 57 is 18.8 meters away at (-5.3, -18.0).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [0.24971221 2.3281794 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 3.8458185 -2.0200274] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.37599   23.776989 ]\n [14.6922655 22.589718 ]]", "nav_goal": "(-285.9892578125, 161.3079071044922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 0.6064149 -8.492426 ], 8.514049530029297 meters away.)"}
{"file_name": "images/scenario_1212_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 1.7) m/s. Its current heading (yaw) is 2.03 ", "actor_description": " The most relevant actors are: A cyclist with ID 9 is 8.6 meters away at (2.2, -8.4). A unknown object with ID 2 is 9.0 meters away at (-8.5, 2.9). A unknown object with ID 3 is 9.7 meters away at (-9.6, 0.8). A vehicle with ID 6 is 9.9 meters away at (-8.4, -5.2). A unknown object with ID 30 is 10.8 meters away at (-10.5, 2.9). A vehicle with ID 46 is 11.4 meters away at (-10.6, -4.0). A unknown object with ID 41 is 12.9 meters away at (-12.3, 3.9). A vehicle with ID 61 is 14.4 meters away at (8.2, -11.8). A vehicle with ID 28 is 15.1 meters away at (12.8, 8.0). A vehicle with ID 70 is 17.1 meters away at (3.0, -16.8).", "velocity_description": "The cyclist with ID 9 is traveling at a (x, y) velocity of [-0.5423204  2.732612 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 2.7620049 -2.728753 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0.6917728 3.541397 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[11.37599   23.776989 ]\n [14.6922655 22.589718 ]]", "nav_goal": "(-285.9892578125, 161.3079071044922)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a cyclist at [ 2.21595  -8.352642], 8.641589164733887 meters away.)"}
{"file_name": "images/scenario_1213_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 0.5) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 65 is 6.1 meters away at (3.7, -4.9). A vehicle with ID 40 is 6.6 meters away at (-3.8, 5.3). A vehicle with ID 43 is 8.2 meters away at (-8.2, -1.0). A vehicle with ID 53 is 8.8 meters away at (7.5, 4.7). A vehicle with ID 55 is 9.7 meters away at (6.0, 7.6). A vehicle with ID 56 is 10.8 meters away at (3.6, 10.2). A vehicle with ID 67 is 16.5 meters away at (13.7, 9.2). A vehicle with ID 70 is 17.0 meters away at (9.4, 14.2). A vehicle with ID 71 is 17.3 meters away at (12.5, 12.0). A pedestrian with ID 83 is 21.9 meters away at (-14.5, -16.4).", "velocity_description": "The pedestrian with ID 65 is traveling at a (x, y) velocity of [-1.4781882  -0.94103676] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0.33733383 0.21601954] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [3.015584 1.889886] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.1728193  -0.75399315] m/s.", "light_description": "There are active red lights at the following coordinates: [[40.331226  20.476854 ]\n [25.812845  14.6922455]\n [26.190435  13.522443 ]\n [22.291475  22.513075 ]\n [22.047878  22.8547   ]\n [40.31348   20.152353 ]\n [25.169828  15.9672365]\n [37.230835  18.69826  ]\n [24.662113  19.527275 ]\n [23.970343  20.317972 ]\n [37.577957  18.952105 ]\n [37.338825  18.773788 ]]", "nav_goal": "(239.0054168701172, -147.8290557861328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.6836405 -4.855677 ], 6.094818115234375 meters away.)"}
{"file_name": "images/scenario_1213_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.1) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 4.6 meters away at (-4.5, 1.3). A vehicle with ID 40 is 6.5 meters away at (-3.5, 5.5). A pedestrian with ID 65 is 7.5 meters away at (-0.0, -7.5). A vehicle with ID 53 is 8.0 meters away at (6.7, 4.3). A vehicle with ID 55 is 8.8 meters away at (5.2, 7.1). A vehicle with ID 56 is 10.2 meters away at (2.9, 9.7). A vehicle with ID 67 is 15.6 meters away at (12.9, 8.7). A vehicle with ID 70 is 16.3 meters away at (8.8, 13.8). A vehicle with ID 71 is 16.5 meters away at (11.8, 11.5). A vehicle with ID 86 is 20.5 meters away at (-20.0, -4.4).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [1.4083645  0.86168796] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-1.565134  -1.0452223] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [4.5980997 2.8893821] m/s.", "light_description": "There are active red lights at the following coordinates: [[40.331226  20.476854 ]\n [25.812845  14.6922455]\n [26.190435  13.522443 ]\n [22.291475  22.513075 ]\n [22.047878  22.8547   ]\n [40.31348   20.152353 ]\n [25.169828  15.9672365]\n [37.230835  18.69826  ]\n [24.662113  19.527275 ]\n [23.970343  20.317972 ]\n [37.577957  18.952105 ]\n [37.338825  18.773788 ]]", "nav_goal": "(239.0054168701172, -147.8290557861328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.4601793  1.2500081], 4.6320319175720215 meters away.)"}
{"file_name": "images/scenario_1213_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 3.7 meters away at (-3.0, 2.2). A vehicle with ID 40 is 6.6 meters away at (-3.3, 5.7). A vehicle with ID 53 is 7.8 meters away at (6.6, 4.2). A vehicle with ID 55 is 8.8 meters away at (5.1, 7.1). A pedestrian with ID 65 is 10.0 meters away at (-3.2, -9.5). A vehicle with ID 56 is 10.1 meters away at (2.8, 9.7). A pedestrian with ID 46 is 10.2 meters away at (9.9, -2.7). A pedestrian with ID 49 is 10.9 meters away at (10.7, -2.2). A vehicle with ID 86 is 12.6 meters away at (-12.6, 0.3). A vehicle with ID 67 is 15.4 meters away at (12.8, 8.7).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-1.525387  -0.9235342] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.9674969 0.6999331] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.9598964 0.7047928] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [2.686626  1.6724801] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[40.331226  20.476854 ]\n [25.812845  14.6922455]\n [26.190435  13.522443 ]\n [22.291475  22.513075 ]\n [22.047878  22.8547   ]\n [40.31348   20.152353 ]\n [25.169828  15.9672365]\n [37.230835  18.69826  ]\n [24.662113  19.527275 ]\n [23.970343  20.317972 ]\n [37.577957  18.952105 ]\n [37.338825  18.773788 ]]", "nav_goal": "(239.0054168701172, -147.8290557861328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.0200305  2.1634583], 3.7149879932403564 meters away.)"}
{"file_name": "images/scenario_1213_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 3.7 meters away at (-3.0, 2.2). A vehicle with ID 40 is 6.6 meters away at (-2.9, 5.9). A vehicle with ID 53 is 7.8 meters away at (6.6, 4.2). A vehicle with ID 55 is 8.7 meters away at (5.1, 7.1). A vehicle with ID 86 is 9.7 meters away at (-9.5, 2.2). A vehicle with ID 56 is 10.1 meters away at (2.8, 9.7). A pedestrian with ID 46 is 11.8 meters away at (11.8, -1.4). A pedestrian with ID 49 is 12.6 meters away at (12.6, -0.9). A pedestrian with ID 65 is 13.0 meters away at (-6.3, -11.4). A vehicle with ID 67 is 15.4 meters away at (12.7, 8.6).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0.5073197 0.3167042] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.881543  0.6484457] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.87848294 0.6519141 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-1.4851179 -0.9636656] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[40.331226  20.476854 ]\n [25.812845  14.6922455]\n [26.190435  13.522443 ]\n [22.291475  22.513075 ]\n [22.047878  22.8547   ]\n [40.31348   20.152353 ]\n [25.169828  15.9672365]\n [37.230835  18.69826  ]\n [24.662113  19.527275 ]\n [23.970343  20.317972 ]\n [37.577957  18.952105 ]\n [37.338825  18.773788 ]]", "nav_goal": "(239.0054168701172, -147.8290557861328)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.0078642  2.1697052], 3.7087554931640625 meters away.)"}
{"file_name": "images/scenario_1214_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -11.2) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 41.8 meters away at (-16.0, 38.6).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.2265853881836, -283.30731201171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-16.04029   38.625633], 41.82380294799805 meters away.)"}
{"file_name": "images/scenario_1214_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -11.5) m/s. Its current heading (yaw) is -1.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 65.6 meters away at (-23.6, 61.3).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(91.2265853881836, -283.30731201171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-23.56496   61.252136], 65.62874603271484 meters away.)"}
{"file_name": "images/scenario_1214_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -11.3) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(91.2265853881836, -283.30731201171875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_1214_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -11.2) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(91.2265853881836, -283.30731201171875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_1215_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 1.2) m/s. Its current heading (yaw) is 2.93 ", "actor_description": " The most relevant actors are: A pedestrian with ID 13 is 14.0 meters away at (10.7, 8.9). A pedestrian with ID 14 is 18.5 meters away at (16.0, -9.3). A cyclist with ID 15 is 27.6 meters away at (22.6, 15.9). A unknown object with ID 17 is 40.8 meters away at (-33.3, 23.7). A unknown object with ID 19 is 42.4 meters away at (-35.6, 23.2). A vehicle with ID 21 is 60.5 meters away at (35.7, 48.8). A pedestrian with ID 3 is 62.1 meters away at (-61.9, 4.9).", "velocity_description": "The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.5126192 1.2295192] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.67637753 1.1701992 ] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [ 0.02782309 -2.5927298 ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9893972   0.15083994] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-110.39566040039062, -75.89301300048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [10.737149  8.934961], 13.96853256225586 meters away.)"}
{"file_name": "images/scenario_1215_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 1.4) m/s. Its current heading (yaw) is 2.93 ", "actor_description": " The most relevant actors are: A unknown object with ID 9 is 15.0 meters away at (-12.3, 8.6). A pedestrian with ID 13 is 25.5 meters away at (24.1, 8.5). A unknown object with ID 17 is 29.8 meters away at (-21.3, 20.9). A pedestrian with ID 14 is 30.8 meters away at (29.3, -9.5). A unknown object with ID 19 is 31.2 meters away at (-23.5, 20.5). A cyclist with ID 15 is 35.0 meters away at (34.1, 8.0). A pedestrian with ID 3 is 51.9 meters away at (-51.8, 2.5). A vehicle with ID 21 is 66.7 meters away at (47.9, 46.3).", "velocity_description": "The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.6994518 1.0876355] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.58202124 1.3910354 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [-0.48411748 -2.8296754 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.0001653   0.08312554] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-110.39566040039062, -75.89301300048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-12.309654   8.563351], 14.995285034179688 meters away.)"}
{"file_name": "images/scenario_1215_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 1.3) m/s. Its current heading (yaw) is 2.96 ", "actor_description": " The most relevant actors are: A unknown object with ID 17 is 20.1 meters away at (-8.2, 18.3). A pedestrian with ID 13 is 39.3 meters away at (38.5, 8.0). A pedestrian with ID 3 is 40.7 meters away at (-40.7, 0.1). A cyclist with ID 15 is 44.7 meters away at (44.7, -0.3). A pedestrian with ID 14 is 44.7 meters away at (43.7, -9.6). A vehicle with ID 21 is 75.1 meters away at (61.1, 43.6).", "velocity_description": "The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.6999784 1.13115  ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.94590086  0.16193846] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [-2.0340452 -2.3117948] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.56175154 1.3723985 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-110.39566040039062, -75.89301300048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-8.1563225 18.318727 ], 20.052465438842773 meters away.)"}
{"file_name": "images/scenario_1215_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 1.3) m/s. Its current heading (yaw) is 2.97 ", "actor_description": " The most relevant actors are: A pedestrian with ID 10 is 17.9 meters away at (-11.4, 13.8). A pedestrian with ID 3 is 28.7 meters away at (-28.6, -2.2). A cyclist with ID 15 is 54.2 meters away at (53.8, -6.6). A pedestrian with ID 13 is 54.5 meters away at (54.0, 7.7). A pedestrian with ID 14 is 59.7 meters away at (58.9, -9.6). A unknown object with ID 5 is 79.7 meters away at (79.7, 2.5).", "velocity_description": "The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.51510876 0.72573507] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.0046363  0.1495339] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [-3.115551  -1.1671664] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.67050916 1.028614  ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.30427542 1.2473003 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-110.39566040039062, -75.89301300048828)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-11.353992  13.847523], 17.90717887878418 meters away.)"}
{"file_name": "images/scenario_1216_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 4.1) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 49 is 7.9 meters away at (3.1, -7.3). A unknown object with ID 18 is 12.2 meters away at (10.1, 6.8). A vehicle with ID 51 is 18.9 meters away at (-1.9, 18.8). A vehicle with ID 48 is 23.8 meters away at (14.8, 18.6). A vehicle with ID 50 is 23.9 meters away at (-12.2, 20.6). A vehicle with ID 52 is 29.3 meters away at (-20.0, -21.4). A vehicle with ID 56 is 29.9 meters away at (-19.3, 22.9). A pedestrian with ID 14 is 31.1 meters away at (-3.1, -31.0). A vehicle with ID 57 is 34.9 meters away at (-24.5, 24.8). A vehicle with ID 53 is 38.5 meters away at (-23.2, -30.7).", "velocity_description": "The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.05604125 0.00881153] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-3.835832  5.29289 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.00709738 0.00415779] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.7869513 24.700575 ]\n [ 0.6080678 22.83097  ]]", "nav_goal": "(203.99366760253906, 85.71794128417969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.1128197 -7.271363 ], 7.909637451171875 meters away.)"}
{"file_name": "images/scenario_1216_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 5.6) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 17 is 13.9 meters away at (-13.9, 0.6). A vehicle with ID 48 is 15.2 meters away at (12.2, 9.0). A pedestrian with ID 49 is 16.8 meters away at (0.4, -16.8). A vehicle with ID 50 is 18.7 meters away at (-15.0, 11.2). A vehicle with ID 51 is 24.8 meters away at (-16.9, 18.2). A vehicle with ID 56 is 25.8 meters away at (-22.1, 13.4). A vehicle with ID 44 is 28.6 meters away at (27.7, -7.1). A vehicle with ID 57 is 31.5 meters away at (-27.6, 15.3). A vehicle with ID 8 is 33.0 meters away at (12.4, 30.6). A pedestrian with ID 23 is 34.0 meters away at (-33.0, 8.2).", "velocity_description": "The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.00030799 0.00509629] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.05721909 -0.01869815] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-7.9740496  3.2662168] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.2882885  -0.35238162] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.7869513 24.700575 ]\n [ 0.6080678 22.83097  ]]", "nav_goal": "(203.99366760253906, 85.71794128417969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-13.888763   0.579649], 13.900854110717773 meters away.)"}
{"file_name": "images/scenario_1216_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 6.2) m/s. Its current heading (yaw) is 1.28 ", "actor_description": " The most relevant actors are: A vehicle with ID 48 is 9.3 meters away at (8.8, -2.9). A unknown object with ID 16 is 15.4 meters away at (4.2, -14.8). A vehicle with ID 50 is 18.3 meters away at (-18.3, -0.9). A vehicle with ID 8 is 20.8 meters away at (9.1, 18.7). A vehicle with ID 56 is 25.3 meters away at (-25.3, 1.4). A vehicle with ID 4 is 26.9 meters away at (11.1, 24.5). A pedestrian with ID 49 is 28.9 meters away at (-2.9, -28.8). A vehicle with ID 57 is 30.8 meters away at (-30.6, 3.4). A vehicle with ID 44 is 30.8 meters away at (24.3, -18.9). A pedestrian with ID 23 is 34.1 meters away at (-33.9, -4.3).", "velocity_description": "The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.07691836 -0.0028613 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.3167528  -0.34518084] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.7869513 24.700575 ]\n [ 0.6080678 22.83097  ]]", "nav_goal": "(203.99366760253906, 85.71794128417969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.840985  -2.9148407], 9.309098243713379 meters away.)"}
{"file_name": "images/scenario_1216_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.3) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 7.9 meters away at (5.3, 5.9). A vehicle with ID 4 is 13.8 meters away at (7.3, 11.7). A vehicle with ID 48 is 16.5 meters away at (5.1, -15.7). A vehicle with ID 50 is 25.9 meters away at (-22.0, -13.7). A vehicle with ID 56 is 31.2 meters away at (-29.1, -11.4). A vehicle with ID 57 is 35.7 meters away at (-34.4, -9.4). A vehicle with ID 44 is 37.9 meters away at (20.7, -31.8). A vehicle with ID 47 is 38.4 meters away at (33.0, -19.8). A pedestrian with ID 23 is 39.5 meters away at (-35.3, -17.8). A vehicle with ID 61 is 41.6 meters away at (-41.5, 3.1).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.3774318  -0.34239715] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 1.7869513 24.700575 ]\n [ 0.6080678 22.83097  ]]", "nav_goal": "(203.99366760253906, 85.71794128417969)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [5.325591  5.8688164], 7.92495584487915 meters away.)"}
{"file_name": "images/scenario_1217_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 6.3) m/s. Its current heading (yaw) is 1.18 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 8.8 meters away at (-5.3, 7.1). A unknown object with ID 43 is 11.8 meters away at (6.5, -9.9). A unknown object with ID 47 is 12.3 meters away at (8.3, -9.1). A unknown object with ID 41 is 13.2 meters away at (5.6, -12.0). A unknown object with ID 48 is 14.7 meters away at (9.4, -11.2). A unknown object with ID 39 is 14.8 meters away at (4.8, -14.0). A unknown object with ID 46 is 15.9 meters away at (8.7, -13.3). A unknown object with ID 42 is 16.9 meters away at (6.0, -15.8). A unknown object with ID 45 is 17.3 meters away at (7.9, -15.4). A vehicle with ID 16 is 20.9 meters away at (19.1, 8.4).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.5351354 1.051565 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-5.2620964  7.092985 ], 8.831766128540039 meters away.)"}
{"file_name": "images/scenario_1217_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.3) m/s. Its current heading (yaw) is 1.17 ", "actor_description": " The most relevant actors are: A pedestrian with ID 33 is 9.8 meters away at (-9.3, -3.0). A vehicle with ID 16 is 14.5 meters away at (13.9, -4.1). A pedestrian with ID 29 is 20.7 meters away at (6.5, -19.6). A unknown object with ID 47 is 21.8 meters away at (3.1, -21.5). A unknown object with ID 43 is 22.5 meters away at (1.3, -22.4). A unknown object with ID 48 is 24.1 meters away at (4.2, -23.7). A unknown object with ID 41 is 24.4 meters away at (0.4, -24.4). A vehicle with ID 26 is 25.3 meters away at (15.9, 19.6). A unknown object with ID 46 is 26.1 meters away at (3.5, -25.9). A unknown object with ID 39 is 26.4 meters away at (-0.4, -26.4).", "velocity_description": "The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.50563097 1.086585  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01995543 -0.00175599] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.9470476 -5.324462 ] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-9.341564  -3.0151558], 9.816108703613281 meters away.)"}
{"file_name": "images/scenario_1217_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.3) m/s. Its current heading (yaw) is 1.16 ", "actor_description": " The most relevant actors are: A vehicle with ID 26 is 8.8 meters away at (8.5, -2.4). A vehicle with ID 16 is 18.6 meters away at (8.4, -16.6). A cyclist with ID 23 is 23.4 meters away at (15.9, 17.2). A unknown object with ID 17 is 28.9 meters away at (22.1, 18.6). A unknown object with ID 47 is 34.2 meters away at (-2.3, -34.2). A pedestrian with ID 7 is 34.3 meters away at (10.4, 32.6). A unknown object with ID 43 is 35.2 meters away at (-4.1, -35.0). A pedestrian with ID 11 is 35.5 meters away at (24.7, 25.5). A pedestrian with ID 12 is 35.8 meters away at (24.2, 26.3). A unknown object with ID 48 is 36.4 meters away at (-1.2, -36.4).", "velocity_description": "The vehicle with ID 26 is traveling at a (x, y) velocity of [ 0.12334008 -4.343953  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [-2.7915437 -6.8041   ] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.0551007  -0.04683554] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.5287869 -1.4598328] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.5261548 -1.4672786] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [ 8.518707  -2.3986015], 8.849952697753906 meters away.)"}
{"file_name": "images/scenario_1217_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 6.4) m/s. Its current heading (yaw) is 1.16 ", "actor_description": " The most relevant actors are: A cyclist with ID 23 is 10.4 meters away at (5.6, -8.8). A pedestrian with ID 11 is 20.3 meters away at (17.8, 9.8). A pedestrian with ID 12 is 20.4 meters away at (17.3, 10.7). A pedestrian with ID 7 is 20.5 meters away at (4.9, 19.9). A vehicle with ID 26 is 23.7 meters away at (6.0, -22.9). A vehicle with ID 13 is 28.1 meters away at (17.1, 22.4). A vehicle with ID 16 is 29.4 meters away at (2.8, -29.3). A pedestrian with ID 6 is 30.4 meters away at (-2.8, 30.2). A unknown object with ID 47 is 47.6 meters away at (-7.8, -46.9). A unknown object with ID 43 is 48.8 meters away at (-9.4, -47.8).", "velocity_description": "The cyclist with ID 23 is traveling at a (x, y) velocity of [-1.780736  -6.4185996] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.7011637 -1.2852967] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.67089915 -1.3346498 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.01603253 0.00382814] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.9907477 -3.2258608] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.8365127 -4.479305 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.9955726  -0.31841317] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a cyclist at [ 5.6395454 -8.795456 ], 10.448183059692383 meters away.)"}
{"file_name": "images/scenario_1218_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 33.0 meters away at (-4.5, -32.7). A vehicle with ID 32 is 39.3 meters away at (-21.6, -32.9). A vehicle with ID 33 is 39.6 meters away at (-23.8, -31.6). A vehicle with ID 29 is 39.8 meters away at (-6.6, -39.3). A vehicle with ID 30 is 52.4 meters away at (-10.8, -51.2).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-3.306218385696411, -237.46202087402344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -4.506233 -32.736557], 33.04524612426758 meters away.)"}
{"file_name": "images/scenario_1218_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.0) m/s. Its current heading (yaw) is -1.91 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 20.6 meters away at (-0.2, -20.6). A vehicle with ID 32 is 27.0 meters away at (-17.3, -20.7). A vehicle with ID 29 is 27.1 meters away at (-2.2, -27.0). A vehicle with ID 33 is 27.6 meters away at (-19.5, -19.5). A vehicle with ID 27 is 29.1 meters away at (-22.2, -18.8). A vehicle with ID 6 is 30.4 meters away at (-24.6, -17.8). A vehicle with ID 15 is 32.0 meters away at (-27.1, -17.0). A vehicle with ID 30 is 39.7 meters away at (-6.4, -39.2). A vehicle with ID 1 is 66.2 meters away at (-24.4, -61.5). A vehicle with ID 2 is 72.4 meters away at (-17.2, -70.3).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-3.306218385696411, -237.46202087402344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -0.15201283 -20.56306   ], 20.563623428344727 meters away.)"}
{"file_name": "images/scenario_1218_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -5.1) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 10.3 meters away at (4.1, -9.4). A vehicle with ID 29 is 16.0 meters away at (2.2, -15.8). A vehicle with ID 32 is 16.1 meters away at (-13.0, -9.6). A vehicle with ID 33 is 17.4 meters away at (-15.2, -8.4). A vehicle with ID 27 is 19.5 meters away at (-17.9, -7.7). A vehicle with ID 6 is 21.4 meters away at (-20.3, -6.6). A vehicle with ID 15 is 23.5 meters away at (-22.8, -5.7). A vehicle with ID 12 is 26.0 meters away at (-25.6, -4.7). A vehicle with ID 30 is 28.1 meters away at (-2.0, -28.0). A vehicle with ID 23 is 30.6 meters away at (-30.3, -3.8).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-3.306218385696411, -237.46202087402344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.1406565 -9.419266 ], 10.28919792175293 meters away.)"}
{"file_name": "images/scenario_1218_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -4.7) m/s. Its current heading (yaw) is -2.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 32 is 8.1 meters away at (-8.1, 0.2). A vehicle with ID 28 is 9.0 meters away at (9.0, 0.3). A vehicle with ID 29 is 9.3 meters away at (7.0, -6.0). A vehicle with ID 33 is 10.5 meters away at (-10.4, 1.4). A vehicle with ID 27 is 13.2 meters away at (-13.0, 2.2). A vehicle with ID 6 is 15.8 meters away at (-15.5, 3.2). A vehicle with ID 30 is 18.3 meters away at (2.8, -18.1). A vehicle with ID 15 is 18.4 meters away at (-17.9, 4.1). A vehicle with ID 12 is 21.3 meters away at (-20.7, 5.2). A vehicle with ID 23 is 26.2 meters away at (-25.5, 6.1).", "velocity_description": "The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-3.306218385696411, -237.46202087402344)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.136234    0.20919037], 8.138923645019531 meters away.)"}
{"file_name": "images/scenario_1219_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -4.9) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 97 is 8.7 meters away at (-0.4, -8.7). A vehicle with ID 99 is 12.7 meters away at (5.2, -11.6). A pedestrian with ID 96 is 14.8 meters away at (3.5, 14.4). A vehicle with ID 25 is 15.3 meters away at (-14.1, 6.0). A vehicle with ID 104 is 18.5 meters away at (10.5, -15.2). A pedestrian with ID 90 is 19.4 meters away at (-18.8, -4.9). A pedestrian with ID 92 is 20.5 meters away at (-2.1, 20.4). A pedestrian with ID 103 is 21.0 meters away at (20.5, 4.5). A pedestrian with ID 94 is 21.5 meters away at (-1.4, 21.5). A pedestrian with ID 91 is 23.8 meters away at (-9.0, 22.0).", "velocity_description": "The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-0.04526482 -0.15997241] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 8.721778  -5.8230524] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.04046026 -0.00527498] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.72331864  0.48878032] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 0.83172596 -0.54273874] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.5815809  0.726529 ] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 1.3382097 -0.7702075] m/s.", "light_description": "There are active red lights at the following coordinates: [[-40.44813    40.732582 ]\n [-41.435394   41.325314 ]\n [-42.52228    42.347973 ]\n [-42.721203   42.599873 ]\n [ -7.0771694  -6.241185 ]\n [ -7.0619216  -6.2482343]\n [-40.12666    40.592052 ]\n [ -2.9121532  -8.738048 ]\n [ -2.8376832  -8.801027 ]]", "nav_goal": "(247.646484375, -162.60943603515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-0.39472198 -8.738451  ], 8.747361183166504 meters away.)"}
{"file_name": "images/scenario_1219_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.5, -5.0) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 106 is 8.3 meters away at (-1.5, -8.1). A vehicle with ID 104 is 8.3 meters away at (-6.4, -5.2). A vehicle with ID 110 is 11.6 meters away at (3.6, -11.0). A vehicle with ID 99 is 11.7 meters away at (-11.6, -1.6). A pedestrian with ID 103 is 14.6 meters away at (5.5, 13.5). A vehicle with ID 25 is 14.6 meters away at (-13.8, 4.8). A vehicle with ID 112 is 17.3 meters away at (9.3, -14.6). A vehicle with ID 97 is 17.4 meters away at (-17.3, 1.3). A vehicle with ID 72 is 18.8 meters away at (18.0, -5.4). A vehicle with ID 32 is 21.3 meters away at (16.4, -13.6).", "velocity_description": "The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 1.091206  -0.7220315] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 8.457129 -5.433197] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-7.9042234  4.727331 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 7.3218503 -4.436069 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-7.0771694 -6.241185 ]\n [-7.0619216 -6.2482343]]", "nav_goal": "(247.646484375, -162.60943603515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.4552765 -8.131397 ], 8.26059627532959 meters away.)"}
{"file_name": "images/scenario_1219_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -5.2) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 112 is 8.9 meters away at (-7.8, -4.3). A vehicle with ID 66 is 9.5 meters away at (9.4, -0.8). A vehicle with ID 110 is 13.5 meters away at (-13.5, -0.7). A vehicle with ID 88 is 14.9 meters away at (14.9, 1.0). A vehicle with ID 25 is 15.3 meters away at (-14.5, 5.0). A pedestrian with ID 121 is 17.3 meters away at (11.8, 12.7). A vehicle with ID 106 is 18.7 meters away at (-18.5, 2.2). A vehicle with ID 32 is 18.7 meters away at (14.0, -12.3). A vehicle with ID 72 is 20.5 meters away at (-14.8, 14.2). A vehicle with ID 86 is 20.8 meters away at (-0.7, -20.8).", "velocity_description": "The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-7.2633185  4.419168 ] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 8.566438 -4.962961] m/s.The pedestrian with ID 121 is traveling at a (x, y) velocity of [0.02313911 0.00892633] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 7.7469983 -4.475151 ] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-7.370555   4.3203306] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.646484375, -162.60943603515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.8286247 -4.287651 ], 8.92587947845459 meters away.)"}
{"file_name": "images/scenario_1219_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -5.1) m/s. Its current heading (yaw) is -0.53 ", "actor_description": " The most relevant actors are: A vehicle with ID 88 is 11.5 meters away at (-2.5, 11.2). A vehicle with ID 46 is 12.2 meters away at (4.5, -11.4). A vehicle with ID 47 is 13.1 meters away at (11.7, 5.8). A pedestrian with ID 42 is 14.8 meters away at (1.7, -14.7). A vehicle with ID 25 is 15.2 meters away at (-14.3, 5.0). A vehicle with ID 32 is 16.0 meters away at (11.7, -10.9). A vehicle with ID 55 is 17.7 meters away at (16.8, -5.6). A vehicle with ID 43 is 18.0 meters away at (10.4, -14.7). A vehicle with ID 44 is 19.8 meters away at (19.8, 1.1). A vehicle with ID 86 is 20.9 meters away at (-18.0, -10.6).", "velocity_description": "The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.3430454  -0.88128626] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 8.9238405 -5.2559853] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 7.1830764 -4.22634  ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-5.3303814  3.1080525] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[10.283909  -1.2494409]]", "nav_goal": "(247.646484375, -162.60943603515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.5053787 11.236504 ], 11.512425422668457 meters away.)"}
{"file_name": "images/scenario_1220_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.6) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A vehicle with ID 19 is 44.8 meters away at (35.3, 27.6). A vehicle with ID 10 is 57.0 meters away at (42.3, -38.2).", "velocity_description": "The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.88332283 17.851107  ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.2679534 14.692265 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [35.295242 27.635334], 44.827064514160156 meters away.)"}
{"file_name": "images/scenario_1220_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.7) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 10 is 53.2 meters away at (50.1, -18.1). A vehicle with ID 15 is 69.1 meters away at (54.7, -42.2).", "velocity_description": "The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.9418672 15.074492 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.635187 14.893356] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 50.056534 -18.09975 ], 53.22835159301758 meters away.)"}
{"file_name": "images/scenario_1220_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 4.5) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " The most relevant actors are: A vehicle with ID 15 is 66.6 meters away at (63.2, -20.8). A vehicle with ID 8 is 75.8 meters away at (65.5, -38.1).", "velocity_description": "The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.4993614 15.7022705] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.8001878 15.409956 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 63.22672  -20.806126], 66.56209564208984 meters away.)"}
{"file_name": "images/scenario_1220_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 4.3) m/s. Its current heading (yaw) is 2.56 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": ""}
{"file_name": "images/scenario_1221_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 3.3) m/s. Its current heading (yaw) is 1.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 24.9 meters away at (23.2, -8.9). A vehicle with ID 18 is 37.7 meters away at (6.7, -37.1). A unknown object with ID 25 is 56.4 meters away at (1.8, -56.4). A unknown object with ID 27 is 58.1 meters away at (2.2, -58.0). A unknown object with ID 28 is 59.8 meters away at (2.1, -59.7). A vehicle with ID 32 is 67.9 meters away at (-1.5, 67.9). A unknown object with ID 14 is 73.6 meters away at (0.5, -73.6). A unknown object with ID 30 is 74.5 meters away at (2.5, -74.5). A vehicle with ID 26 is 75.5 meters away at (4.8, -75.4).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -0.5571926 -10.024214 ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.07325431 -9.386375  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-13.059558  77.16442 ]\n [-10.899838  73.47911 ]]", "nav_goal": "(61.759620666503906, -229.24127197265625)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [23.217794 -8.937381], 24.878559112548828 meters away.)"}
{"file_name": "images/scenario_1221_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 2.0) m/s. Its current heading (yaw) is 1.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 26.5 meters away at (22.5, -13.9). A unknown object with ID 25 is 61.5 meters away at (1.4, -61.5). A vehicle with ID 32 is 62.2 meters away at (-4.8, 62.0). A vehicle with ID 18 is 62.7 meters away at (5.4, -62.5). A unknown object with ID 27 is 63.3 meters away at (1.7, -63.2).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-2.8837779 -0.8949065] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -0.44390827 -10.49008   ] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(61.759620666503906, -229.24127197265625)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 22.529654 -13.946235], 26.496845245361328 meters away.)"}
{"file_name": "images/scenario_1221_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 0.6) m/s. Its current heading (yaw) is 0.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 25.2 meters away at (18.6, -17.1). A vehicle with ID 32 is 59.9 meters away at (-17.7, 57.2). A unknown object with ID 25 is 64.9 meters away at (-2.7, -64.8). A unknown object with ID 27 is 66.6 meters away at (-2.3, -66.5). A unknown object with ID 11 is 69.5 meters away at (-2.0, -69.5). A unknown object with ID 4 is 72.2 meters away at (-2.0, -72.2). A unknown object with ID 8 is 78.0 meters away at (-1.4, -77.9).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-5.99834    -0.06707452] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(61.759620666503906, -229.24127197265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 18.586105 -17.091078], 25.249717712402344 meters away.)"}
{"file_name": "images/scenario_1221_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.4) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 20.3 meters away at (12.5, -16.1). A vehicle with ID 1 is 35.2 meters away at (11.5, -33.3). A unknown object with ID 25 is 64.4 meters away at (-9.1, -63.7). A vehicle with ID 32 is 72.9 meters away at (-37.8, 62.3). A unknown object with ID 12 is 73.2 meters away at (-8.4, -72.7). A unknown object with ID 3 is 74.7 meters away at (-8.4, -74.2). A unknown object with ID 7 is 76.1 meters away at (-8.2, -75.6). A unknown object with ID 8 is 77.5 meters away at (-8.2, -77.0).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-7.9862156  4.501259 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(61.759620666503906, -229.24127197265625)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 12.460338 -16.075409], 20.339094161987305 meters away.)"}
{"file_name": "images/scenario_1222_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 3.0) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 56.4 meters away at (53.5, -17.8).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-12.829979   5.938385] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(141.3050994873047, -92.34674835205078)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 53.547077 -17.828861], 56.43720245361328 meters away.)"}
{"file_name": "images/scenario_1222_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.3) m/s. Its current heading (yaw) is 1.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 30.7 meters away at (28.9, -10.4). A unknown object with ID 12 is 46.0 meters away at (-34.4, 30.5).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-10.513253   6.016075] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(141.3050994873047, -92.34674835205078)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 28.852499 -10.414907], 30.67469596862793 meters away.)"}
{"file_name": "images/scenario_1222_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 9.5 meters away at (9.5, 1.3).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.0174675  6.888874 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(141.3050994873047, -92.34674835205078)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [9.461645  1.2819281], 9.54809284210205 meters away.)"}
{"file_name": "images/scenario_1222_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 1.5) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A vehicle with ID 9 is 16.7 meters away at (-8.4, 14.5). A unknown object with ID 6 is 54.4 meters away at (-39.8, 37.1).", "velocity_description": "The vehicle with ID 9 is traveling at a (x, y) velocity of [-8.267256   7.4984174] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(141.3050994873047, -92.34674835205078)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-8.409239 14.484213], 16.74836540222168 meters away.)"}
{"file_name": "images/scenario_1223_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 1.9) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 7.2 meters away at (1.1, -7.1). A vehicle with ID 46 is 9.1 meters away at (-8.1, -4.0). A vehicle with ID 55 is 10.4 meters away at (4.0, 9.6). A pedestrian with ID 52 is 11.7 meters away at (7.2, 9.2). A vehicle with ID 45 is 26.2 meters away at (-9.4, 24.4). A vehicle with ID 58 is 27.5 meters away at (16.3, 22.1). A vehicle with ID 39 is 30.1 meters away at (23.4, 18.8). A pedestrian with ID 49 is 33.9 meters away at (8.1, 32.9). A pedestrian with ID 51 is 35.1 meters away at (8.2, 34.1). A vehicle with ID 64 is 37.2 meters away at (-18.3, -32.4).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0.480664  1.2075347] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00565782 -0.00640759] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-2.3769004  0.9692017] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-1.437552    0.67002267] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.1871634  -0.54727554] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 1.3347057  -0.41713002] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.868526 -59.74613 ]\n [-24.065516 -59.704605]]", "nav_goal": "(175.7998809814453, 94.18931579589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.1129737 -7.074065 ], 7.161083221435547 meters away.)"}
{"file_name": "images/scenario_1223_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.0) m/s. Its current heading (yaw) is 1.25 ", "actor_description": " The most relevant actors are: A pedestrian with ID 52 is 9.2 meters away at (6.3, 6.7). A vehicle with ID 44 is 9.5 meters away at (0.3, -9.5). A vehicle with ID 46 is 11.0 meters away at (-9.0, -6.4). A vehicle with ID 55 is 12.0 meters away at (5.4, 10.7). A vehicle with ID 58 is 24.3 meters away at (8.7, 22.7). A vehicle with ID 45 is 24.3 meters away at (-10.3, 22.1). A vehicle with ID 39 is 26.5 meters away at (19.5, 17.9). A pedestrian with ID 49 is 31.1 meters away at (9.7, 29.5). A pedestrian with ID 51 is 32.1 meters away at (10.1, 30.5). A vehicle with ID 7 is 32.7 meters away at (26.8, 18.7).", "velocity_description": "The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.02824743 -0.01210486] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [1.7794544 2.0882826] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-4.2144275  1.7935388] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-1.8374596   0.86904836] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.1685909 -0.6372872] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 1.193549  -0.6281873] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.868526 -59.74613 ]\n [-24.065516 -59.704605]]", "nav_goal": "(175.7998809814453, 94.18931579589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [6.255517 6.749335], 9.202445983886719 meters away.)"}
{"file_name": "images/scenario_1223_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 1.9) m/s. Its current heading (yaw) is 1.22 ", "actor_description": " The most relevant actors are: A pedestrian with ID 52 is 6.4 meters away at (5.2, 3.8). A vehicle with ID 44 is 12.4 meters away at (-0.8, -12.4). A unknown object with ID 16 is 12.7 meters away at (11.2, 6.2). A vehicle with ID 46 is 13.6 meters away at (-10.0, -9.2). A vehicle with ID 55 is 15.4 meters away at (10.1, 11.6). A vehicle with ID 9 is 19.5 meters away at (17.8, 7.9). A vehicle with ID 45 is 22.3 meters away at (-11.3, 19.2). A vehicle with ID 39 is 22.4 meters away at (14.9, 16.8). A vehicle with ID 58 is 23.9 meters away at (-2.1, 23.8). A pedestrian with ID 49 is 27.6 meters away at (11.0, 25.3).", "velocity_description": "The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.19293052 0.02705001] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [3.9112427 0.9760107] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-1.3755666  0.6447558] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-5.468799   2.1341715] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.1478437 -0.756083 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.868526 -59.74613 ]\n [-24.065516 -59.704605]]", "nav_goal": "(175.7998809814453, 94.18931579589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [5.1671753 3.8075418], 6.418494701385498 meters away.)"}
{"file_name": "images/scenario_1223_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.3) m/s. Its current heading (yaw) is 1.24 ", "actor_description": " The most relevant actors are: A pedestrian with ID 52 is 5.9 meters away at (5.9, 0.0). A unknown object with ID 16 is 10.3 meters away at (10.0, 2.7). A vehicle with ID 44 is 15.9 meters away at (-2.0, -15.7). A vehicle with ID 46 is 16.9 meters away at (-11.3, -12.6). A vehicle with ID 9 is 17.1 meters away at (16.5, 4.4). A vehicle with ID 39 is 18.3 meters away at (11.1, 14.5). A pedestrian with ID 21 is 18.5 meters away at (-13.5, 12.7). A vehicle with ID 55 is 19.8 meters away at (18.2, 7.7). A vehicle with ID 45 is 20.1 meters away at (-12.5, 15.8). A pedestrian with ID 49 is 23.5 meters away at (12.1, 20.2).", "velocity_description": "The pedestrian with ID 52 is traveling at a (x, y) velocity of [1.0853477  0.30475911] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.236753   0.9592239] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 1.6005032 -0.498043 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 5.009039  -1.2468067] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.1941712 -0.6717736] m/s.", "light_description": "There are active red lights at the following coordinates: [[-23.868526 -59.74613 ]\n [-24.065516 -59.704605]]", "nav_goal": "(175.7998809814453, 94.18931579589844)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [5.888972   0.03666496], 5.88908576965332 meters away.)"}
{"file_name": "images/scenario_1224_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.8) m/s. Its current heading (yaw) is -1.76 ", "actor_description": " The most relevant actors are: A vehicle with ID 44 is 13.9 meters away at (-0.9, -13.8). A pedestrian with ID 52 is 18.0 meters away at (-16.6, 6.9). A unknown object with ID 37 is 18.4 meters away at (14.7, -11.1). A pedestrian with ID 46 is 20.1 meters away at (-1.5, 20.0). A pedestrian with ID 47 is 20.2 meters away at (-3.1, 20.0). A pedestrian with ID 48 is 20.5 meters away at (-2.3, 20.4). A pedestrian with ID 49 is 20.8 meters away at (-2.6, 20.7). A pedestrian with ID 50 is 21.0 meters away at (-2.8, 20.8). A pedestrian with ID 51 is 21.6 meters away at (-3.8, 21.3). A pedestrian with ID 53 is 23.9 meters away at (-22.5, 8.0).", "velocity_description": "The vehicle with ID 44 is traveling at a (x, y) velocity of [ 9.00084   -4.1606536] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [ 0.9236101  -0.48468614] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.02315794 0.01813887] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.05208851  0.00391511] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 0.01205554 -0.00016101] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.04528791 -0.00230253] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.01095175 -0.00235061] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00340951 -0.00464835] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.1536645  0.56991  ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 69.5348   -42.733673]\n [ 68.61092  -45.98817 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -0.861357 -13.824967], 13.851775169372559 meters away.)"}
{"file_name": "images/scenario_1224_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -1.7) m/s. Its current heading (yaw) is -1.68 ", "actor_description": " The most relevant actors are: A pedestrian with ID 52 is 16.9 meters away at (-13.9, 9.6). A pedestrian with ID 46 is 23.9 meters away at (-1.2, 23.9). A pedestrian with ID 47 is 23.9 meters away at (-3.9, 23.6). A pedestrian with ID 48 is 24.0 meters away at (-1.5, 24.0). A pedestrian with ID 49 is 24.4 meters away at (-2.0, 24.3). A pedestrian with ID 50 is 24.6 meters away at (-2.2, 24.5). A pedestrian with ID 51 is 25.2 meters away at (-3.0, 25.0). A vehicle with ID 44 is 25.3 meters away at (17.0, -18.7). A pedestrian with ID 53 is 27.4 meters away at (-24.3, 12.7). A pedestrian with ID 54 is 27.7 meters away at (-24.8, 12.2).", "velocity_description": "The pedestrian with ID 52 is traveling at a (x, y) velocity of [ 1.1188016  -0.49270305] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.12584975  0.06768118] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.6114048  0.0293368] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.0428608   0.00983195] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.03329025  0.01299043] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.00054756  0.00483533] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00838433 -0.00316034] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 8.48364  -4.378048] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.2034607  0.60598  ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-1.1919266  0.645714 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 69.5348   -42.733673]\n [ 68.61092  -45.98817 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-13.886026   9.647606], 16.908519744873047 meters away.)"}
{"file_name": "images/scenario_1224_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -2.8) m/s. Its current heading (yaw) is -1.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 33 is 17.2 meters away at (-6.4, -15.9). A pedestrian with ID 52 is 17.9 meters away at (-12.3, 13.0). A unknown object with ID 30 is 21.5 meters away at (-13.9, -16.5). A pedestrian with ID 47 is 28.1 meters away at (-5.1, 27.6). A pedestrian with ID 46 is 28.3 meters away at (-1.8, 28.2). A pedestrian with ID 48 is 28.4 meters away at (-2.1, 28.3). A pedestrian with ID 49 is 28.7 meters away at (-2.4, 28.6). A pedestrian with ID 50 is 29.1 meters away at (-2.8, 28.9). A pedestrian with ID 51 is 29.4 meters away at (-3.3, 29.2). A pedestrian with ID 53 is 32.8 meters away at (-27.1, 18.3).", "velocity_description": "The vehicle with ID 33 is traveling at a (x, y) velocity of [-7.754164  3.385357] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [ 1.0298897 -0.5577518] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.5602607  -0.38560477] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.01417736 0.00470257] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.0131487  0.00830837] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.0693287  -0.01068349] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.03657019 0.08459703] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.00696146 -0.02353027] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.1965888  0.6239426] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -6.4086018 -15.943245 ], 17.18305015563965 meters away.)"}
{"file_name": "images/scenario_1224_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -2.0) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 52 is 23.4 meters away at (-16.2, 16.9). A vehicle with ID 33 is 28.6 meters away at (-28.4, -3.8). A pedestrian with ID 47 is 33.8 meters away at (-10.9, 32.0). A vehicle with ID 55 is 35.3 meters away at (31.9, -14.9). A pedestrian with ID 53 is 43.1 meters away at (-35.6, 24.3). A pedestrian with ID 54 is 43.2 meters away at (-36.1, 23.6). A vehicle with ID 58 is 44.3 meters away at (40.7, -17.4). A vehicle with ID 44 is 49.1 meters away at (42.6, -24.5). A vehicle with ID 63 is 52.1 meters away at (48.0, -20.5). A pedestrian with ID 26 is 55.2 meters away at (-47.7, 27.8).", "velocity_description": "The pedestrian with ID 52 is traveling at a (x, y) velocity of [ 0.93567073 -0.5969934 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-7.987944   3.4651496] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.00480569 -0.11668657] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 3.7908206 -2.6611896] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.2294037   0.39404935] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-1.2166848   0.41078326] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 0.9660985  -0.38157278] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.667171 -2.771559] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [ 2.5532153 -0.9502274] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.7494698 -0.9373712] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-16.169428  16.85579 ], 23.357397079467773 meters away.)"}
{"file_name": "images/scenario_1225_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.9) m/s. Its current heading (yaw) is -1.78 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 9.4 meters away at (3.5, 8.7). A vehicle with ID 57 is 10.4 meters away at (8.5, 6.0). A vehicle with ID 58 is 11.2 meters away at (1.2, 11.1). A vehicle with ID 60 is 16.2 meters away at (2.8, 16.0). A vehicle with ID 63 is 24.8 meters away at (-24.7, 2.3). A vehicle with ID 55 is 25.2 meters away at (14.2, -20.8). A vehicle with ID 64 is 25.7 meters away at (-16.1, -20.0). A vehicle with ID 62 is 25.8 meters away at (14.0, 21.7). A vehicle with ID 65 is 26.9 meters away at (-26.0, -6.9). A vehicle with ID 66 is 29.1 meters away at (-12.0, -26.5).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [-0.57069075 -1.4562963 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(174.02862548828125, 102.10425567626953)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [3.548581 8.672893], 9.370779037475586 meters away.)"}
{"file_name": "images/scenario_1225_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -4.5) m/s. Its current heading (yaw) is -1.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 59 is 11.3 meters away at (1.8, 11.2). A vehicle with ID 57 is 15.5 meters away at (8.4, 13.0). A vehicle with ID 58 is 18.2 meters away at (1.1, 18.1). A vehicle with ID 55 is 19.7 meters away at (14.1, -13.9). A vehicle with ID 19 is 20.6 meters away at (5.7, 19.8). A vehicle with ID 64 is 20.9 meters away at (-16.3, -13.0). A vehicle with ID 43 is 21.8 meters away at (19.7, -9.2). A vehicle with ID 66 is 23.0 meters away at (-12.3, -19.5). A vehicle with ID 60 is 23.2 meters away at (2.8, 23.0). A vehicle with ID 65 is 26.1 meters away at (-26.1, 0.2).", "velocity_description": "The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.0644332 -2.6116338] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.74933964 -2.093345  ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-4.582161   1.7463251] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(174.02862548828125, 102.10425567626953)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.8229378 11.169231 ], 11.317014694213867 meters away.)"}
{"file_name": "images/scenario_1225_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -2.6) m/s. Its current heading (yaw) is -0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 43 is 8.7 meters away at (8.7, 0.4). A vehicle with ID 55 is 10.2 meters away at (8.0, -6.3). A vehicle with ID 59 is 15.1 meters away at (-7.3, 13.2). A vehicle with ID 57 is 20.7 meters away at (2.2, 20.5). A vehicle with ID 53 is 21.7 meters away at (19.2, -10.1). A vehicle with ID 66 is 21.8 meters away at (-18.2, -12.0). A vehicle with ID 21 is 21.9 meters away at (21.9, -1.8). A vehicle with ID 70 is 22.4 meters away at (-11.3, -19.3). A vehicle with ID 19 is 22.8 meters away at (-2.5, 22.7). A vehicle with ID 64 is 23.1 meters away at (-22.4, -5.5).", "velocity_description": "The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.3936952  0.5564705] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-2.53955   -3.1588635] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.1044053 -2.7386143] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(174.02862548828125, 102.10425567626953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [8.692232   0.38080025], 8.700570106506348 meters away.)"}
{"file_name": "images/scenario_1225_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -1.8) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 55 is 2.9 meters away at (-1.7, -2.4). A vehicle with ID 43 is 6.4 meters away at (-3.7, 5.2). A vehicle with ID 53 is 11.2 meters away at (9.4, -6.1). A vehicle with ID 21 is 12.2 meters away at (12.0, 2.2). A pedestrian with ID 14 is 14.1 meters away at (9.1, -10.8). A vehicle with ID 52 is 16.6 meters away at (14.6, -7.9). A vehicle with ID 51 is 21.7 meters away at (19.5, -9.6). A vehicle with ID 20 is 22.7 meters away at (22.6, -1.4). A vehicle with ID 19 is 25.6 meters away at (-14.6, 21.1). A vehicle with ID 50 is 27.3 meters away at (24.7, -11.5).", "velocity_description": "The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.2775352   0.48201767] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.0093511  -0.00014156] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.54743975 -1.4533883 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(174.02862548828125, 102.10425567626953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.6535654 -2.39044  ], 2.9066271781921387 meters away.)"}
{"file_name": "images/scenario_1226_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 6.5 meters away at (1.2, 6.3). A vehicle with ID 14 is 18.7 meters away at (-12.9, -13.6). A vehicle with ID 22 is 20.4 meters away at (1.4, -20.4). A vehicle with ID 48 is 29.3 meters away at (11.6, -26.9). A vehicle with ID 32 is 30.2 meters away at (23.8, 18.5). A pedestrian with ID 23 is 30.2 meters away at (-8.3, -29.1). A pedestrian with ID 27 is 30.4 meters away at (-9.5, -28.8). A pedestrian with ID 28 is 30.9 meters away at (-9.1, -29.5). A pedestrian with ID 31 is 31.6 meters away at (-6.6, -30.9). A pedestrian with ID 29 is 32.0 meters away at (-21.3, -23.9).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.2909427  2.387428 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.162339   2.9863732] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-4.7933626  3.7358277] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.01818455 0.01479437] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.02496266 -0.00679995] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.01996089 -0.01279943] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.00830364 -0.00400314] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.03292561 -0.00791688] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.8086686 -11.219893 ]\n [ -9.29397   -10.05573  ]\n [ -8.156832  -11.055056 ]\n [ -6.8285255 -11.700152 ]]", "nav_goal": "(-134.6874542236328, -13.133706092834473)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.2397286 6.339328 ], 6.459412097930908 meters away.)"}
{"file_name": "images/scenario_1226_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 6.5 meters away at (1.2, 6.4). A vehicle with ID 22 is 17.8 meters away at (-8.9, -15.4). A vehicle with ID 48 is 20.3 meters away at (1.7, -20.2). A vehicle with ID 37 is 27.0 meters away at (-19.8, -18.3). A vehicle with ID 14 is 28.4 meters away at (-27.1, -8.4). A pedestrian with ID 23 is 30.2 meters away at (-8.3, -29.0). A vehicle with ID 32 is 30.2 meters away at (23.8, 18.5). A pedestrian with ID 27 is 30.4 meters away at (-9.9, -28.7). A pedestrian with ID 18 is 30.6 meters away at (-8.6, -29.4). A pedestrian with ID 28 is 30.9 meters away at (-9.4, -29.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.2883744  2.1608572] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-5.4734373  3.0148516] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [11.877533  -4.8630385] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-8.297812   2.7756755] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01194953 -0.00952459] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.21481127  0.06772958] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.04420226 0.05733893] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.04694597  0.01771579] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.8086686 -11.219893 ]\n [ -2.036125  -13.9896965]\n [ -9.29397   -10.05573  ]\n [ -8.156832  -11.055056 ]\n [ -6.8285255 -11.700152 ]]", "nav_goal": "(-134.6874542236328, -13.133706092834473)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.243305  6.3623285], 6.482671737670898 meters away.)"}
{"file_name": "images/scenario_1226_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 6.5 meters away at (1.3, 6.3). A vehicle with ID 48 is 17.9 meters away at (-9.5, -15.2). A vehicle with ID 38 is 21.9 meters away at (-3.4, -21.7). A vehicle with ID 22 is 22.7 meters away at (-19.6, -11.4). A vehicle with ID 46 is 27.2 meters away at (9.7, -25.3). A vehicle with ID 32 is 30.2 meters away at (23.8, 18.5). A pedestrian with ID 23 is 30.2 meters away at (-8.4, -29.0). A vehicle with ID 37 is 30.2 meters away at (2.4, -30.1). A pedestrian with ID 18 is 30.3 meters away at (-8.6, -29.1). A pedestrian with ID 27 is 30.4 meters away at (-10.1, -28.7).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-5.16777    1.8951994] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.9625144   0.73289055] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.9512243  2.0835054] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-3.6564639  2.752527 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.03619487  0.0042491 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [10.600164  -7.0592256] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [3.8492733e-05 1.5926555e-02] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00497598  0.00322013] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.8086686 -11.219893 ]\n [ -2.036125  -13.9896965]\n [ -9.29397   -10.05573  ]\n [ -8.156832  -11.055056 ]\n [ -6.8285255 -11.700152 ]]", "nav_goal": "(-134.6874542236328, -13.133706092834473)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.25259   6.3405147], 6.463057041168213 meters away.)"}
{"file_name": "images/scenario_1226_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.30 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 6.5 meters away at (1.2, 6.3). A vehicle with ID 48 is 22.6 meters away at (-19.3, -11.8). A vehicle with ID 46 is 23.2 meters away at (5.8, -22.5). A vehicle with ID 38 is 26.7 meters away at (-12.3, -23.7). A pedestrian with ID 15 is 30.2 meters away at (-10.0, -28.5). A vehicle with ID 32 is 30.2 meters away at (23.8, 18.5). A pedestrian with ID 27 is 30.3 meters away at (-10.0, -28.6). A vehicle with ID 20 is 30.4 meters away at (12.3, -27.8). A pedestrian with ID 18 is 30.4 meters away at (-8.6, -29.1). A pedestrian with ID 28 is 31.0 meters away at (-9.3, -29.5).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-5.1911645  1.7471839] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-0.703261    0.45901132] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.9578824 -3.2510622] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.00025606 0.00101225] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.01609475  0.02464832] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.6712176  1.2263695] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00488319 -0.00122995] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00134076  0.00660906] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -7.8086686 -11.219893 ]\n [ -2.036125  -13.9896965]\n [ -9.29397   -10.05573  ]\n [ -8.156832  -11.055056 ]\n [ -6.8285255 -11.700152 ]\n [ -4.364663  -16.406137 ]]", "nav_goal": "(-134.6874542236328, -13.133706092834473)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [1.247581 6.349812], 6.471210956573486 meters away.)"}
{"file_name": "images/scenario_1227_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -0.5) m/s. Its current heading (yaw) is -0.07 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 8.5 meters away at (-3.6, -7.6). A vehicle with ID 28 is 8.5 meters away at (-0.5, -8.5). A vehicle with ID 29 is 9.0 meters away at (2.0, -8.8). A vehicle with ID 30 is 10.6 meters away at (4.8, -9.4). A unknown object with ID 32 is 10.8 meters away at (7.7, -7.5). A unknown object with ID 34 is 11.2 meters away at (8.3, -7.5). A vehicle with ID 25 is 13.0 meters away at (-8.6, -9.8). A vehicle with ID 26 is 15.8 meters away at (-9.5, -12.6). A unknown object with ID 6 is 20.7 meters away at (6.3, 19.7). A vehicle with ID 31 is 26.7 meters away at (-15.6, -21.7).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.6466227 -7.6360073], 8.462060928344727 meters away.)"}
{"file_name": "images/scenario_1227_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -1.7) m/s. Its current heading (yaw) is -0.21 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 8.5 meters away at (-7.1, -4.7). A vehicle with ID 30 is 12.5 meters away at (-10.6, -6.5). A vehicle with ID 29 is 14.6 meters away at (-13.4, -5.9). A vehicle with ID 39 is 15.9 meters away at (11.1, -11.4). A vehicle with ID 28 is 16.9 meters away at (-16.0, -5.6). A vehicle with ID 40 is 18.3 meters away at (13.9, -12.0). A vehicle with ID 27 is 19.7 meters away at (-19.1, -4.7). A vehicle with ID 42 is 20.7 meters away at (16.3, -12.7). A vehicle with ID 7 is 23.3 meters away at (19.2, -13.2). A vehicle with ID 31 is 36.3 meters away at (-31.1, -18.6).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-7.1213818 -4.722433 ], 8.544907569885254 meters away.)"}
{"file_name": "images/scenario_1227_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -1.3) m/s. Its current heading (yaw) is -0.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 40 is 9.0 meters away at (-1.4, -8.9). A vehicle with ID 39 is 9.3 meters away at (-4.1, -8.3). A vehicle with ID 42 is 9.8 meters away at (1.0, -9.7). A vehicle with ID 7 is 11.0 meters away at (3.9, -10.3). A vehicle with ID 30 is 26.1 meters away at (-25.9, -3.6). A vehicle with ID 29 is 28.9 meters away at (-28.7, -2.9). A vehicle with ID 28 is 31.6 meters away at (-31.5, -2.6). A vehicle with ID 3 is 32.2 meters away at (27.7, -16.5). A vehicle with ID 44 is 33.7 meters away at (11.0, -31.9). A vehicle with ID 27 is 34.4 meters away at (-34.4, -1.7).", "velocity_description": "The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.3843918 -8.910013 ], 9.016921997070312 meters away.)"}
{"file_name": "images/scenario_1227_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -3.8) m/s. Its current heading (yaw) is -0.71 ", "actor_description": " The most relevant actors are: A vehicle with ID 7 is 9.5 meters away at (-7.4, -6.0). A vehicle with ID 42 is 11.6 meters away at (-10.3, -5.4). A vehicle with ID 40 is 13.6 meters away at (-12.8, -4.6). A vehicle with ID 39 is 16.1 meters away at (-15.6, -4.0). A vehicle with ID 3 is 20.3 meters away at (16.3, -12.0). A vehicle with ID 44 is 27.3 meters away at (-0.4, -27.3). A vehicle with ID 5 is 33.9 meters away at (4.6, -33.6). A unknown object with ID 14 is 34.0 meters away at (-33.9, 2.5). A unknown object with ID 8 is 34.5 meters away at (-34.4, 2.7). A vehicle with ID 30 is 37.4 meters away at (-37.4, 0.6).", "velocity_description": "The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-7.412384  -6.0060353], 9.5402250289917 meters away.)"}
{"file_name": "images/scenario_1228_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.8) m/s. Its current heading (yaw) is 1.62 ", "actor_description": " The most relevant actors are: A cyclist with ID 3 is 10.7 meters away at (0.7, -10.7). A pedestrian with ID 20 is 10.9 meters away at (-6.1, 9.0). A unknown object with ID 6 is 13.7 meters away at (6.6, 12.0). A vehicle with ID 22 is 17.4 meters away at (2.9, 17.1). A pedestrian with ID 18 is 20.3 meters away at (-1.4, 20.3). A pedestrian with ID 21 is 40.0 meters away at (-1.0, -39.9). A vehicle with ID 23 is 70.4 meters away at (19.1, -67.7).", "velocity_description": "The cyclist with ID 3 is traveling at a (x, y) velocity of [-0.4395836  5.041695 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.2674035 -1.4761922] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.34618938 -5.5373487 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.13220516 -0.67943865] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.24877426 -0.6461223 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(45.031333923339844, 290.5706481933594)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [  0.6546676 -10.691738 ], 10.711762428283691 meters away.)"}
{"file_name": "images/scenario_1228_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 5.0) m/s. Its current heading (yaw) is 1.52 ", "actor_description": " The most relevant actors are: A vehicle with ID 22 is 4.3 meters away at (2.8, -3.3). A pedestrian with ID 20 is 7.3 meters away at (-6.3, -3.7). A pedestrian with ID 18 is 9.0 meters away at (-1.5, 8.9). A cyclist with ID 3 is 11.2 meters away at (0.3, -11.2). A unknown object with ID 13 is 31.5 meters away at (-0.0, 31.5). A pedestrian with ID 21 is 50.7 meters away at (-0.0, -50.7). A vehicle with ID 23 is 79.7 meters away at (19.2, -77.4).", "velocity_description": "The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.0314264 -5.5034957] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.04231804 -1.4967815 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.01743675 -0.9154603 ] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [-0.15120174  4.3077135 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.36885428 -0.71796626] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(45.031333923339844, 290.5706481933594)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.7914476 -3.2738476], 4.30235481262207 meters away.)"}
{"file_name": "images/scenario_1228_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 6.1) m/s. Its current heading (yaw) is 1.44 ", "actor_description": " The most relevant actors are: A pedestrian with ID 18 is 5.2 meters away at (-2.8, -4.4). A cyclist with ID 3 is 13.7 meters away at (-0.9, -13.7). A pedestrian with ID 20 is 19.8 meters away at (-7.4, -18.3). A vehicle with ID 22 is 27.3 meters away at (1.7, -27.2). A pedestrian with ID 21 is 63.5 meters away at (-0.9, -63.5). A pedestrian with ID 8 is 69.6 meters away at (0.1, 69.6).", "velocity_description": "The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.06925616 -0.89589924] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [0.0860744 4.987261 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.07829992 -1.5319118 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.18898252 -6.8065968 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.2206958 -0.6213921] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.12032874 0.877471  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(45.031333923339844, 290.5706481933594)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-2.815842 -4.38258 ], 5.209219932556152 meters away.)"}
{"file_name": "images/scenario_1228_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 6.5) m/s. Its current heading (yaw) is 1.44 ", "actor_description": " The most relevant actors are: A cyclist with ID 3 is 14.7 meters away at (-2.1, -14.5). A pedestrian with ID 18 is 19.1 meters away at (-5.1, -18.4). A pedestrian with ID 20 is 35.1 meters away at (-9.1, -33.9). A unknown object with ID 14 is 40.6 meters away at (1.3, 40.6). A unknown object with ID 1 is 44.7 meters away at (-1.9, 44.6). A unknown object with ID 2 is 53.3 meters away at (-0.7, 53.3). A vehicle with ID 22 is 54.2 meters away at (0.9, -54.2). A pedestrian with ID 21 is 77.3 meters away at (-2.4, -77.3).", "velocity_description": "The cyclist with ID 3 is traveling at a (x, y) velocity of [0.35511062 6.2917013 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.702771  -0.9509533] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.01939753 -1.4228312 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.74382526 -7.406726  ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.17284806 -0.5358276 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(45.031333923339844, 290.5706481933594)", "instruction": "Continue straight.", "closest": "(The closest actor is a cyclist at [ -2.09143  -14.531008], 14.680745124816895 meters away.)"}
{"file_name": "images/scenario_1229_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 8.4) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 21 is 8.7 meters away at (-7.2, 5.0). A vehicle with ID 24 is 13.4 meters away at (-8.4, 10.5). A unknown object with ID 17 is 15.3 meters away at (5.7, -14.2). A unknown object with ID 20 is 17.6 meters away at (6.2, -16.5). A vehicle with ID 28 is 18.6 meters away at (-9.7, 15.9). A vehicle with ID 23 is 28.9 meters away at (-24.2, -15.8). A vehicle with ID 22 is 31.6 meters away at (-20.8, -23.8). A vehicle with ID 26 is 33.9 meters away at (-29.4, -16.9). A vehicle with ID 25 is 36.3 meters away at (-26.0, -25.2). A vehicle with ID 29 is 40.0 meters away at (-35.4, -18.7).", "velocity_description": "The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-88.1255111694336, 284.87506103515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-7.1562424  4.9764004], 8.716442108154297 meters away.)"}
{"file_name": "images/scenario_1229_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 8.9) m/s. Its current heading (yaw) is 1.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 5.8 meters away at (-5.6, -1.5). A vehicle with ID 24 is 8.1 meters away at (-4.3, -6.8). A vehicle with ID 21 is 12.8 meters away at (-3.0, -12.4). A vehicle with ID 8 is 38.5 meters away at (-8.3, 37.6). A vehicle with ID 23 is 38.9 meters away at (-20.1, -33.3). A vehicle with ID 26 is 42.7 meters away at (-25.2, -34.5). A vehicle with ID 22 is 44.5 meters away at (-16.7, -41.3). A vehicle with ID 29 is 47.9 meters away at (-31.3, -36.2). A vehicle with ID 25 is 48.0 meters away at (-21.8, -42.8). A vehicle with ID 31 is 53.9 meters away at (-38.2, -38.0).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-88.1255111694336, 284.87506103515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-5.5698004 -1.47719  ], 5.762357711791992 meters away.)"}
{"file_name": "images/scenario_1229_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 8.0) m/s. Its current heading (yaw) is 1.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 28 is 18.2 meters away at (-0.4, -18.2). A vehicle with ID 8 is 20.9 meters away at (-3.1, 20.6). A vehicle with ID 24 is 23.7 meters away at (0.9, -23.7). A vehicle with ID 21 is 29.4 meters away at (2.2, -29.3). A vehicle with ID 10 is 39.0 meters away at (-7.2, 38.3). A vehicle with ID 6 is 44.7 meters away at (-8.7, 43.9). A vehicle with ID 4 is 50.6 meters away at (-10.0, 49.6). A vehicle with ID 23 is 52.3 meters away at (-14.8, -50.2). A pedestrian with ID 9 is 53.8 meters away at (24.6, -47.8). A vehicle with ID 26 is 55.1 meters away at (-19.9, -51.4).", "velocity_description": "The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.01279741 -0.01217003] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-88.1255111694336, 284.87506103515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ -0.40251923 -18.156765  ], 18.161226272583008 meters away.)"}
{"file_name": "images/scenario_1229_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 8.2) m/s. Its current heading (yaw) is 1.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 8 is 5.0 meters away at (2.0, 4.6). A unknown object with ID 15 is 16.0 meters away at (-0.5, -16.0). A vehicle with ID 10 is 22.3 meters away at (-2.1, 22.2). A vehicle with ID 6 is 28.0 meters away at (-3.5, 27.8). A vehicle with ID 4 is 33.9 meters away at (-4.8, 33.5). A vehicle with ID 28 is 34.6 meters away at (4.8, -34.3). A vehicle with ID 24 is 40.3 meters away at (6.1, -39.8). A vehicle with ID 21 is 46.0 meters away at (7.4, -45.4). A unknown object with ID 16 is 49.2 meters away at (6.6, -48.8). A vehicle with ID 1 is 66.6 meters away at (-18.4, 64.0).", "velocity_description": "The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-88.1255111694336, 284.87506103515625)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.9843483 4.560623 ], 4.973622798919678 meters away.)"}
{"file_name": "images/scenario_1230_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -5.3) m/s. Its current heading (yaw) is -1.18 ", "actor_description": " The most relevant actors are: A unknown object with ID 5 is 24.6 meters away at (12.9, -21.0). A vehicle with ID 13 is 33.1 meters away at (-1.1, -33.0). A unknown object with ID 4 is 34.4 meters away at (-20.8, 27.4). A unknown object with ID 14 is 35.6 meters away at (29.2, -20.3). A vehicle with ID 12 is 43.7 meters away at (-32.1, 29.7).", "velocity_description": "The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.351031 -43.227684]\n [ 14.764369 -39.88882 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 12.89064  -20.994976], 24.636510848999023 meters away.)"}
{"file_name": "images/scenario_1230_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -2.9) m/s. Its current heading (yaw) is -1.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 25.2 meters away at (-4.7, -24.7). A vehicle with ID 11 is 73.3 meters away at (38.0, -62.7).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-5.6039424  6.498562 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.351031 -43.227684]\n [ 14.764369 -39.88882 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -4.7367563 -24.729134 ], 25.178699493408203 meters away.)"}
{"file_name": "images/scenario_1230_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.3) m/s. Its current heading (yaw) is -1.18 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 21.4 meters away at (-6.7, -20.3). A vehicle with ID 11 is 52.8 meters away at (24.9, -46.6).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-5.5455046  5.0828047] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.351031 -43.227684]\n [ 14.764369 -39.88882 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -6.6844454 -20.318336 ], 21.389636993408203 meters away.)"}
{"file_name": "images/scenario_1230_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.15 ", "actor_description": " The most relevant actors are: A vehicle with ID 13 is 20.8 meters away at (-7.0, -19.6). A vehicle with ID 11 is 40.0 meters away at (13.1, -37.8).", "velocity_description": "The vehicle with ID 13 is traveling at a (x, y) velocity of [0.29339504 0.18039538] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-5.7154613  2.7737424] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 15.351031 -43.227684]\n [ 14.764369 -39.88882 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -6.9546185 -19.581299 ], 20.779653549194336 meters away.)"}
{"file_name": "images/scenario_1231_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -0.3) m/s. Its current heading (yaw) is -0.03 ", "actor_description": " The most relevant actors are: A vehicle with ID 46 is 9.9 meters away at (-0.5, -9.8). A vehicle with ID 56 is 10.4 meters away at (-3.5, 9.8). A vehicle with ID 48 is 10.9 meters away at (5.2, -9.6). A vehicle with ID 55 is 11.3 meters away at (-6.2, 9.5). A vehicle with ID 44 is 11.4 meters away at (-5.8, -9.8). A vehicle with ID 54 is 13.0 meters away at (-8.5, -9.8). A vehicle with ID 53 is 15.1 meters away at (-11.4, -9.9). A vehicle with ID 49 is 15.3 meters away at (11.0, -10.6). A vehicle with ID 52 is 15.5 meters away at (-11.7, 10.1). A vehicle with ID 51 is 22.3 meters away at (-19.6, 10.5).", "velocity_description": "The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-123.55904388427734, -83.44699096679688)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-0.4931488 -9.847231 ], 9.85957145690918 meters away.)"}
{"file_name": "images/scenario_1231_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -2.6) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 9.6 meters away at (-5.0, -8.2). A vehicle with ID 48 is 13.1 meters away at (-10.9, -7.3). A vehicle with ID 50 is 18.0 meters away at (7.6, -16.3). A vehicle with ID 46 is 18.3 meters away at (-16.7, -7.6). A vehicle with ID 56 is 23.2 meters away at (-19.8, 12.1). A vehicle with ID 44 is 23.3 meters away at (-22.1, -7.5). A vehicle with ID 23 is 25.3 meters away at (18.4, -17.3). A vehicle with ID 55 is 25.4 meters away at (-22.5, 11.8). A vehicle with ID 54 is 25.9 meters away at (-24.8, -7.6). A vehicle with ID 71 is 27.5 meters away at (-16.9, -21.7).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 2.3415482 -4.649112 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-123.55904388427734, -83.44699096679688)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.0209618 -8.2242565], 9.63578987121582 meters away.)"}
{"file_name": "images/scenario_1231_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -5.5) m/s. Its current heading (yaw) is -0.79 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 10.2 meters away at (-5.1, -8.8). A vehicle with ID 49 is 17.7 meters away at (-17.7, -0.7). A unknown object with ID 73 is 19.9 meters away at (19.1, -5.4). A vehicle with ID 23 is 21.4 meters away at (8.8, -19.5). A vehicle with ID 48 is 23.7 meters away at (-23.7, 0.3). A vehicle with ID 16 is 29.3 meters away at (-11.3, -27.1). A vehicle with ID 46 is 29.4 meters away at (-29.4, 0.1). A vehicle with ID 47 is 29.7 meters away at (2.6, -29.6). A vehicle with ID 14 is 31.8 meters away at (-11.3, -29.8). A vehicle with ID 71 is 32.8 meters away at (-29.5, -14.3).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.8978727 -5.025224 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-123.55904388427734, -83.44699096679688)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-5.1059914 -8.787159 ], 10.162938117980957 meters away.)"}
{"file_name": "images/scenario_1231_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -6.6) m/s. Its current heading (yaw) is -1.27 ", "actor_description": " The most relevant actors are: A vehicle with ID 50 is 12.8 meters away at (-12.4, 3.3). A unknown object with ID 73 is 13.6 meters away at (11.8, 6.7). A vehicle with ID 23 is 17.9 meters away at (2.7, -17.7). A vehicle with ID 47 is 18.1 meters away at (-4.7, -17.5). A vehicle with ID 11 is 20.6 meters away at (-4.5, -20.1). A vehicle with ID 45 is 23.4 meters away at (-5.1, -22.8). A vehicle with ID 16 is 23.8 meters away at (-18.6, -14.9). A vehicle with ID 14 is 25.6 meters away at (-18.7, -17.6). A vehicle with ID 7 is 26.1 meters away at (-5.1, -25.6). A vehicle with ID 13 is 27.4 meters away at (-18.6, -20.1).", "velocity_description": "The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.34284323 -5.5013204 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-123.55904388427734, -83.44699096679688)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.411953    3.2823048], 12.838618278503418 meters away.)"}
{"file_name": "images/scenario_1232_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -0.2) m/s. Its current heading (yaw) is -0.10 ", "actor_description": " The most relevant actors are: A unknown object with ID 43 is 2.3 meters away at (1.0, 2.1). A unknown object with ID 53 is 10.6 meters away at (3.0, -10.2). A unknown object with ID 52 is 11.0 meters away at (3.9, -10.3). A unknown object with ID 48 is 11.2 meters away at (6.7, -8.9). A unknown object with ID 51 is 11.2 meters away at (4.4, -10.4). A unknown object with ID 50 is 11.4 meters away at (4.7, -10.4). A unknown object with ID 49 is 11.6 meters away at (5.2, -10.4). A unknown object with ID 47 is 13.3 meters away at (11.2, -7.0). A vehicle with ID 57 is 13.3 meters away at (3.0, -13.0). A unknown object with ID 58 is 14.5 meters away at (1.1, -14.5).", "velocity_description": "The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(69.7212142944336, -247.74801635742188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [1.0430789 2.0617626], 2.3106014728546143 meters away.)"}
{"file_name": "images/scenario_1232_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -0.2) m/s. Its current heading (yaw) is -0.07 ", "actor_description": " The most relevant actors are: A unknown object with ID 48 is 8.6 meters away at (1.5, -8.4). A unknown object with ID 47 is 8.9 meters away at (6.0, -6.6). A unknown object with ID 49 is 9.9 meters away at (0.0, -9.9). A unknown object with ID 51 is 10.0 meters away at (-0.9, -9.9). A unknown object with ID 50 is 10.0 meters away at (-0.5, -10.0). A unknown object with ID 52 is 10.0 meters away at (-1.3, -10.0). A unknown object with ID 53 is 10.1 meters away at (-2.3, -9.8). A pedestrian with ID 61 is 13.4 meters away at (2.4, -13.2). A pedestrian with ID 60 is 13.5 meters away at (1.5, -13.5). A unknown object with ID 58 is 14.7 meters away at (-4.1, -14.1).", "velocity_description": "The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.01054118 -0.06357513] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.11633165 -0.05226775] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(69.7212142944336, -247.74801635742188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 1.5461092 -8.448923 ], 8.58922290802002 meters away.)"}
{"file_name": "images/scenario_1232_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -0.2) m/s. Its current heading (yaw) is -0.08 ", "actor_description": " The most relevant actors are: A unknown object with ID 47 is 6.4 meters away at (0.8, -6.3). A unknown object with ID 1 is 6.8 meters away at (1.9, -6.5). A unknown object with ID 48 is 8.9 meters away at (-3.6, -8.2). A unknown object with ID 49 is 10.9 meters away at (-5.1, -9.7). A unknown object with ID 50 is 11.1 meters away at (-5.5, -9.7). A unknown object with ID 51 is 11.2 meters away at (-6.0, -9.4). A unknown object with ID 52 is 11.6 meters away at (-6.4, -9.7). A vehicle with ID 34 is 14.6 meters away at (-7.8, -12.3). A unknown object with ID 58 is 16.6 meters away at (-9.3, -13.8). A unknown object with ID 59 is 18.9 meters away at (-10.2, -15.9).", "velocity_description": "The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(69.7212142944336, -247.74801635742188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [ 0.83435917 -6.3234386 ], 6.378246784210205 meters away.)"}
{"file_name": "images/scenario_1232_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.1) m/s. Its current heading (yaw) is -0.09 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 6.4 meters away at (-1.0, -6.4). A unknown object with ID 47 is 6.5 meters away at (-2.0, -6.1). A unknown object with ID 48 is 10.3 meters away at (-6.4, -8.0). A unknown object with ID 49 is 12.4 meters away at (-8.0, -9.5). A unknown object with ID 50 is 12.8 meters away at (-8.5, -9.5). A unknown object with ID 51 is 12.8 meters away at (-8.7, -9.5). A unknown object with ID 52 is 13.3 meters away at (-9.3, -9.5). A unknown object with ID 58 is 18.3 meters away at (-12.1, -13.6). A unknown object with ID 59 is 20.4 meters away at (-13.0, -15.7). A vehicle with ID 62 is 32.6 meters away at (26.5, 19.0).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-3.829984 -8.72345 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(69.7212142944336, -247.74801635742188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-0.95331097 -6.360323  ], 6.431369304656982 meters away.)"}
{"file_name": "images/scenario_1233_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 0.5) m/s. Its current heading (yaw) is 2.75 ", "actor_description": " The most relevant actors are: A unknown object with ID 50 is 9.7 meters away at (9.6, 1.3). A vehicle with ID 51 is 10.8 meters away at (6.3, -8.7). A pedestrian with ID 53 is 14.5 meters away at (14.3, 2.2). A vehicle with ID 58 is 17.6 meters away at (-17.6, 1.2). A vehicle with ID 49 is 23.3 meters away at (-11.7, 20.2). A vehicle with ID 65 is 24.2 meters away at (-21.5, -11.2). A vehicle with ID 59 is 27.5 meters away at (-25.3, 10.9). A vehicle with ID 73 is 27.6 meters away at (-22.8, -15.7). A vehicle with ID 6 is 30.0 meters away at (0.9, 30.0). A vehicle with ID 54 is 30.2 meters away at (-28.8, 9.0).", "velocity_description": "The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.03588871 -0.00339338] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.4542003 -1.3207945] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-8.837945   2.7649503] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.11688232421875, 161.5503692626953)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [9.597039  1.3202376], 9.687424659729004 meters away.)"}
{"file_name": "images/scenario_1233_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 1.2) m/s. Its current heading (yaw) is 2.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 58 is 4.6 meters away at (-2.9, -3.6). A cyclist with ID 39 is 11.5 meters away at (-6.3, -9.5). A unknown object with ID 50 is 13.7 meters away at (13.7, -0.2). A vehicle with ID 51 is 14.6 meters away at (10.5, -10.2). A vehicle with ID 30 is 16.1 meters away at (-3.1, -15.8). A pedestrian with ID 53 is 18.5 meters away at (18.5, 0.7). A vehicle with ID 49 is 20.1 meters away at (-7.7, 18.6). A vehicle with ID 65 is 21.6 meters away at (-17.4, -12.8). A vehicle with ID 59 is 23.2 meters away at (-21.3, 9.3). A vehicle with ID 73 is 25.5 meters away at (-18.7, -17.3).", "velocity_description": "The vehicle with ID 58 is traveling at a (x, y) velocity of [ 6.428271  -1.8697565] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [ 4.4789786 -1.6492732] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.00164331  0.0232103 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.11688232421875, 161.5503692626953)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-2.8752718 -3.5519426], 4.569845199584961 meters away.)"}
{"file_name": "images/scenario_1233_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 3.6) m/s. Its current heading (yaw) is 1.82 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 14.8 meters away at (-3.9, 14.3). A vehicle with ID 59 is 18.0 meters away at (-17.4, 4.9). A unknown object with ID 50 is 18.2 meters away at (17.7, -4.1). A vehicle with ID 58 is 19.2 meters away at (15.1, -11.8). A vehicle with ID 75 is 20.1 meters away at (-20.0, -1.1). A vehicle with ID 30 is 20.1 meters away at (1.1, -20.1). A vehicle with ID 51 is 20.4 meters away at (14.5, -14.4). A vehicle with ID 65 is 21.7 meters away at (-13.2, -17.2). A pedestrian with ID 53 is 22.7 meters away at (22.4, -3.2). A vehicle with ID 63 is 23.9 meters away at (-23.0, 6.6).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 7.0330524 -2.2565417] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 2.169805   -0.57011414] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.03133572 -0.00216843] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-157.11688232421875, 161.5503692626953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.8502216 14.265137 ], 14.775599479675293 meters away.)"}
{"file_name": "images/scenario_1233_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 5.4) m/s. Its current heading (yaw) is 1.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 49 is 7.1 meters away at (-4.6, 5.4). A unknown object with ID 43 is 15.3 meters away at (-2.4, 15.1). A vehicle with ID 6 is 17.1 meters away at (7.9, 15.2). A unknown object with ID 45 is 17.6 meters away at (-2.4, 17.4). A vehicle with ID 59 is 18.6 meters away at (-18.2, -3.7). A vehicle with ID 48 is 19.3 meters away at (-0.0, 19.3). A vehicle with ID 75 is 21.3 meters away at (-18.6, -10.5). A vehicle with ID 63 is 23.9 meters away at (-23.9, -1.9). A vehicle with ID 5 is 24.7 meters away at (1.8, 24.6). A vehicle with ID 51 is 27.0 meters away at (13.4, -23.5).", "velocity_description": "The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 1.308719  -0.4114089] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[21.942276 94.20104 ]\n [18.983236 96.3555  ]\n [17.598717 96.59971 ]]", "nav_goal": "(-157.11688232421875, 161.5503692626953)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-4.579768   5.4239216], 7.098816871643066 meters away.)"}
{"file_name": "images/scenario_1234_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.4) m/s. Its current heading (yaw) is -0.35 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 5.9 meters away at (2.2, 5.5). A vehicle with ID 54 is 7.9 meters away at (-2.9, 7.3). A vehicle with ID 58 is 14.0 meters away at (-14.0, 1.5). A vehicle with ID 55 is 14.5 meters away at (-0.1, -14.5). A vehicle with ID 61 is 18.8 meters away at (-14.8, 11.6). A vehicle with ID 59 is 19.3 meters away at (-3.2, -19.1). A vehicle with ID 56 is 19.3 meters away at (-19.0, 3.4). A vehicle with ID 63 is 21.5 meters away at (19.5, -9.0). A vehicle with ID 60 is 21.6 meters away at (4.3, -21.2). A vehicle with ID 25 is 22.1 meters away at (16.6, 14.6).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [3.6196375 1.1479797] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.864501953125, -73.62667846679688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [2.194776  5.4738483], 5.897462368011475 meters away.)"}
{"file_name": "images/scenario_1234_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 5.9 meters away at (1.5, 5.7). A vehicle with ID 54 is 8.4 meters away at (-3.7, 7.6). A vehicle with ID 55 is 14.2 meters away at (-0.9, -14.2). A vehicle with ID 58 is 14.8 meters away at (-14.7, 1.8). A vehicle with ID 59 is 19.2 meters away at (-3.9, -18.8). A vehicle with ID 61 is 19.5 meters away at (-15.5, 11.8). A vehicle with ID 56 is 20.1 meters away at (-19.8, 3.7). A vehicle with ID 60 is 21.3 meters away at (3.5, -21.0). A vehicle with ID 25 is 21.7 meters away at (15.9, 14.8). A vehicle with ID 68 is 24.4 meters away at (-20.6, 13.1).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.864501953125, -73.62667846679688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [1.4955349 5.7318354], 5.9237284660339355 meters away.)"}
{"file_name": "images/scenario_1234_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.3) m/s. Its current heading (yaw) is -0.31 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 6.0 meters away at (0.8, 6.0). A vehicle with ID 54 is 8.9 meters away at (-4.3, 7.8). A vehicle with ID 55 is 14.0 meters away at (-1.5, -14.0). A pedestrian with ID 30 is 14.3 meters away at (-4.7, 13.6). A vehicle with ID 58 is 15.5 meters away at (-15.3, 2.0). A vehicle with ID 59 is 19.3 meters away at (-4.5, -18.8). A vehicle with ID 61 is 20.1 meters away at (-16.1, 12.0). A vehicle with ID 56 is 20.7 meters away at (-20.3, 3.9). A vehicle with ID 60 is 21.0 meters away at (2.9, -20.8). A vehicle with ID 25 is 21.4 meters away at (15.2, 15.1).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.06529053  0.0179032 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.864501953125, -73.62667846679688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [0.83123064 5.9661303 ], 6.023757457733154 meters away.)"}
{"file_name": "images/scenario_1234_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -1.3) m/s. Its current heading (yaw) is -0.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 52 is 8.5 meters away at (-3.9, 7.6). A vehicle with ID 54 is 13.1 meters away at (-9.1, 9.5). A vehicle with ID 55 is 13.8 meters away at (-6.2, -12.4). A vehicle with ID 60 is 19.2 meters away at (-1.8, -19.1). A vehicle with ID 25 is 19.8 meters away at (10.5, 16.8). A vehicle with ID 57 is 19.9 meters away at (19.7, -3.1). A vehicle with ID 58 is 20.5 meters away at (-20.1, 3.7). A vehicle with ID 64 is 22.9 meters away at (14.1, -18.0). A vehicle with ID 61 is 25.0 meters away at (-20.9, 13.7). A vehicle with ID 48 is 25.4 meters away at (23.0, -10.8).", "velocity_description": "The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-2.0825727   0.69831777] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(247.864501953125, -73.62667846679688)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-3.8768873  7.593212 ], 8.525674819946289 meters away.)"}
{"file_name": "images/scenario_1235_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -3.0) m/s. Its current heading (yaw) is -1.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 15.3 meters away at (-3.4, 14.9). A vehicle with ID 13 is 24.7 meters away at (-2.6, 24.6). A vehicle with ID 14 is 30.5 meters away at (-4.7, 30.1). A vehicle with ID 15 is 37.2 meters away at (-3.5, 37.1). A vehicle with ID 8 is 38.6 meters away at (-4.4, 38.4). A vehicle with ID 16 is 69.2 meters away at (1.8, -69.2).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-3.365869 14.921934], 15.296835899353027 meters away.)"}
{"file_name": "images/scenario_1235_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -2.3) m/s. Its current heading (yaw) is -2.21 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 20.6 meters away at (-1.3, 20.6). A vehicle with ID 13 is 30.3 meters away at (-0.5, 30.3). A vehicle with ID 14 is 35.9 meters away at (-2.6, 35.8). A vehicle with ID 15 is 42.8 meters away at (-1.4, 42.8). A vehicle with ID 16 is 63.5 meters away at (4.2, -63.4).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-1.2685602 20.60854  ], 20.647546768188477 meters away.)"}
{"file_name": "images/scenario_1235_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -1.2) m/s. Its current heading (yaw) is -2.80 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 25.2 meters away at (4.5, 24.8). A vehicle with ID 13 is 34.9 meters away at (5.2, 34.5). A vehicle with ID 14 is 40.1 meters away at (3.3, 40.0). A vehicle with ID 15 is 46.9 meters away at (4.1, 46.7). A vehicle with ID 16 is 60.1 meters away at (9.6, -59.3).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 4.497296 24.76146 ], 25.166555404663086 meters away.)"}
{"file_name": "images/scenario_1235_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -1.0) m/s. Its current heading (yaw) is -2.95 ", "actor_description": " The most relevant actors are: A vehicle with ID 12 is 29.8 meters away at (13.0, 26.8). A vehicle with ID 13 is 39.0 meters away at (13.8, 36.5). A vehicle with ID 14 is 43.7 meters away at (11.8, 42.1). A vehicle with ID 15 is 50.4 meters away at (12.6, 48.8). A pedestrian with ID 3 is 70.3 meters away at (-70.3, 1.2). A pedestrian with ID 4 is 71.2 meters away at (-71.2, 0.7).", "velocity_description": "The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.19728646 -0.14031884] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.11320824 -0.30821982] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [12.965018 26.7916  ], 29.763761520385742 meters away.)"}
{"file_name": "images/scenario_1236_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -2.3) m/s. Its current heading (yaw) is -0.92 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 7.7 meters away at (-7.3, -2.5). A vehicle with ID 31 is 12.6 meters away at (-9.3, -8.5). A pedestrian with ID 26 is 13.1 meters away at (-7.9, 10.4). A pedestrian with ID 34 is 13.8 meters away at (-9.9, 9.5). A pedestrian with ID 35 is 14.1 meters away at (-10.4, 9.5). A pedestrian with ID 41 is 21.4 meters away at (-21.2, -2.8). A unknown object with ID 36 is 26.6 meters away at (-24.2, 10.9). A unknown object with ID 4 is 29.4 meters away at (18.9, -22.5). A unknown object with ID 38 is 29.8 meters away at (17.3, -24.3). A unknown object with ID 11 is 30.3 meters away at (19.5, -23.2).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.04581345 -0.01339375] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.01608629 -0.00158762] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.0268837  -0.00625101] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.1578621   0.57662594] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-7.326783  -2.4807968], 7.735380172729492 meters away.)"}
{"file_name": "images/scenario_1236_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -2.6) m/s. Its current heading (yaw) is -1.34 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 10.4 meters away at (-10.0, 2.8). A vehicle with ID 31 is 12.3 meters away at (-11.9, -3.2). A pedestrian with ID 34 is 19.4 meters away at (-12.5, 14.9). A pedestrian with ID 35 is 19.8 meters away at (-13.1, 14.8). A unknown object with ID 4 is 23.7 meters away at (16.2, -17.3). A unknown object with ID 38 is 24.0 meters away at (14.6, -19.1). A unknown object with ID 40 is 25.2 meters away at (15.8, -19.6). A pedestrian with ID 41 is 26.8 meters away at (-26.6, 3.7). A vehicle with ID 24 is 31.7 meters away at (-20.7, -24.1). A pedestrian with ID 43 is 35.6 meters away at (-35.1, 6.0).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.00680504 -0.00900386] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00100287 -0.00307622] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.3396273   0.46269792] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-12.360061    4.9364395] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.00272409 -0.06822707] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 76.693436 -60.089447]\n [ 74.78518  -63.286503]\n [ 77.61731  -56.83495 ]\n [ 76.57879  -60.320957]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-10.015576    2.8087878], 10.401973724365234 meters away.)"}
{"file_name": "images/scenario_1236_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -1.1) m/s. Its current heading (yaw) is -1.65 ", "actor_description": " The most relevant actors are: A vehicle with ID 31 is 12.3 meters away at (-12.3, 0.8). A vehicle with ID 2 is 12.4 meters away at (-10.4, 6.7). A unknown object with ID 4 is 20.6 meters away at (15.8, -13.2). A unknown object with ID 38 is 20.7 meters away at (14.1, -15.1). A unknown object with ID 40 is 22.0 meters away at (15.4, -15.7). A pedestrian with ID 34 is 22.7 meters away at (-12.7, 18.9). A pedestrian with ID 35 is 23.1 meters away at (-13.4, 18.8). A pedestrian with ID 41 is 30.8 meters away at (-29.5, 8.7). A pedestrian with ID 19 is 35.1 meters away at (-33.1, 11.7). A pedestrian with ID 43 is 36.9 meters away at (-35.5, 10.0).", "velocity_description": "The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.06978475 -0.03737964] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.04562614 -0.05392537] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.2538898   0.47811526] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.0180622   0.00092919] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 76.693436 -60.089447]\n [ 77.61731  -56.83495 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-12.2989645    0.77662945], 12.323460578918457 meters away.)"}
{"file_name": "images/scenario_1236_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.72 ", "actor_description": " The most relevant actors are: A vehicle with ID 2 is 12.3 meters away at (-9.9, 7.4). A vehicle with ID 31 is 12.4 meters away at (-12.3, 1.7). A unknown object with ID 38 is 20.2 meters away at (14.1, -14.4). A unknown object with ID 4 is 20.2 meters away at (15.8, -12.6). A unknown object with ID 40 is 21.4 meters away at (15.4, -14.9). A pedestrian with ID 34 is 23.3 meters away at (-12.5, 19.7). A pedestrian with ID 35 is 23.8 meters away at (-13.3, 19.7). A pedestrian with ID 41 is 33.5 meters away at (-31.8, 10.5). A pedestrian with ID 19 is 35.4 meters away at (-33.1, 12.7). A pedestrian with ID 43 is 37.1 meters away at (-35.5, 10.8).", "velocity_description": "The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.02721776 -0.01373212] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.01297649  0.00572279] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.0893195   0.67182446] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00059454  0.01433315] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.03881476 -0.00779295] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 76.693436 -60.089447]\n [ 77.61731  -56.83495 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.891281   7.3706613], 12.335480690002441 meters away.)"}
{"file_name": "images/scenario_1237_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -1.9) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 67 is 6.4 meters away at (-6.4, -1.0). A vehicle with ID 71 is 6.5 meters away at (4.7, -4.5). A vehicle with ID 68 is 9.6 meters away at (-7.5, 6.1). A vehicle with ID 75 is 12.2 meters away at (10.2, -6.7). A unknown object with ID 62 is 12.9 meters away at (12.5, 3.1). A pedestrian with ID 55 is 15.3 meters away at (13.3, -7.6). A vehicle with ID 80 is 17.5 meters away at (15.4, -8.4). A vehicle with ID 81 is 19.0 meters away at (19.0, -0.6). A vehicle with ID 20 is 22.5 meters away at (-22.5, -0.0). A vehicle with ID 86 is 23.1 meters away at (20.6, -10.3).", "velocity_description": "The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-2.6221254  0.9953523] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.01845894 0.00301007] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [2.071366  1.9182615] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.49102020263672, 89.39818572998047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.364212  -1.0218582], 6.44572639465332 meters away.)"}
{"file_name": "images/scenario_1237_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.1) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 75 is 3.1 meters away at (-1.5, -2.8). A pedestrian with ID 55 is 4.1 meters away at (1.6, -3.8). A vehicle with ID 80 is 5.8 meters away at (3.7, -4.5). A vehicle with ID 71 is 6.8 meters away at (-6.8, -0.6). A vehicle with ID 81 is 8.0 meters away at (7.2, 3.4). A vehicle with ID 86 is 11.0 meters away at (8.9, -6.4). A vehicle with ID 90 is 15.9 meters away at (13.7, -8.0). A vehicle with ID 67 is 18.3 meters away at (-18.1, 2.9). A vehicle with ID 94 is 21.3 meters away at (18.9, -9.7). A vehicle with ID 68 is 28.4 meters away at (-25.6, 12.2).", "velocity_description": "The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.04256966  0.05059   ] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-4.4894238  1.5216081] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.49102020263672, 89.39818572998047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-1.4744701 -2.7815905], 3.1482229232788086 meters away.)"}
{"file_name": "images/scenario_1237_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -2.0) m/s. Its current heading (yaw) is -0.33 ", "actor_description": " The most relevant actors are: A vehicle with ID 90 is 3.8 meters away at (1.1, -3.7). A vehicle with ID 86 is 4.2 meters away at (-3.6, -2.1). A vehicle with ID 94 is 8.2 meters away at (6.3, -5.3). A vehicle with ID 80 is 8.8 meters away at (-8.8, -0.2). A vehicle with ID 81 is 9.3 meters away at (-5.3, 7.7). A pedestrian with ID 55 is 11.0 meters away at (-11.0, 0.7). A vehicle with ID 75 is 14.3 meters away at (-14.2, 1.6). A unknown object with ID 51 is 16.4 meters away at (-11.9, 11.3). A vehicle with ID 63 is 18.8 meters away at (6.3, 17.7). A vehicle with ID 71 is 19.9 meters away at (-19.6, 3.8).", "velocity_description": "The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.03961534 0.01777921] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.49102020263672, 89.39818572998047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.068573  -3.6758394], 3.828007698059082 meters away.)"}
{"file_name": "images/scenario_1237_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.1) m/s. Its current heading (yaw) is -0.32 ", "actor_description": " The most relevant actors are: A vehicle with ID 94 is 6.2 meters away at (-6.1, -1.0). A vehicle with ID 65 is 8.4 meters away at (7.6, 3.4). A vehicle with ID 39 is 8.8 meters away at (6.9, -5.5). A vehicle with ID 90 is 11.5 meters away at (-11.5, 0.7). A vehicle with ID 66 is 15.5 meters away at (15.5, 1.0). A vehicle with ID 86 is 16.4 meters away at (-16.3, 2.3). A vehicle with ID 81 is 21.6 meters away at (-17.9, 12.1). A vehicle with ID 80 is 21.9 meters away at (-21.4, 4.2). A unknown object with ID 47 is 21.9 meters away at (15.1, -15.8). A unknown object with ID 24 is 21.9 meters away at (15.8, -15.2).", "velocity_description": "The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(68.49102020263672, 89.39818572998047)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-6.144253 -1.032299], 6.230367660522461 meters away.)"}
{"file_name": "images/scenario_1238_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -5.1) m/s. Its current heading (yaw) is -2.20 ", "actor_description": " The most relevant actors are: A vehicle with ID 73 is 3.9 meters away at (2.7, -2.8). A vehicle with ID 69 is 5.1 meters away at (-0.7, 5.1). A pedestrian with ID 68 is 8.1 meters away at (8.1, -0.5). A vehicle with ID 66 is 10.1 meters away at (2.4, 9.9). A vehicle with ID 53 is 11.6 meters away at (10.5, -4.9). A vehicle with ID 72 is 11.6 meters away at (9.3, -7.0). A vehicle with ID 39 is 12.9 meters away at (8.5, -9.7). A vehicle with ID 31 is 13.4 meters away at (6.9, -11.5). A vehicle with ID 67 is 15.4 meters away at (4.9, 14.6). A vehicle with ID 76 is 15.5 meters away at (-5.0, -14.7).", "velocity_description": "The vehicle with ID 73 is traveling at a (x, y) velocity of [3.545049  5.4555616] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.6980816 -1.1721461] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [4.3816814 5.909743 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-158.77696228027344, -250.68972778320312)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 2.722753  -2.8380985], 3.9329617023468018 meters away.)"}
{"file_name": "images/scenario_1238_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -5.7) m/s. Its current heading (yaw) is -2.19 ", "actor_description": " The most relevant actors are: A unknown object with ID 29 is 11.2 meters away at (-7.9, 8.0). A unknown object with ID 34 is 11.6 meters away at (-7.3, 9.0). A vehicle with ID 40 is 12.7 meters away at (11.4, -5.6). A vehicle with ID 76 is 13.4 meters away at (10.8, 7.9). A vehicle with ID 59 is 16.0 meters away at (-15.2, 5.0). A pedestrian with ID 68 is 16.6 meters away at (14.6, 7.9). A vehicle with ID 13 is 16.6 meters away at (9.7, 13.5). A vehicle with ID 69 is 17.3 meters away at (7.1, 15.8). A unknown object with ID 37 is 17.5 meters away at (-15.8, 7.5). A vehicle with ID 72 is 17.5 meters away at (17.1, 3.8).", "velocity_description": "The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [3.6940153 5.919817 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.68453175 -1.0944502 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.9495108 -5.7955775] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-158.77696228027344, -250.68972778320312)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-7.9189005  7.9775896], 11.240592956542969 meters away.)"}
{"file_name": "images/scenario_1238_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -6.2) m/s. Its current heading (yaw) is -2.13 ", "actor_description": " The most relevant actors are: A vehicle with ID 51 is 5.0 meters away at (1.7, -4.7). A vehicle with ID 79 is 8.9 meters away at (2.3, -8.6). A pedestrian with ID 83 is 13.5 meters away at (2.8, -13.2). A unknown object with ID 32 is 13.8 meters away at (-10.4, 9.0). A vehicle with ID 81 is 14.3 meters away at (-1.3, -14.2). A unknown object with ID 82 is 14.6 meters away at (-12.9, -6.8). A unknown object with ID 42 is 14.7 meters away at (-11.2, 9.5). A vehicle with ID 13 is 17.5 meters away at (10.2, 14.2). A vehicle with ID 59 is 18.1 meters away at (-7.2, 16.7). A unknown object with ID 60 is 18.4 meters away at (-14.5, 11.3).", "velocity_description": "The vehicle with ID 51 is traveling at a (x, y) velocity of [3.9226928 5.6135516] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.76566356 1.1235613 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-3.8391337 -5.628421 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-158.77696228027344, -250.68972778320312)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 1.6706104 -4.694973 ], 4.983343601226807 meters away.)"}
{"file_name": "images/scenario_1238_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, -7.1) m/s. Its current heading (yaw) is -2.05 ", "actor_description": " The most relevant actors are: A vehicle with ID 81 is 6.5 meters away at (6.4, -1.2). A vehicle with ID 65 is 7.0 meters away at (3.5, -6.0). A unknown object with ID 82 is 8.1 meters away at (-5.0, 6.3). A pedestrian with ID 41 is 8.2 meters away at (-8.0, -1.5). A vehicle with ID 43 is 8.8 meters away at (7.2, 5.1). A vehicle with ID 79 is 10.9 meters away at (10.0, 4.3). A unknown object with ID 19 is 11.0 meters away at (-8.2, -7.3). A vehicle with ID 20 is 11.1 meters away at (0.5, -11.0). A pedestrian with ID 83 is 12.3 meters away at (12.1, 2.2). A pedestrian with ID 25 is 13.2 meters away at (-10.6, -7.8).", "velocity_description": "The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.44713864 -0.7144787 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [4.0498075 6.1796875] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.7910184 1.0787816] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.78354394 -1.306448  ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-158.77696228027344, -250.68972778320312)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [ 6.4460983 -1.1579704], 6.549281120300293 meters away.)"}
{"file_name": "images/scenario_1239_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.2) m/s. Its current heading (yaw) is -1.93 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 11.6 meters away at (0.7, 11.6). A vehicle with ID 35 is 16.1 meters away at (4.7, -15.3). A vehicle with ID 30 is 17.7 meters away at (-17.7, -0.6). A vehicle with ID 25 is 19.5 meters away at (-17.3, -9.0). A vehicle with ID 10 is 21.2 meters away at (-21.2, 0.4). A vehicle with ID 38 is 21.6 meters away at (6.7, -20.5). A vehicle with ID 23 is 24.6 meters away at (-24.5, 1.7). A vehicle with ID 1 is 26.2 meters away at (-22.9, -12.8). A vehicle with ID 5 is 26.5 meters away at (19.5, -18.0). A vehicle with ID 32 is 28.6 meters away at (12.2, -25.8).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.199901  1.189012] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 3.4605467 -1.1665373] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.282573  -2.1511252] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.99888610839844, -111.65604400634766)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.671986 11.571602], 11.591096878051758 meters away.)"}
{"file_name": "images/scenario_1239_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 11.4 meters away at (-1.6, -11.3). A vehicle with ID 27 is 12.3 meters away at (0.9, 12.2). A vehicle with ID 25 is 16.1 meters away at (-12.8, -9.7). A vehicle with ID 30 is 17.5 meters away at (-17.5, 0.1). A vehicle with ID 10 is 21.0 meters away at (-20.9, 1.1). A vehicle with ID 23 is 24.4 meters away at (-24.3, 2.3). A vehicle with ID 1 is 25.6 meters away at (-22.6, -12.2). A vehicle with ID 5 is 26.2 meters away at (19.6, -17.3). A vehicle with ID 32 is 28.0 meters away at (12.3, -25.1). A vehicle with ID 2 is 28.5 meters away at (-26.5, -10.5).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [-4.731842   2.3422728] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.9964683  -0.36689594] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.99888610839844, -111.65604400634766)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -1.6018665 -11.262423 ], 11.37576961517334 meters away.)"}
{"file_name": "images/scenario_1239_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 12.4 meters away at (0.9, 12.3). A vehicle with ID 25 is 15.1 meters away at (-11.0, -10.4). A vehicle with ID 35 is 15.4 meters away at (-14.1, -6.1). A vehicle with ID 30 is 17.5 meters away at (-17.5, 0.1). A vehicle with ID 9 is 20.8 meters away at (-20.7, 1.0). A vehicle with ID 10 is 21.0 meters away at (-20.9, 1.2). A vehicle with ID 23 is 24.3 meters away at (-24.2, 2.3). A vehicle with ID 1 is 25.6 meters away at (-22.5, -12.1). A vehicle with ID 5 is 26.1 meters away at (19.6, -17.2). A vehicle with ID 32 is 27.9 meters away at (12.3, -25.1).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.9888186 -0.9863024] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-7.469132   2.4764428] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.99888610839844, -111.65604400634766)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 0.9333037 12.3306875], 12.365958213806152 meters away.)"}
{"file_name": "images/scenario_1239_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.5) m/s. Its current heading (yaw) is -1.89 ", "actor_description": " The most relevant actors are: A vehicle with ID 27 is 12.7 meters away at (1.0, 12.7). A vehicle with ID 25 is 16.8 meters away at (-6.4, -15.6). A vehicle with ID 30 is 17.4 meters away at (-17.4, 0.5). A vehicle with ID 10 is 20.9 meters away at (-20.8, 1.4). A vehicle with ID 9 is 20.9 meters away at (-20.9, 1.2). A vehicle with ID 23 is 24.3 meters away at (-24.1, 2.7). A vehicle with ID 1 is 25.3 meters away at (-22.4, -11.7). A vehicle with ID 5 is 26.0 meters away at (19.8, -16.8). A vehicle with ID 32 is 27.7 meters away at (12.5, -24.7). A vehicle with ID 2 is 28.1 meters away at (-26.2, -10.1).", "velocity_description": "The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.0155365 -4.639824 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(112.99888610839844, -111.65604400634766)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 1.045315 12.6735  ], 12.716535568237305 meters away.)"}
{"file_name": "images/scenario_1240_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.5) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 18.8 meters away at (-0.5, -18.8). A vehicle with ID 10 is 23.7 meters away at (-4.3, -23.3). A vehicle with ID 50 is 24.0 meters away at (9.2, -22.2). A pedestrian with ID 55 is 24.6 meters away at (13.9, -20.4). A pedestrian with ID 57 is 28.0 meters away at (15.1, -23.5). A pedestrian with ID 56 is 30.0 meters away at (10.8, 28.0). A vehicle with ID 53 is 30.8 meters away at (29.2, 9.8). A unknown object with ID 58 is 34.3 meters away at (28.6, -19.0). A unknown object with ID 59 is 34.3 meters away at (29.5, -17.4). A unknown object with ID 36 is 34.3 meters away at (28.0, -19.9).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.6919016 -0.7721644] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.04199463 0.00070399] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.59064054 -0.4905138 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-4.495674  -2.6165247] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-4.376698017120361, -34.9356575012207)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -0.5330951 -18.820145 ], 18.827693939208984 meters away.)"}
{"file_name": "images/scenario_1240_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.3) m/s. Its current heading (yaw) is -0.62 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 18.4 meters away at (-1.2, -18.4). A vehicle with ID 53 is 22.8 meters away at (22.3, 4.7). A vehicle with ID 50 is 23.4 meters away at (8.5, -21.7). A vehicle with ID 10 is 23.4 meters away at (-5.0, -22.9). A pedestrian with ID 55 is 25.2 meters away at (12.1, -22.1). A vehicle with ID 9 is 28.6 meters away at (-9.0, -27.1). A unknown object with ID 58 is 33.5 meters away at (27.9, -18.5). A unknown object with ID 59 is 33.5 meters away at (28.9, -17.0). A vehicle with ID 6 is 40.3 meters away at (-6.7, -39.7). A vehicle with ID 60 is 41.4 meters away at (14.7, 38.7).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-1.5890465 -1.6784501] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.55787915 -0.8800542 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-4.376698017120361, -34.9356575012207)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -1.2469618 -18.363268 ], 18.405555725097656 meters away.)"}
{"file_name": "images/scenario_1240_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -2.6) m/s. Its current heading (yaw) is -0.75 ", "actor_description": " The most relevant actors are: A unknown object with ID 34 is 7.3 meters away at (-1.4, -7.2). A vehicle with ID 11 is 16.3 meters away at (-5.0, -15.5). A vehicle with ID 53 is 18.5 meters away at (17.4, 6.5). A vehicle with ID 50 is 19.4 meters away at (4.8, -18.8). A vehicle with ID 10 is 21.9 meters away at (-8.8, -20.0). A pedestrian with ID 18 is 22.7 meters away at (10.7, -20.0). A vehicle with ID 9 is 27.4 meters away at (-12.7, -24.2). A unknown object with ID 42 is 28.4 meters away at (20.7, -19.5). A unknown object with ID 58 is 28.6 meters away at (24.1, -15.4). A unknown object with ID 21 is 28.7 meters away at (23.5, -16.4).", "velocity_description": "The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00056719  0.00413185] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-4.376698017120361, -34.9356575012207)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [-1.4258194 -7.1642423], 7.304747104644775 meters away.)"}
{"file_name": "images/scenario_1240_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.1) m/s. Its current heading (yaw) is -1.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 11 is 11.8 meters away at (-8.3, -8.5). A vehicle with ID 50 is 11.9 meters away at (1.4, -11.8). A vehicle with ID 10 is 17.8 meters away at (-12.0, -13.2). A vehicle with ID 53 is 18.5 meters away at (13.4, 12.8). A unknown object with ID 21 is 22.3 meters away at (20.2, -9.3). A unknown object with ID 58 is 22.4 meters away at (20.8, -8.3). A unknown object with ID 59 is 22.8 meters away at (21.8, -6.8). A vehicle with ID 9 is 23.7 meters away at (-16.0, -17.5). A vehicle with ID 6 is 32.9 meters away at (-13.7, -29.9). A vehicle with ID 5 is 34.4 meters away at (-22.8, -25.8).", "velocity_description": "The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-0.9712988 -1.2002728] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-4.376698017120361, -34.9356575012207)", "instruction": "Continue straight.", "closest": "(The closest actor is a vehicle at [-8.260722 -8.477003], 11.836347579956055 meters away.)"}
{"file_name": "images/scenario_1241_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 3.0) m/s. Its current heading (yaw) is 2.63 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 8.5 meters away at (8.0, 3.0). A unknown object with ID 32 is 12.8 meters away at (12.4, -3.0). A unknown object with ID 31 is 14.4 meters away at (13.7, -4.4). A vehicle with ID 34 is 22.5 meters away at (21.3, -7.1). A vehicle with ID 38 is 43.2 meters away at (-12.6, -41.4). A vehicle with ID 35 is 43.9 meters away at (-25.6, -35.7). A vehicle with ID 37 is 46.9 meters away at (-26.3, -38.8).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(24.911632537841797, -19.92765998840332)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [7.988268  2.9794793], 8.525826454162598 meters away.)"}
{"file_name": "images/scenario_1241_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -0.6) m/s. Its current heading (yaw) is -3.01 ", "actor_description": " The most relevant actors are: A vehicle with ID 24 is 17.7 meters away at (17.7, -0.0). A unknown object with ID 31 is 24.5 meters away at (23.4, -7.3). A vehicle with ID 35 is 41.9 meters away at (-16.3, -38.6). A vehicle with ID 38 is 44.3 meters away at (-3.2, -44.2). A unknown object with ID 26 is 44.6 meters away at (40.3, -19.1). A vehicle with ID 37 is 45.0 meters away at (-17.0, -41.7). A pedestrian with ID 17 is 50.2 meters away at (25.2, -43.4). A vehicle with ID 36 is 53.1 meters away at (47.7, -23.5). A vehicle with ID 19 is 63.6 meters away at (-20.2, -60.4). A vehicle with ID 28 is 64.4 meters away at (57.4, -29.1).", "velocity_description": "The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.06050939  0.028658  ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(24.911632537841797, -19.92765998840332)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ 1.7698002e+01 -8.7184906e-03], 17.6980037689209 meters away.)"}
{"file_name": "images/scenario_1241_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.0) m/s. Its current heading (yaw) is -2.31 ", "actor_description": " The most relevant actors are: A unknown object with ID 1 is 26.2 meters away at (-8.2, 24.9). A vehicle with ID 24 is 26.8 meters away at (26.4, 5.0). A vehicle with ID 8 is 31.6 meters away at (-13.2, 28.8). A vehicle with ID 35 is 34.6 meters away at (-7.2, -33.8). A vehicle with ID 37 is 37.8 meters away at (-8.2, -36.9). A vehicle with ID 38 is 39.8 meters away at (5.9, -39.4). A unknown object with ID 26 is 51.0 meters away at (49.0, -14.3). A vehicle with ID 19 is 56.6 meters away at (-11.3, -55.5). A vehicle with ID 36 is 59.3 meters away at (56.4, -18.2). A vehicle with ID 39 is 64.6 meters away at (61.1, -21.0).", "velocity_description": "The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(24.911632537841797, -19.92765998840332)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [-8.196648 24.8917  ], 26.20652198791504 meters away.)"}
{"file_name": "images/scenario_1241_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -2.4) m/s. Its current heading (yaw) is -2.08 ", "actor_description": " The most relevant actors are: A vehicle with ID 35 is 26.9 meters away at (-2.4, -26.7). A vehicle with ID 37 is 30.0 meters away at (-3.4, -29.8). A unknown object with ID 1 is 32.2 meters away at (-3.3, 32.0). A vehicle with ID 24 is 33.5 meters away at (31.3, 12.0). A vehicle with ID 38 is 34.1 meters away at (10.6, -32.4). A unknown object with ID 5 is 36.2 meters away at (35.7, 6.1). A vehicle with ID 8 is 36.9 meters away at (-8.3, 35.9). A vehicle with ID 36 is 62.3 meters away at (61.2, -11.2). A vehicle with ID 39 is 67.4 meters away at (65.9, -14.0). A unknown object with ID 22 is 78.4 meters away at (72.9, -28.9).", "velocity_description": "The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(24.911632537841797, -19.92765998840332)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ -2.4008026 -26.743858 ], 26.851402282714844 meters away.)"}
{"file_name": "images/scenario_1242_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.8) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A vehicle with ID 60 is 32.4 meters away at (5.1, -32.0). A pedestrian with ID 66 is 38.4 meters away at (8.6, -37.4). A unknown object with ID 59 is 46.2 meters away at (-37.9, 26.5). A unknown object with ID 68 is 58.6 meters away at (55.2, -19.8). A unknown object with ID 69 is 58.7 meters away at (55.4, -19.4). A unknown object with ID 67 is 59.3 meters away at (54.7, -22.9). A unknown object with ID 31 is 60.3 meters away at (54.9, -24.9). A unknown object with ID 27 is 62.0 meters away at (55.9, -26.8). A vehicle with ID 80 is 70.1 meters away at (63.9, -28.8). A unknown object with ID 5 is 74.6 meters away at (65.3, -36.2).", "velocity_description": "The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.9407609  -0.62957776] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [  5.1095753 -31.982788 ], 32.388370513916016 meters away.)"}
{"file_name": "images/scenario_1242_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.8) m/s. Its current heading (yaw) is -0.42 ", "actor_description": " The most relevant actors are: A pedestrian with ID 57 is 25.0 meters away at (-9.3, -23.2). A vehicle with ID 60 is 27.1 meters away at (-6.4, -26.3). A pedestrian with ID 66 is 32.7 meters away at (-0.6, -32.7). A unknown object with ID 68 is 45.5 meters away at (43.5, -13.5). A unknown object with ID 69 is 45.7 meters away at (43.7, -13.3). A unknown object with ID 67 is 46.3 meters away at (43.1, -16.9). A unknown object with ID 31 is 47.3 meters away at (43.4, -19.0). A unknown object with ID 27 is 49.1 meters away at (44.4, -20.9). A vehicle with ID 80 is 57.2 meters away at (52.3, -23.1). A unknown object with ID 63 is 59.7 meters away at (51.1, -30.9).", "velocity_description": "The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.02272121 0.001045  ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 1.33231    -0.32256752] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [ -9.301349 -23.188404], 24.984338760375977 meters away.)"}
{"file_name": "images/scenario_1242_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -2.9) m/s. Its current heading (yaw) is -0.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 57 is 27.6 meters away at (-21.4, -17.4). A vehicle with ID 60 is 27.7 meters away at (-18.5, -20.6). A pedestrian with ID 66 is 29.7 meters away at (-10.3, -27.8). A unknown object with ID 69 is 32.2 meters away at (31.3, -7.7). A unknown object with ID 68 is 32.3 meters away at (31.5, -7.3). A unknown object with ID 67 is 32.7 meters away at (30.9, -10.9). A unknown object with ID 31 is 33.8 meters away at (31.2, -13.0). A unknown object with ID 27 is 35.4 meters away at (32.2, -14.8). A unknown object with ID 83 is 40.0 meters away at (34.0, -21.1). A vehicle with ID 80 is 43.8 meters away at (40.3, -17.3).", "velocity_description": "The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.02011807 -0.00106956] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 1.2201084  -0.51978767] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-21.424606 -17.441528], 27.626449584960938 meters away.)"}
{"file_name": "images/scenario_1242_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -2.7) m/s. Its current heading (yaw) is -0.48 ", "actor_description": " The most relevant actors are: A unknown object with ID 68 is 19.9 meters away at (19.8, -1.9). A unknown object with ID 67 is 20.1 meters away at (19.4, -5.1). A unknown object with ID 69 is 20.1 meters away at (20.1, -1.5). A unknown object with ID 31 is 21.0 meters away at (19.7, -7.2). A unknown object with ID 27 is 22.6 meters away at (20.7, -9.0). A unknown object with ID 18 is 25.6 meters away at (23.2, -10.8). A unknown object with ID 13 is 27.8 meters away at (25.1, -11.8). A pedestrian with ID 74 is 28.5 meters away at (28.1, -4.5). A unknown object with ID 6 is 30.2 meters away at (27.5, -12.6). A vehicle with ID 80 is 30.8 meters away at (28.5, -11.5).", "velocity_description": "The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.02299097 0.01274714] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a unknown object at [19.77502  -1.944416], 19.870386123657227 meters away.)"}
{"file_name": "images/scenario_1243_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, 3.9) m/s. Its current heading (yaw) is 0.51 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 6.8 meters away at (-6.2, 2.7). A vehicle with ID 44 is 13.0 meters away at (10.6, -7.5). A vehicle with ID 42 is 32.8 meters away at (20.3, 25.8). A vehicle with ID 45 is 32.9 meters away at (23.0, 23.6). A cyclist with ID 43 is 35.3 meters away at (26.5, 23.4). A vehicle with ID 41 is 51.5 meters away at (-47.1, -20.7).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [6.42277  4.266952] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-10.081977  -7.267534] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [2.4433703 2.0591667] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [8.507836  5.4141746] m/s.", "light_description": "There are active red lights at the following coordinates: [[46.79065  44.616302]\n [52.881523 41.092007]\n [69.04804  51.37591 ]\n [49.71338  42.90374 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-6.2287216  2.7234745], 6.79810905456543 meters away.)"}
{"file_name": "images/scenario_1243_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 3.7) m/s. Its current heading (yaw) is 0.60 ", "actor_description": " The most relevant actors are: A vehicle with ID 29 is 7.9 meters away at (-7.5, 2.7). A vehicle with ID 45 is 19.4 meters away at (10.8, 16.1). A vehicle with ID 42 is 20.3 meters away at (8.4, 18.5). A cyclist with ID 43 is 24.5 meters away at (16.7, 17.9). A vehicle with ID 44 is 37.6 meters away at (-23.4, -29.4). A vehicle with ID 41 is 45.8 meters away at (-42.5, -17.3). A vehicle with ID 12 is 67.1 meters away at (51.6, 42.9). A vehicle with ID 36 is 72.6 meters away at (57.3, 44.5). A vehicle with ID 23 is 72.9 meters away at (59.7, 41.8).", "velocity_description": "The vehicle with ID 29 is traveling at a (x, y) velocity of [4.5293007 3.1079955] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [0.5009937  0.44013366] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-11.737189   -7.3152256] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [7.9554167 5.1993246] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[46.79065  44.616302]\n [78.47888  44.84211 ]\n [75.54874  46.474415]\n [52.881523 41.092007]\n [69.04804  51.37591 ]\n [49.71338  42.90374 ]\n [72.19017  48.860237]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [-7.4561768  2.6686172], 7.91934871673584 meters away.)"}
{"file_name": "images/scenario_1243_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 3.3) m/s. Its current heading (yaw) is 0.68 ", "actor_description": " The most relevant actors are: A vehicle with ID 45 is 9.4 meters away at (1.3, 9.3). A vehicle with ID 29 is 10.5 meters away at (-10.5, 0.4). A vehicle with ID 42 is 12.1 meters away at (-0.6, 12.1). A cyclist with ID 43 is 13.2 meters away at (7.2, 11.1). A vehicle with ID 41 is 40.6 meters away at (-37.7, -14.9). A pedestrian with ID 9 is 45.2 meters away at (21.3, 39.9). A vehicle with ID 12 is 55.4 meters away at (42.0, 36.1). A vehicle with ID 36 is 60.6 meters away at (47.6, 37.5). A vehicle with ID 23 is 61.0 meters away at (50.1, 34.9). A vehicle with ID 19 is 62.6 meters away at (47.0, 41.4).", "velocity_description": "The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [2.1005204 1.5752746] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-0.03473783  0.02326185] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [5.9725714 3.9925988] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.01321449  0.00802269] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[46.79065  44.616302]\n [78.47888  44.84211 ]\n [75.54874  46.474415]\n [52.881523 41.092007]\n [69.04804  51.37591 ]\n [56.193157 39.141033]\n [49.71338  42.90374 ]\n [72.19017  48.860237]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a vehicle at [1.2993965 9.324297 ], 9.414401054382324 meters away.)"}
{"file_name": "images/scenario_1243_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 1.9) m/s. Its current heading (yaw) is 0.73 ", "actor_description": " The most relevant actors are: A cyclist with ID 43 is 6.0 meters away at (0.7, 6.0). A vehicle with ID 45 is 6.5 meters away at (-4.7, 4.5). A vehicle with ID 42 is 9.8 meters away at (-6.0, 7.8). A vehicle with ID 29 is 14.3 meters away at (-14.1, -2.7). A vehicle with ID 41 is 37.0 meters away at (-34.4, -13.6). A pedestrian with ID 9 is 37.8 meters away at (14.7, 34.8). A vehicle with ID 12 is 47.1 meters away at (35.5, 31.0). A vehicle with ID 36 is 52.1 meters away at (41.0, 32.2). A vehicle with ID 23 is 52.1 meters away at (43.1, 29.3). A vehicle with ID 19 is 54.3 meters away at (40.4, 36.2).", "velocity_description": "The cyclist with ID 43 is traveling at a (x, y) velocity of [ 0.01224809 -0.01287757] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.39141196 0.30300406] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0.9342846 0.7447116] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [1.2188426  0.91342115] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [4.106061  2.8946013] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.0054172 0.0155961] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.43207592 -0.42667684] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[46.79065  44.616302]\n [78.47888  44.84211 ]\n [75.54874  46.474415]\n [52.881523 41.092007]\n [69.04804  51.37591 ]\n [56.193157 39.141033]\n [49.71338  42.90374 ]\n [72.19017  48.860237]]", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a cyclist at [0.70212555 5.955696  ], 5.996940612792969 meters away.)"}
{"file_name": "images/scenario_1244_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 3.3) m/s. Its current heading (yaw) is 1.27 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 5.9 meters away at (-4.4, 3.8). A vehicle with ID 22 is 13.7 meters away at (13.4, 2.7). A vehicle with ID 17 is 21.7 meters away at (-8.2, -20.1). A vehicle with ID 23 is 28.7 meters away at (23.1, 17.0). A vehicle with ID 20 is 40.8 meters away at (-40.1, -7.4). A vehicle with ID 19 is 46.2 meters away at (20.6, 41.3).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.0268863   0.01552442] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ -5.0451903 -11.866136 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.6578074 6.5872617] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.3307915   0.76133645] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [4.818663 9.47923 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "right u-turn approaching.", "closest": "(The closest actor is a pedestrian at [-4.436864   3.8490868], 5.873774528503418 meters away.)"}
{"file_name": "images/scenario_1244_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 2.6) m/s. Its current heading (yaw) is 1.80 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 5.5 meters away at (-5.1, -2.1). A vehicle with ID 17 is 15.0 meters away at (-3.9, -14.5). A vehicle with ID 23 is 24.9 meters away at (22.4, 10.8). A vehicle with ID 22 is 27.7 meters away at (2.5, -27.5). A vehicle with ID 20 is 43.3 meters away at (-41.5, -12.2). A vehicle with ID 19 is 59.2 meters away at (28.6, 51.8).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00264535  0.01486039] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.2529743 5.166815 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ -4.9869566 -11.83307  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.17230815  0.37109393] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.4363034 7.1126366] m/s.", "light_description": "There are active red lights at the following coordinates: [[35.476257 72.212814]\n [35.187996 72.36006 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a pedestrian at [-5.120229  -2.1301098], 5.5456390380859375 meters away.)"}
{"file_name": "images/scenario_1244_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 1.6) m/s. Its current heading (yaw) is 2.57 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 4.8 meters away at (-1.6, -4.5). A vehicle with ID 17 is 10.3 meters away at (2.6, -9.9). A pedestrian with ID 11 is 19.1 meters away at (5.2, -18.4). A vehicle with ID 23 is 26.1 meters away at (25.3, 6.5). A pedestrian with ID 4 is 28.0 meters away at (26.6, 8.6). A vehicle with ID 20 is 42.0 meters away at (-38.6, -16.6). A vehicle with ID 22 is 54.5 meters away at (-3.9, -54.4). A vehicle with ID 19 is 69.4 meters away at (34.5, 60.3).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.5766016 1.6480213] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [1.047002  3.7021732] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00183283 -0.03215924] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.08849433 0.00278458] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ -4.223729 -10.561554] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.8213572  6.022745 ] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [-1.6189086 -4.5431166], 4.82294225692749 meters away.)"}
{"file_name": "images/scenario_1244_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -0.0) m/s. Its current heading (yaw) is -3.13 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 5.3 meters away at (4.3, -3.1). A unknown object with ID 3 is 6.2 meters away at (1.4, -6.0). A vehicle with ID 17 is 10.0 meters away at (8.6, -5.2). A vehicle with ID 23 is 31.2 meters away at (30.8, 4.9). A pedestrian with ID 12 is 32.6 meters away at (-32.1, -5.6). A pedestrian with ID 4 is 33.0 meters away at (32.2, 7.2). A vehicle with ID 20 is 37.7 meters away at (-33.0, -18.3).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.846162   1.1731656] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.52714646  2.518235  ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.01053647 0.01714311] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.00958524 0.00904971] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-1.0, -1.0)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 4.2862086 -3.1015491], 5.290670394897461 meters away.)"}
{"file_name": "images/scenario_1245_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 8.1) m/s. Its current heading (yaw) is 1.99 ", "actor_description": " There are no other relevant actors in the scene.", "velocity_description": "", "light_description": "There are no active red lights.", "nav_goal": "(-168.46749877929688, 142.06201171875)", "instruction": "Continue straight.", "closest": ""}
{"file_name": "images/scenario_1245_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 8.0) m/s. Its current heading (yaw) is 1.92 ", "actor_description": " The most relevant actors are: A unknown object with ID 19 is 49.8 meters away at (-10.1, 48.8).", "velocity_description": "The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-168.46749877929688, 142.06201171875)", "instruction": "Continue straight.", "closest": "(The closest actor is a unknown object at [-10.111877  48.766228], 49.803565979003906 meters away.)"}
{"file_name": "images/scenario_1245_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 7.8) m/s. Its current heading (yaw) is 1.88 ", "actor_description": " The most relevant actors are: A pedestrian with ID 15 is 3.8 meters away at (3.7, -0.8). A vehicle with ID 17 is 69.2 meters away at (-14.6, 67.6).", "velocity_description": "The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01076632 -0.02571114] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-168.46749877929688, 142.06201171875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a pedestrian at [ 3.6961365  -0.76031876], 3.7735273838043213 meters away.)"}
{"file_name": "images/scenario_1245_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 8.8) m/s. Its current heading (yaw) is 1.87 ", "actor_description": " The most relevant actors are: A vehicle with ID 17 is 51.3 meters away at (-9.3, 50.4). A vehicle with ID 12 is 58.2 meters away at (-11.1, 57.1). A vehicle with ID 6 is 73.2 meters away at (-14.5, 71.8).", "velocity_description": "The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(-168.46749877929688, 142.06201171875)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [-9.34617  50.400085], 51.259334564208984 meters away.)"}
{"file_name": "images/scenario_1246_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 18.7 meters away at (14.5, 11.9). A vehicle with ID 4 is 35.9 meters away at (34.3, -10.7). A vehicle with ID 7 is 69.6 meters away at (57.0, -39.9).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ 7.6470785 -9.841777 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [  8.221051 -10.615198] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 6.845977 -9.158145] m/s.", "light_description": "There are active red lights at the following coordinates: [[8.457263 7.851772]]", "nav_goal": "(-157.24234008789062, 237.69869995117188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [14.479678 11.871908], 18.724403381347656 meters away.)"}
{"file_name": "images/scenario_1246_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 29.9 meters away at (29.0, -7.0). A vehicle with ID 4 is 57.7 meters away at (49.1, -30.3).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ 7.075576 -9.076768] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 7.001446 -9.402248] m/s.", "light_description": "There are active red lights at the following coordinates: [[8.457263 7.851772]]", "nav_goal": "(-157.24234008789062, 237.69869995117188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [29.042036  -7.0462675], 29.884607315063477 meters away.)"}
{"file_name": "images/scenario_1246_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 5 is 49.5 meters away at (42.8, -24.8).", "velocity_description": "The vehicle with ID 5 is traveling at a (x, y) velocity of [ 6.857331 -8.80038 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ 8.258731  23.684925 ]\n [ 5.6290817 21.74691  ]\n [ 8.457263   7.851772 ]]", "nav_goal": "(-157.24234008789062, 237.69869995117188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 42.843243 -24.797775], 49.502254486083984 meters away.)"}
{"file_name": "images/scenario_1246_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.59 ", "actor_description": " The most relevant actors are: A vehicle with ID 1 is 23.2 meters away at (9.6, 21.2). A vehicle with ID 2 is 40.7 meters away at (39.0, -11.4).", "velocity_description": "The vehicle with ID 1 is traveling at a (x, y) velocity of [ 11.538879 -15.278204] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.220939 12.069104] m/s.", "light_description": "There are active red lights at the following coordinates: [[8.457263 7.851772]]", "nav_goal": "(-157.24234008789062, 237.69869995117188)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a vehicle at [ 9.575666 21.153019], 23.219467163085938 meters away.)"}
{"file_name": "images/scenario_1247_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, -4.7) m/s. Its current heading (yaw) is -2.45 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 14.8 meters away at (-13.4, -6.1). A vehicle with ID 43 is 15.1 meters away at (-5.1, -14.2). A unknown object with ID 24 is 21.7 meters away at (9.4, -19.6). A pedestrian with ID 35 is 22.0 meters away at (9.9, -19.7). A pedestrian with ID 44 is 23.0 meters away at (9.3, -21.1). A unknown object with ID 30 is 23.3 meters away at (8.4, -21.7). A vehicle with ID 49 is 31.0 meters away at (4.5, -30.6). A pedestrian with ID 52 is 32.5 meters away at (-9.5, -31.1). A vehicle with ID 46 is 37.2 meters away at (30.1, 21.8). A vehicle with ID 55 is 38.9 meters away at (-23.8, -30.7).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.03489686 -0.01291182] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.1645857 -6.3005056] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.1702503  -0.13042846] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.88585293 -0.519326  ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.0534896  -0.03575476] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-5.7413716 -4.428429 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [1.0266883 1.1545141] m/s.", "light_description": "There are active red lights at the following coordinates: [[-31.09925  -30.229929]\n [-12.914869 -36.643864]\n [-12.910811 -36.63786 ]\n [-11.953984 -35.577305]\n [-12.703763 -36.77797 ]]", "nav_goal": "(-89.51071166992188, -36.692073822021484)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-13.448942  -6.085041], 14.761495590209961 meters away.)"}
{"file_name": "images/scenario_1247_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -3.1) m/s. Its current heading (yaw) is -2.56 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 3.9 meters away at (-3.5, 1.9). A vehicle with ID 43 is 18.7 meters away at (6.6, -17.6). A vehicle with ID 55 is 18.8 meters away at (-8.3, -16.9). A pedestrian with ID 52 is 22.2 meters away at (1.1, -22.2). A pedestrian with ID 35 is 23.5 meters away at (20.2, -11.9). A cyclist with ID 42 is 23.6 meters away at (20.2, -12.3). A pedestrian with ID 39 is 24.2 meters away at (0.9, -24.1). A vehicle with ID 49 is 26.8 meters away at (14.6, -22.5). A vehicle with ID 13 is 32.5 meters away at (-17.6, -27.3). A vehicle with ID 46 is 33.8 meters away at (27.1, 20.2).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.01560003 -0.05459781] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 2.54537   -5.1615233] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [4.355812  4.3303027] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.40098846 0.02490009] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.095205   -0.24710731] m/s.The cyclist with ID 42 is traveling at a (x, y) velocity of [ 0.1812933  -0.46615607] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.12845975 -0.0303671 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [1.5345309 1.5173669] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-7.288644  -5.5485277] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.914869 -36.643864]\n [-12.910811 -36.63786 ]\n [-11.953984 -35.577305]\n [-12.703763 -36.77797 ]]", "nav_goal": "(-89.51071166992188, -36.692073822021484)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [-3.4676704  1.8894024], 3.9489972591400146 meters away.)"}
{"file_name": "images/scenario_1247_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 0.7) m/s. Its current heading (yaw) is 3.02 ", "actor_description": " The most relevant actors are: A pedestrian with ID 45 is 8.7 meters away at (7.1, 5.0). A vehicle with ID 55 is 14.3 meters away at (14.0, -2.5). A vehicle with ID 13 is 18.3 meters away at (-1.5, -18.3). A pedestrian with ID 52 is 22.3 meters away at (12.2, -18.6). A pedestrian with ID 47 is 23.2 meters away at (-16.2, -16.6). A pedestrian with ID 48 is 23.4 meters away at (-15.6, -17.4). A vehicle with ID 46 is 24.7 meters away at (22.2, 10.7). A vehicle with ID 11 is 27.8 meters away at (-9.2, -26.3). A vehicle with ID 49 is 31.8 meters away at (25.2, -19.4). A unknown object with ID 17 is 31.9 meters away at (25.1, 19.7).", "velocity_description": "The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.0030507  -0.00054986] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [7.2731047 6.7206345] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.2091517 4.429273 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.40780386 0.50824285] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.91272086 1.0450398 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.89468926 1.057065  ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-7.9654713 -6.975851 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.6221466 3.0653915] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.914869 -36.643864]\n [-12.910811 -36.63786 ]\n [-11.953984 -35.577305]\n [-12.703763 -36.77797 ]]", "nav_goal": "(-89.51071166992188, -36.692073822021484)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [7.1087856 4.9778376], 8.678346633911133 meters away.)"}
{"file_name": "images/scenario_1247_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 4.0) m/s. Its current heading (yaw) is 2.60 ", "actor_description": " The most relevant actors are: A unknown object with ID 37 is 3.0 meters away at (2.1, 2.1). A pedestrian with ID 45 is 19.3 meters away at (19.2, -0.3). A pedestrian with ID 47 is 19.9 meters away at (-2.5, -19.8). A pedestrian with ID 48 is 20.5 meters away at (-2.0, -20.4). A vehicle with ID 46 is 20.6 meters away at (18.1, -9.8). A vehicle with ID 13 is 24.6 meters away at (21.1, -12.7). A vehicle with ID 11 is 25.3 meters away at (10.2, -23.2). A vehicle with ID 10 is 27.2 meters away at (27.1, 2.5). A vehicle with ID 57 is 33.2 meters away at (1.8, -33.2). A pedestrian with ID 52 is 33.9 meters away at (25.7, -22.2).", "velocity_description": "The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.09462423 -0.17599346] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.68141854 0.9564248 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.6807163 0.9301135] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-8.126513 -8.371076] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [6.484352  6.4029765] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [4.716474  4.8813777] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-8.33051  -7.231782] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [3.3741446 3.8227015] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.7636249  0.87477815] m/s.", "light_description": "There are active red lights at the following coordinates: [[-12.914869 -36.643864]\n [-12.910811 -36.63786 ]\n [-11.953984 -35.577305]\n [-12.703763 -36.77797 ]]", "nav_goal": "(-89.51071166992188, -36.692073822021484)", "instruction": "Slight right turn approaching.", "closest": "(The closest actor is a unknown object at [2.1032448 2.0689135], 2.950261354446411 meters away.)"}
{"file_name": "images/scenario_1248_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 2.1) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 7.2 meters away at (-1.7, -7.0). A vehicle with ID 56 is 9.1 meters away at (-9.1, -0.3). A vehicle with ID 63 is 14.0 meters away at (-6.4, -12.4). A vehicle with ID 62 is 14.7 meters away at (-13.2, -6.5). A vehicle with ID 72 is 16.4 meters away at (0.1, 16.4). A vehicle with ID 64 is 20.5 meters away at (-17.7, -10.4). A vehicle with ID 76 is 21.1 meters away at (0.6, 21.1). A vehicle with ID 65 is 26.5 meters away at (-6.3, 25.8). A vehicle with ID 59 is 27.0 meters away at (26.7, 3.6). A vehicle with ID 69 is 28.3 meters away at (-23.0, -16.6).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 4.6656575 -1.8158532] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-5.4981985   0.60221756] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-52.17035  -55.19936 ]\n [-49.704906 -56.84378 ]\n [-51.03321  -56.198685]\n [-50.685047 -56.36352 ]]", "nav_goal": "(41.082725524902344, -134.1111297607422)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-1.7132888 -6.9602222], 7.167988300323486 meters away.)"}
{"file_name": "images/scenario_1248_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 9.8 meters away at (-3.6, -9.1). A vehicle with ID 56 is 11.3 meters away at (-11.0, -2.4). A vehicle with ID 72 is 13.9 meters away at (9.8, 9.9). A vehicle with ID 63 is 16.7 meters away at (-8.3, -14.5). A vehicle with ID 62 is 17.3 meters away at (-15.0, -8.6). A vehicle with ID 64 is 23.2 meters away at (-19.5, -12.5). A vehicle with ID 59 is 24.9 meters away at (24.8, 1.5). A vehicle with ID 65 is 25.0 meters away at (-8.3, 23.6). A vehicle with ID 76 is 25.3 meters away at (-12.9, 21.7). A vehicle with ID 78 is 29.4 meters away at (-14.4, 25.6).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 6.9124227 -2.3627782] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-6.051829   1.9697068] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-52.17035  -55.19936 ]\n [-49.704906 -56.84378 ]\n [-51.03321  -56.198685]\n [-50.685047 -56.36352 ]]", "nav_goal": "(41.082725524902344, -134.1111297607422)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.6192243 -9.096146 ], 9.789721488952637 meters away.)"}
{"file_name": "images/scenario_1248_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 0.2) m/s. Its current heading (yaw) is 0.84 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 10.1 meters away at (-3.8, -9.3). A vehicle with ID 56 is 11.5 meters away at (-11.2, -2.6). A vehicle with ID 63 is 17.0 meters away at (-8.5, -14.7). A vehicle with ID 62 is 17.3 meters away at (-14.9, -8.7). A vehicle with ID 64 is 23.5 meters away at (-19.7, -12.7). A vehicle with ID 59 is 24.6 meters away at (24.6, 1.2). A vehicle with ID 65 is 24.8 meters away at (-8.5, 23.3). A vehicle with ID 72 is 25.5 meters away at (25.1, 4.9). A vehicle with ID 78 is 29.2 meters away at (-14.6, 25.3). A vehicle with ID 31 is 29.5 meters away at (-23.4, 17.9).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 7.9520445 -2.5924609] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[-52.17035  -55.19936 ]\n [-49.704906 -56.84378 ]\n [-51.03321  -56.198685]\n [-50.685047 -56.36352 ]]", "nav_goal": "(41.082725524902344, -134.1111297607422)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [-3.8402462 -9.328973 ], 10.088469505310059 meters away.)"}
{"file_name": "images/scenario_1248_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 2.4) m/s. Its current heading (yaw) is 0.83 ", "actor_description": " The most relevant actors are: A vehicle with ID 53 is 13.7 meters away at (-6.4, -12.1). A vehicle with ID 56 is 14.8 meters away at (-13.7, -5.4). A vehicle with ID 62 is 20.1 meters away at (-16.9, -10.9). A vehicle with ID 63 is 20.7 meters away at (-11.0, -17.5). A vehicle with ID 59 is 22.2 meters away at (22.1, -1.6). A vehicle with ID 65 is 23.3 meters away at (-11.0, 20.6). A vehicle with ID 64 is 27.1 meters away at (-22.2, -15.4). A vehicle with ID 66 is 27.3 meters away at (27.1, -3.1). A vehicle with ID 78 is 28.3 meters away at (-17.1, 22.6). A vehicle with ID 31 is 30.0 meters away at (-25.9, 15.1).", "velocity_description": "The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0.338471  0.3960993] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are no active red lights.", "nav_goal": "(41.082725524902344, -134.1111297607422)", "instruction": "Sharp right turn approaching", "closest": "(The closest actor is a vehicle at [ -6.362089 -12.140446], 13.706443786621094 meters away.)"}
{"file_name": "images/scenario_1249_step_20.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -4.2) m/s. Its current heading (yaw) is -1.98 ", "actor_description": " The most relevant actors are: A pedestrian with ID 99 is 5.1 meters away at (4.8, 1.5). A pedestrian with ID 97 is 5.3 meters away at (4.9, 2.1). A pedestrian with ID 96 is 5.9 meters away at (5.1, 3.0). A pedestrian with ID 100 is 6.3 meters away at (4.5, -4.3). A pedestrian with ID 101 is 7.0 meters away at (6.1, -3.5). A pedestrian with ID 102 is 7.8 meters away at (6.7, -3.9). A vehicle with ID 35 is 12.9 meters away at (5.1, 11.8). A pedestrian with ID 104 is 13.6 meters away at (-11.2, 7.7). A pedestrian with ID 105 is 13.6 meters away at (-11.6, 7.1). A pedestrian with ID 103 is 14.3 meters away at (-10.9, 9.3).", "velocity_description": "The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.00206074 -0.02014371] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [ 0.00769435 -0.01478633] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [ 0.00412691 -0.00897533] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.6703699 -1.4269665] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.6001263 -1.2114642] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.623987  -1.2174886] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-1.5328791 -3.6046915] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [-0.07746644 -0.00130899] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [-0.00606438 -0.01181508] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 0.02128169 -0.02740539] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.5469365 -16.776815 ]\n [ -4.594591  -16.876917 ]\n [ -1.861336  -25.314531 ]\n [ -5.565069  -19.968973 ]\n [ -2.0737689 -25.174109 ]\n [ -2.4726548 -26.812502 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [4.835708  1.4876552], 5.059366703033447 meters away.)"}
{"file_name": "images/scenario_1249_step_40.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -4.9) m/s. Its current heading (yaw) is -2.00 ", "actor_description": " The most relevant actors are: A pedestrian with ID 100 is 7.6 meters away at (7.4, 2.0). A pedestrian with ID 113 is 7.9 meters away at (4.0, -6.9). A pedestrian with ID 111 is 9.0 meters away at (5.3, -7.3). A pedestrian with ID 101 is 9.7 meters away at (9.1, 3.3). A pedestrian with ID 112 is 9.7 meters away at (6.0, -7.7). A pedestrian with ID 102 is 10.2 meters away at (9.8, 2.9). A pedestrian with ID 116 is 10.4 meters away at (3.8, -9.7). A pedestrian with ID 99 is 13.8 meters away at (8.9, 10.5). A vehicle with ID 35 is 13.8 meters away at (5.6, 12.6). A pedestrian with ID 97 is 14.4 meters away at (9.0, 11.2).", "velocity_description": "The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.68285   -1.3778701] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [0.53318566 1.4289742 ] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [0.4245698 1.0271373] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.52041143 -1.1781434 ] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [0.45211253 0.99030215] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.52640563 -1.1421887 ] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [0.5271037 1.1458939] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.00328541 -0.02170683] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.1809325 -4.9908457] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [-0.00518734 -0.00770846] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.5469365 -16.776815 ]\n [ -4.594591  -16.876917 ]\n [ -1.861336  -25.314531 ]\n [ -5.565069  -19.968973 ]\n [ -2.0737689 -25.174109 ]\n [ -2.4726548 -26.812502 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [7.3556824 1.9940977], 7.62118673324585 meters away.)"}
{"file_name": "images/scenario_1249_step_60.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -5.2) m/s. Its current heading (yaw) is -2.03 ", "actor_description": " The most relevant actors are: A pedestrian with ID 118 is 7.4 meters away at (3.9, -6.2). A pedestrian with ID 94 is 7.9 meters away at (3.5, -7.1). A pedestrian with ID 119 is 8.1 meters away at (4.3, -6.9). A pedestrian with ID 116 is 9.8 meters away at (9.4, 2.7). A pedestrian with ID 113 is 11.7 meters away at (10.1, 6.0). A pedestrian with ID 111 is 11.7 meters away at (10.7, 4.7). A pedestrian with ID 112 is 12.2 meters away at (11.5, 4.2). A vehicle with ID 35 is 13.2 meters away at (5.7, 11.9). A pedestrian with ID 100 is 14.2 meters away at (10.7, 9.4). A vehicle with ID 110 is 16.2 meters away at (16.2, -1.3).", "velocity_description": "The pedestrian with ID 118 is traveling at a (x, y) velocity of [ 0.00104987 -0.01830172] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.02282099 -0.00126501] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [-0.03864885  0.0033309 ] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [0.5057482 1.2233473] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [0.63454413 1.3383167 ] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [0.37878194 1.1308761 ] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [0.35775024 1.0655429 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.43024  -5.574533] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.69730234 -1.2697393 ] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.5469365 -16.776815 ]\n [ -4.594591  -16.876917 ]\n [ -1.861336  -25.314531 ]\n [ -5.565069  -19.968973 ]\n [ -2.0737689 -25.174109 ]\n [ -2.4726548 -26.812502 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [ 3.8916793 -6.243187 ], 7.356802940368652 meters away.)"}
{"file_name": "images/scenario_1249_step_80.jpg", "ego_description": "The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -5.7) m/s. Its current heading (yaw) is -2.04 ", "actor_description": " The most relevant actors are: A pedestrian with ID 94 is 9.7 meters away at (8.9, 3.9). A pedestrian with ID 118 is 10.5 meters away at (9.4, 4.7). A pedestrian with ID 119 is 10.6 meters away at (9.8, 4.0). A vehicle with ID 35 is 13.1 meters away at (6.1, 11.6). A unknown object with ID 44 is 14.0 meters away at (-14.0, -0.5). A unknown object with ID 63 is 14.7 meters away at (-14.7, -0.2). A pedestrian with ID 52 is 19.0 meters away at (-17.6, -7.2). A pedestrian with ID 53 is 19.8 meters away at (-18.5, -7.0). A pedestrian with ID 116 is 22.6 meters away at (16.1, 15.9). A pedestrian with ID 100 is 23.4 meters away at (15.3, 17.7).", "velocity_description": "The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.00403195 -0.01111069] m/s.The pedestrian with ID 118 is traveling at a (x, y) velocity of [-0.0043109 -0.0154114] m/s.The pedestrian with ID 119 is traveling at a (x, y) velocity of [ 0.00154185 -0.01859984] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.7710812 -5.9799905] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.3665469 -1.2535374] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.3515955 -1.228706 ] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [0.6610681 1.0340174] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.38431594 -1.4548492 ] m/s.", "light_description": "There are active red lights at the following coordinates: [[ -4.5469365 -16.776815 ]\n [ -4.594591  -16.876917 ]\n [ -1.861336  -25.314531 ]\n [ -5.565069  -19.968973 ]\n [ -2.0737689 -25.174109 ]\n [ -2.4726548 -26.812502 ]]", "nav_goal": "(-1.0, -1.0)", "instruction": "Continue straight.", "closest": "(The closest actor is a pedestrian at [8.945431  3.8645325], 9.744503021240234 meters away.)"}